CN110634293A - Trunk intersection control method based on fuzzy control - Google Patents
Trunk intersection control method based on fuzzy control Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
- G08G1/0133—Traffic data processing for classifying traffic situation
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
- G08G1/0145—Measuring and analyzing of parameters relative to traffic conditions for specific applications for active traffic flow control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
Abstract
The invention relates to a trunk intersection control method based on fuzzy control, which comprises the following steps: s1, calculating timing basic parameters of the signal phase of the trunk intersection; s2, calculating timing advance parameters of the intersection in saturated and unsaturated states; s3, dividing the trunk lines between the intersections into a detection road section, a first sub-road section and a second sub-road section; s4, respectively determining an exit road smoothness index, a queue dissipation index and a downstream road smoothness index of the intersection phase; s5, calculating to obtain a trunk line coordination control index; s6, determining the upstream congestion index of the trunk line at the intersection phase; s7, designing a trunk line coordination fuzzy controller to output the predicted display time of the green light; s8, determining a trunk coordination constraint index; and S9, calculating the green light display time of the intersection phase. Compared with the prior art, the method is based on a fuzzy control method, starts from logic implication and space-time relation, effectively ensures the close connection between the main line and the secondary main line, and realizes the timing optimization target.
Description
Technical Field
The invention relates to the technical field of traffic control, in particular to a trunk intersection control method based on fuzzy control.
Background
The main line intersection control is to connect a plurality of intersections on a main line as a research object and simultaneously carry out mutually coordinated signal timing scheme design on the intersections, so that vehicles running on the main line obtain the traffic right which is as uninterrupted as possible. The existing trunk intersection control method mainly adopts green wave coordination control, and the basic idea is to ensure that one green light passes through subsequent intersections after a vehicle passes through a green light of a first intersection by coordinating the green light starting time difference of each intersection; or into a downstream road segment followed by a forward fleet trailer to form a continuous flow of traffic.
The green wave coordination control method is based on the comprehensive design of signal phase, canalization and timing, can meet the traffic demands of less parking and no parking, but neglects the connection between a main line and a secondary main road (such as an exit ramp), and cannot comprehensively sense the conditions of an upstream road section, a detection road section, an exit ramp, an exit road and adjacent phase queuing, so that vehicles often encounter red lights when driving to a downstream intersection, or vehicles at the tail of a downstream queue are still in a parking state when reaching the tail of the downstream queue, vehicles are forced to be parked and queued, and partial traffic flows need extra time and space cost for going out, thereby reducing the traffic capacity of the road, i.e. the signal timing scheme which is optimized according to the needs cannot be respectively designed aiming at the saturated and unsaturated states of the traffic capacity of the intersection.
In order to realize the close connection between the trunk line and the secondary trunk line thereof, a reliable trunk line system model is generally required to be established, as is known, the trunk line traffic system is a complex system which is random, nonlinear and uncertain, and an accurate mathematical model is difficult to establish.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a trunk intersection control method based on fuzzy control.
The purpose of the invention can be realized by the following technical scheme: a trunk intersection control method based on fuzzy control comprises the following steps:
s1, acquiring actual flow and saturated flow of each intersection signal phase of the trunk line, and calculating to obtain timing basic parameters of each intersection signal phase of the trunk line;
s2, calculating time distribution advance order parameters under the saturated and unsaturated states of the intersection according to the time distribution basic parameters;
s3, dividing the trunk lines between the intersections into a detection road section, a first sub-road section and a second sub-road section;
s4, acquiring the average speed of the first sub-road section to determine the exit road smoothness index of the intersection phase;
obtaining vehicle queue dissipation time of a detected road section to determine a queue dissipation index of an intersection phase;
acquiring the traffic capacity of the second sub-road section to determine the smoothness index of the downstream road section of the intersection phase;
s5, calculating to obtain a trunk line coordination control index by combining the outlet road smoothness index, the queuing dispersion index and the downstream road smoothness index;
s6, acquiring the average speed of the second sub-road section to determine the upstream congestion index of the trunk line at the intersection phase;
s7, designing a trunk line coordination fuzzy controller, taking a trunk line coordination control index and a trunk line upstream congestion index as input, and outputting the predicted display time of a green light;
s8, when the current phase of the intersection reaches the minimum green light display time, obtaining the arrival rate of the vehicles at the other phases of the intersection, and calculating to obtain the urgency indexes of the other phases of the intersection so as to determine the trunk coordination constraint index;
and S9, calculating the green light display time of the intersection phase by combining the green light predicted display time and the trunk line coordination constraint index.
Further, the timing basic parameters in step S1 include phase saturation, intersection saturation, total loss time of the cycle, optimal cycle duration, and display green time, where the phase saturation is:
in the formula, ymiIs a crossPhase saturation of phase i, q of fork mmiIs the actual flow of the m phase i at the intersection, SmiThe saturated flow of the m phase i at the intersection;
the intersection saturation is as follows:
in the formula, YmThe saturation of the intersection m is shown, and n is the total phase number of the intersection m;
the total loss time of the cycle is as follows:
in the formula ImiGreen interval time of m phase i at intersection,/miTime lost to m phase i at the intersection, AmiThe yellow light time of the m phase i at the intersection;
the optimal cycle duration is as follows:
the green light display time is as follows:
gmi＝gmei-Ami+lmi
in the formula, gmiFor the display of m phase i at the intersection, green time, gemiThe effective green time of the m phase i at the intersection.
Further, the step S2 specifically includes the following steps:
s21, judging whether the saturation of the intersection meets a first preset condition:
Ym≥0.9
if yes, executing step S22, otherwise executing step S23;
s22, calculating the minimum period of the intersection in the saturated state as follows:
Cmsmin＝30n
in the formula, CmsminThe minimum period of the intersection m in a saturated state;
the minimum effective green time of each phase under the saturated state of the intersection is as follows:
in the formula (I), the compound is shown in the specification,
the minimum effective green time of the phase i in the saturated state of the intersection m;
the minimum display green time of each phase under the saturated state of the intersection is as follows:
in the formula (I), the compound is shown in the specification,displaying the minimum green time of the phase i in the saturated state of the intersection m;
the maximum cycle at the intersection in the saturated state is:
Cmsmax＝60n
in the formula, CmsmaxThe maximum period of the intersection m in a saturated state;
the maximum effective green time of each phase under the saturated state of the intersection is as follows:
in the formula (I), the compound is shown in the specification,
the maximum effective green time of the phase i at the intersection m in the saturated state;
the maximum green light display time of each phase under the saturated state of the intersection is as follows:
in the formula (I), the compound is shown in the specification,
displaying the maximum green time of the phase i at the intersection m in the saturated state;
s23, calculating the minimum period under the unsaturated state of the intersection as follows:
Cnmsmin＝0.75Cm0
in the formula, CnmsminThe minimum period of the intersection m in an unsaturated state;
the minimum effective green time of each phase under the unsaturated state of the intersection is as follows:
in the formula (I), the compound is shown in the specification,
the minimum effective green time of the phase i at the unsaturated state of the intersection m is set;
the minimum display green time of each phase under the unsaturated state of the intersection is as follows:
in the formula (I), the compound is shown in the specification,for the minimum display green time of phase i at the unsaturated state of m at the intersection, dmiLength v of pedestrian crossing facility corresponding to m phase i at intersectionwThe speed of the pedestrian crossing the street;
the maximum cycle under the unsaturated state of the intersection is as follows:
Cnmsmax＝max{60n，1.5Cm0}
in the formula, CnmsmaxThe maximum period of the intersection m in an unsaturated state;
the maximum effective green time of each phase under the unsaturated state of the intersection is as follows:
in the formula (I), the compound is shown in the specification,the maximum effective green time of the phase i at the unsaturated state of the intersection m is set;
the maximum display green time of each phase at the unsaturated state of the intersection is as follows:
in the formula (I), the compound is shown in the specification,and displaying the green time for the maximum phase i in the unsaturated state at the intersection m.
Further, the length of the link detected in step S3 is:
α＝3.2
in the formula, RjcmiThe length of a detected road section of an m phase i of the intersection is alpha, and alpha is a proportionality coefficient;
the first sub-section and the second sub-section have the same length, specifically:
in the formula, Rs1miAnd Rs2miA first sub-path length and a second sub-path length d of the m phase i of the intersection respectivelymm-1Is crossed withAnd when the second sub-road section contains a ramp exit, the traffic running condition of the ramp region is also detected.
Further, the exit lane clear index of the intersection phase in step S4 is:
in the formula (f)vmiIs an exit road unblocked index of an m phase i of the intersection and is used for describing the unblocked degree of an entrance road released by the m phase i of the intersection and a first sub-road section of a road section between an adjacent intersection m +1 and an intersection m-1, vcmiThe average speed of a first sub-road section of a road section where an exit road is located is m phases i of the intersection;
the queue dissipation index of the intersection phase is as follows:
when Y ismNot less than 0.9, namely under the saturated state of the intersection, the following components are present:
when Y ismLess than 0.9, namely under the unsaturated state of the intersection, the following components are present:
in the formula (f)pmiThe method is a queuing dispersion index of an m phase I of an intersection and is used for describing the vehicle queuing dispersion condition of a detected road section of the m phase I of the intersection, IxmiAdjusting the interval time, T, for the display of m phase i at the intersectionxmiQueuing dissipation time for the vehicles at the m phase i of the intersection;
the downstream road section unblocked index of the intersection phase is as follows:
in the formula (f)εmiIs a downstream road section unblocked index of an intersection m phase i and is used for describing the unblocked degree of an exit road released by the intersection m phase i and a second sub road section of a road section between an adjacent intersection m +1 and an intersection m-1, and q ismiAverage flow rate per unit time for the m-phase i at the intersection, NmiIs the flow rate of m phase i at the intersection in unit time, WmiAnd the traffic capacity of the second sub-road section of the m phase i at the intersection.
Further, the trunk coordination control index in step S5 is:
Jxmi＝fvmi·fpmi·fεmi
in the formula, JxmiAnd the index is the trunk line coordination control index of the m phase i at the intersection.
Further, the congestion index of the trunk upstream in step S6 is:
in the formula (I), the compound is shown in the specification,
a trunk upstream congestion index for the intersection m phase i, describing the degree of congestion of the second sub-section of the section in which the approach is located, vsmiThe calculation of the average speed, which is the average speed of the vehicle in the second sub-segment, when there are ramp exits, comprises the flow of the ramp segment.
Further, the step S7 specifically includes the following steps:
s71, dividing input variables of the trunk coordination control index into 7 fuzzy subsets, and expressing the fuzzy subsets by a set { XXS, XS, S, M, L, XL, XXL }, wherein the queuing length is sequentially increased from 'XXS' to 'XXL';
s72, dividing input variables of the trunk upstream congestion index into 7 fuzzy subsets, and expressing the fuzzy subsets by a set {0L, 1L, 2L, 3L, 4L, 5L, 6L }, namely the congestion degree is gradually reduced from '0L' to '6L';
s73, correspondingly dividing the output variables into 7 fuzzy subsets, and expressing the fuzzy subsets by a set { N, I, II, III, IV, V, VI }, wherein 'N' expresses that the green light display time is expected to be the minimum green light display time, and 'VI' expresses that the green light display time is expected to be the maximum green light display time, namely the green light display time is continuously increased from 'I' to 'V';
s74, defining membership function of fuzzy control rule:
δ＝1.1
in the formula, x is the distribution of state variables, delta is the standard deviation of the distribution of the state variables, and c is the mean value of the distribution of the state variables;
s75, combining the membership function and the input variable, and obtaining a trunk line coordination control index fuzzy subset and a trunk line upstream congestion index fuzzy subset through calculation to obtain a corresponding fuzzy control rule;
s76, based on fuzzy control rule, weighted average is carried out to the output variable to obtain the accurate output value of the fuzzy controller, thereby calculating the expected display time of the green light as:
when Y ism0.9, i.e. in the crossing saturation regime, there are:
when Y ismLess than 0.9, namely under the unsaturated state of the intersection, the following components are present:
in the formula, gymiAnd (3) predicting display time for the green light of the m phase i at the intersection, and P is an accurate output value of the fuzzy controller.
Further, the trunk coordination constraint index in step S8 is:
Zxmi＝flm1+…+flm(i-1)+flm(i+1)...+flmj
in the formula, ZxmiFor the trunk coordination constraint index, f, of the m phase i at the intersectionlmjThe index is the urgent index of the m phase j at the intersection, and j is not equal to i;
when Y ismNot less than 0.9, namely under the saturated state of the intersection, the following components are present:
when Y ismLess than 0.9, namely under the unsaturated state of the intersection, the following components are present:
in the formula, TxmjVehicle queue dissipation time, gamma, for m phase j at intersectionmjVehicle arrival rate at intersection m phase j, SmjIs the saturated flow of the m phase j at the intersection.
Further, the green time displayed at the intersection phase in step S9 is:
when Y ismNot less than 0.9, namely under the saturated state of the intersection, the following components are present:
when Y ismLess than 0.9, namely under the unsaturated state of the intersection, the following components are present:
in the formula, gmisFor the display of m phase i at the intersectionThe lamp time.
Compared with the prior art, the invention has the following advantages:
according to the method, a trunk coordination control index is designed according to an exit road unblocked index, a queuing dissipation index and a downstream road section unblocked index aiming at two states of saturated and unsaturated traffic capacity of an intersection, and a trunk coordination constraint index of a current phase is designed according to queuing conditions of other phases of the same intersection, so that close contact between a trunk and a secondary trunk is effectively guaranteed, the required states of an entrance road and an exit road of each phase of an adjacent intersection can be better balanced, and signal control optimal distribution under the states of saturated and unsaturated traffic capacity of the intersection is realized according to needs.
The invention adopts a fuzzy control method, does not need to establish a complex trunk line control system, and finally determines the green light display time of the phase by calculating the predicted green light display time based on the trunk line coordination control index and the trunk line upstream congestion index so as to solve the problem of unreasonable timing of traffic signal lamps and greatly improve the control efficiency of trunk line intersections and the road traffic capacity of exit ramps.
Drawings
FIG. 1 is a schematic flow diagram of the process of the present invention;
FIG. 2 is a schematic diagram of trunk partitioning in the embodiment.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments.
As shown in fig. 1, a trunk intersection control method based on fuzzy control includes the following steps:
s1, acquiring actual flow and saturated flow of each intersection signal phase of the trunk line, and calculating to obtain timing basic parameters of each intersection signal phase of the trunk line;
s2, calculating time distribution advance order parameters under the saturated and unsaturated states of the intersection according to the time distribution basic parameters;
s3, dividing the trunk lines between the intersections into a detection road section, a first sub-road section and a second sub-road section;
s4, acquiring the average speed of the first sub-road section to determine the exit road smoothness index of the intersection phase;
obtaining vehicle queue dissipation time of a detected road section to determine a queue dissipation index of an intersection phase;
acquiring the traffic capacity of the second sub-road section to determine the smoothness index of the downstream road section of the intersection phase;
s5, calculating to obtain a trunk line coordination control index by combining the outlet road smoothness index, the queuing dispersion index and the downstream road smoothness index;
s6, acquiring the average speed of the second sub-road section to determine the upstream congestion index of the trunk line at the intersection phase;
s7, designing a trunk line coordination fuzzy controller, taking a trunk line coordination control index and a trunk line upstream congestion index as input, and outputting the predicted display time of a green light;
s8, when the current phase of the intersection reaches the minimum green light display time, obtaining the arrival rate of the vehicles at the other phases of the intersection, and calculating to obtain the urgency indexes of the other phases of the intersection so as to determine the trunk coordination constraint index;
and S9, calculating the green light display time of the intersection phase by combining the green light predicted display time and the trunk line coordination constraint index.
The application process of the method in the embodiment comprises the following steps:
b1, determining timing parameters of signal phases of each intersection of the trunk line, wherein the timing parameters comprise timing basic parameters and timing advance parameters;
b2, calculating the trunk line coordination control index of each intersection;
b3, calculating the upstream congestion index of the trunk line;
b4, determining the predicted display time of the green light of the current phase according to the fuzzy control rule;
b5, calculating a trunk coordination constraint index;
b6, determining the display green light time of the current phase according to the expected display time of the green light and the main line coordination constraint index, and then returning to the step B2 to start the signal timing of the next current phase.
Specifically, the specific calculation process of the timing parameter in step B1 is as follows:
b11, calculating a timing basic parameter, wherein the timing basic parameter comprises the following parts:
total loss time of cycle LmThe calculation is made by the following formula:
wherein m is the intersection number, I is the phase number, ImiI green light interval time of m phases at the intersection, n is the total number of m phases at the intersection, lmiTime lost for m phase i at the intersection, AmiThe time of yellow light is i phase position at the intersection;
m phase i saturation y at intersectionmiThe calculation is made by the following formula:
in the formula qmiFor m phase i actual flow at the intersection, SmiSaturated flow of an m phase i at an intersection;
m saturation Y at intersectionmCalculated by the following formula:
intersection m optimal cycle duration Cm0Calculated by the following formula:
b12, calculating a timing advance parameter, wherein the timing advance parameter comprises the following parts:
totally divided into 2 cases, the 1 st case, when the intersection is not saturated, namely the saturation Y of the intersectionmMinimum period C < 0.9mnsminMinimum effective green time at intersection m phase i
And minimum display green time
Calculated by the following formula:
Cmnsmin＝0.75C0m
in the formula (d)miLength v of pedestrian crossing facility corresponding to m phase i at intersectionwThe speed of the pedestrian crossing the street.
Maximum period CmnsmaxMaximum effective green time of m phase i at intersection
And maximum display green timeCalculated by the following formula:
Cmnsmax＝max{60n，1.5C0m}
in case 2, when the intersection reaches saturation, namely, the saturation Y of the intersectionmAt > 0.9, minimum period CmsminMinimum effective green time at intersection m phase i
And minimumDisplay green time
Calculated by the following formula:
Cmsmin＝30n
maximum period CmsmaxMaximum effective green time of m phase i at intersection
And maximum display green time
Calculated by the following formula:
Cmsmax＝60n
specifically, calculating the trunk coordination control index in step B2 requires dividing trunks between intersections, that is, dividing the road space according to the influence of different spaces on signal timing and vehicle queuing dissipation mechanism, as shown in fig. 2, the trunk between intersections is divided into three sections, i.e., a first sub-section 1, a second sub-section 2, and a detection section 3, where the length R of the detection section 3 at the m-phase i of the intersection is equal to the length R of the detection section 3 at the m-phase i of the intersectionjcmiCalculated by the following formula:
in the formula, alpha is a proportionality coefficient, and is 3.2 in the embodiment;
in the formula (d)mm-1When the second sub-road section contains a ramp exit 4, the traffic running condition of the ramp area needs to be detected;
the detection road section mainly starts from a queuing dissipation angle, and the essential requirement on signal timing is mainly described; the first sub-section can ensure that the downstream does not overflow for the upstream entrance way, and the upstream vehicles enter the first sub-section of the downstream and have space for storage and dissipation; the second sub-road section describes the smoothness of the road section, and the important description is the saturation of the traffic capacity;
then, calculating a m-phase i trunk line coordination control index J of the intersection through the following formulaxmi：
Jxmi＝fvmi·fpmi·fεmi
In the formula (f)vmiIs the exit road unblocked index, f, of the m phase i at the intersectionpmiIs the queue dissipation index, f, of the m phase i at the intersectionεmiThe downstream road section unblocked index of the m phase i of the intersection;
fvmidescribing the unblocked degree of an entrance road released by the m phase i of the intersection and a first sub road section of a road section clamped by the m +1 and the m-1 of the intersection as the exit road unblocked index of the m phase i of the intersection, and calculating by the following formula:
in the formula, vcmiThe average speed of a first sub-road section of a road section where an exit road is located is m phases i of the intersection;
fpmidescribing the vehicle queue dissipation condition of the detected road section of the m phase i of the intersection for the queue dissipation index of the m phase i of the intersection, and calculating by the following formula:
in the formula IxmiAdjusting the interval time, T, for the display of m phase i at the intersectionxmiDisplaying the green light time for the phase i to be estimated at the initial green light time, determined by the queue dissipation time;
fεmidescribing the unblocked degree of an exit road released by the m phase i of the intersection and a second sub road section of a road section clamped by the m +1 and the m-1 of the intersection as the downstream road section unblocked index of the m phase i of the intersection, and calculating by the following formula:
in the formula, qmiAverage flow rate per unit time for the m-phase i at the intersection, NmiIs the flow rate of m phase i at the intersection in unit time, WmiAnd the traffic capacity of the second sub-road section of the m phase i at the intersection.
Specifically, the intersection m-phase i trunk upstream congestion index in step B3
Describing the degree of congestion of the second sub-section of the section where the entrance way is located, the degree of congestion is calculated by the following formula:
in the formula, vsmiThe calculation of the average speed for the second sub-segment, when containing the down-ramp exit, also includes the flow for the down-ramp segment.
Specifically, the fuzzy control rule in step B4 is a process of inputting the trunk coordination control index and the trunk upstream congestion index into the trunk coordination fuzzy controller, and outputting the predicted green light display time, where the domains of the trunk coordination control index and the trunk upstream congestion index are both [0, 6], and the predicted green light display time range is [0, 7 ]; the input variable of the trunk line coordination control index is divided into 7 fuzzy subsets and is represented by a set { XXS, XS, S, M, L, XL, XXL }, namely the queuing length of the vehicles is sequentially increased from 'XXS' to 'XXL'; the input variable of the congestion index at the upstream of the trunk is divided into 7 fuzzy subsets, and the fuzzy subsets are represented by a set {0L, 1L, 2L, 3L, 4L, 5L, 6L }, namely the congestion degree is gradually reduced from '0L' to '6L'; the output variable is also divided into 7 fuzzy subsets and is represented by a set { N, I, II, III, IV, V, VI }, wherein 'N' represents that the green light display time is expected to be the minimum green light display time, and 'VI' represents that the green light display time is expected to be the maximum green light display time, namely the green light display time is continuously increased from 'I' to 'V'; the membership function in the fuzzy control rule has the following form:
wherein, x is the state variable distribution, δ is the standard deviation of the state variable distribution, the value is 1.1, and c is the mean value of the state variable distribution, and the correspondence between the trunk coordination control index fuzzy subset and the correspondence between the trunk upstream congestion index fuzzy subsets are calculated and obtained as shown in table 1 and table 2 respectively:
TABLE 1
TABLE 2
The corresponding fuzzy control rule is obtained as shown in table 3,
TABLE 3
According to fuzzy control rules, a Mamdani method is adopted for fuzzy reasoning, a weighted average method is used for carrying out sharpening processing on fuzzy quantity, and the accurate output value P of the fuzzy controller is obtained and is shown in a table 4:
TABLE 4
Then the green light is expected to display time gymiCalculated by the following formula:
specifically, the trunk coordination constraint index Z in step B5xmiThe calculation is made by the following formula:
Zxmi＝flm1+…+flm(i-1)+flm(i+1)...+flmj
in the formula (f)lm1、...、flmjRespectively representing the urgency indexes of other phases except the m phase i at the intersection;
when m phase i of the intersection reaches the minimum display green moment, the phase j except the phase i is pressed to index flmjCalculated by the following formula:
in the formula, gammamjThe vehicle arrival rate at the intersection m phase j.
Specifically, the intersection m-phase i in step B6 displays the green time gmisCalculated by the following formula:
in summary, the invention takes the queuing dissipation time as a perception object and a control object, designs a trunk coordination control index according to the clear index of an outlet channel, the queuing dissipation index and the clear index of a downstream road section aiming at two states of saturated and unsaturated traffic capacity of an intersection, designs a trunk coordination constraint index of the current phase according to the queuing conditions of other phases of the same intersection, optimally designs a fuzzy controller, calculates the predicted green light display time, and determines the green light display time of the current phase by combining the trunk coordination constraint index.
The invention can better balance the demand states of the inlet road and the outlet road of each phase of the adjacent intersection, and realize the optimal distribution of the signal control according to the demand under the saturated and unsaturated states of the traffic capacity of the intersection, thereby effectively improving the signal control efficiency of the trunk intersection, improving the road traffic capacity of the exit ramp and avoiding the problem of the reduction of the traffic efficiency of the trunk intersection caused by the unreasonable arrangement of traffic lights.
Claims (10)
1. A trunk intersection control method based on fuzzy control is characterized by comprising the following steps:
s1, acquiring actual flow and saturated flow of each intersection signal phase of the trunk line, and calculating to obtain timing basic parameters of each intersection signal phase of the trunk line;
s2, calculating time distribution advance order parameters under the saturated and unsaturated states of the intersection according to the time distribution basic parameters;
s3, dividing the trunk lines between the intersections into a detection road section, a first sub-road section and a second sub-road section;
s4, acquiring the average speed of the first sub-road section to determine the exit road smoothness index of the intersection phase;
obtaining vehicle queue dissipation time of a detected road section to determine a queue dissipation index of an intersection phase;
acquiring the traffic capacity of the second sub-road section to determine the smoothness index of the downstream road section of the intersection phase;
s5, calculating to obtain a trunk line coordination control index by combining the outlet road smoothness index, the queuing dispersion index and the downstream road smoothness index;
s6, acquiring the average speed of the second sub-road section to determine the upstream congestion index of the trunk line at the intersection phase;
s7, designing a trunk line coordination fuzzy controller, taking a trunk line coordination control index and a trunk line upstream congestion index as input, and outputting the predicted display time of a green light;
s8, when the current phase of the intersection reaches the minimum green light display time, obtaining the arrival rate of the vehicles at the other phases of the intersection, and calculating to obtain the urgency indexes of the other phases of the intersection so as to determine the trunk coordination constraint index;
and S9, calculating the green light display time of the intersection phase by combining the green light predicted display time and the trunk line coordination constraint index.
2. The method for controlling the trunk intersection based on the fuzzy control as claimed in claim 1, wherein the timing basic parameters in the step S1 include phase saturation, intersection saturation, total loss time of the cycle, optimal cycle duration and display green time, and the phase saturation is:
in the formula, ymiPhase saturation of m phase i at intersection, qmiIs the actual flow of the m phase i at the intersection, SmiThe saturated flow of the m phase i at the intersection;
the intersection saturation is as follows:
in the formula, YmThe saturation of the intersection m is shown, and n is the total phase number of the intersection m;
the total loss time of the cycle is as follows:
in the formula ImiGreen interval time of m phase i at intersection,/miTime lost to m phase i at the intersection, AmiThe yellow light time of the m phase i at the intersection;
the optimal cycle duration is as follows:
the green light display time is as follows:
gmi＝gmei—Ami+lmi
in the formula, gmiFor the display of m phase i at the intersection, green time, gemiThe effective green time of the m phase i at the intersection.
3. The method for controlling the intersection of the trunk line based on the fuzzy control as claimed in claim 2, wherein the step S2 specifically comprises the steps of:
s21, judging whether the saturation of the intersection meets a first preset condition:
Ym≥0.9
if yes, executing step S22, otherwise executing step S23;
s22, calculating the minimum period of the intersection in the saturated state as follows:
Cmsmin＝30n
in the formula, CmsminThe minimum period of the intersection m in a saturated state;
the minimum effective green time of each phase under the saturated state of the intersection is as follows:
in the formula (I), the compound is shown in the specification,
the minimum effective green time of the phase i in the saturated state of the intersection m;
the minimum display green time of each phase under the saturated state of the intersection is as follows:
in the formula (I), the compound is shown in the specification,
displaying the minimum green time of the phase i in the saturated state of the intersection m;
the maximum cycle at the intersection in the saturated state is:
Cmsmax＝60n
in the formula, CmsmaxThe maximum period of the intersection m in a saturated state;
the maximum effective green time of each phase under the saturated state of the intersection is as follows:
in the formula (I), the compound is shown in the specification,
the maximum effective green time of the phase i at the intersection m in the saturated state;
the maximum green light display time of each phase under the saturated state of the intersection is as follows:
in the formula (I), the compound is shown in the specification,displaying the maximum green time of the phase i at the intersection m in the saturated state;
s23, calculating the minimum period under the unsaturated state of the intersection as follows:
Cnmsmin＝0.75Cm0
in the formula, CnmsminThe minimum period of the intersection m in an unsaturated state;
the minimum effective green time of each phase under the unsaturated state of the intersection is as follows:
in the formula (I), the compound is shown in the specification,
the minimum effective green time of the phase i at the unsaturated state of the intersection m is set;
the minimum display green time of each phase under the unsaturated state of the intersection is as follows:
in the formula (I), the compound is shown in the specification,for the minimum display green time of phase i at the unsaturated state of m at the intersection, dmiLength v of pedestrian crossing facility corresponding to m phase i at intersectionwThe speed of the pedestrian crossing the street;
the maximum cycle under the unsaturated state of the intersection is as follows:
Cnmsmax＝max{60n，1.5Cm0}
in the formula, CnmsmaxThe maximum period of the intersection m in an unsaturated state;
the maximum effective green time of each phase under the unsaturated state of the intersection is as follows:
in the formula (I), the compound is shown in the specification,
the maximum effective green time of the phase i at the unsaturated state of the intersection m is set;
the maximum display green time of each phase at the unsaturated state of the intersection is as follows:
in the formula (I), the compound is shown in the specification,and displaying the green time for the maximum phase i in the unsaturated state at the intersection m.
4. The method for controlling the intersection of the trunk road based on the fuzzy control as claimed in claim 3, wherein the length of the detected road section in the step S3 is as follows:
α＝3.2
in the formula, RjcmiThe length of a detected road section of an m phase i of the intersection is alpha, and alpha is a proportionality coefficient;
the first sub-section and the second sub-section have the same length, specifically:
in the formula, Rs1miAnd Rs2miA first sub-path length and a second sub-path length d of the m phase i of the intersection respectivelymm-1For the length of the section between intersection m and intersection m-1, when the second sub-sectionWhen the ramp exit is included, the traffic operation condition of the ramp area is also detected.
5. The trunk intersection control method based on fuzzy control as claimed in claim 4, wherein said exit lane clear index of intersection phase in step S4 is:
in the formula (f)vmiIs an exit road unblocked index of an m phase i of the intersection and is used for describing the unblocked degree of an entrance road released by the m phase i of the intersection and a first sub-road section of a road section between an adjacent intersection m +1 and an intersection m-1, vcmiThe average speed of a first sub-road section of a road section where an exit road is located is m phases i of the intersection;
the queue dissipation index of the intersection phase is as follows:
when Y ismNot less than 0.9, namely under the saturated state of the intersection, the following components are present:
when Y ismLess than 0.9, namely under the unsaturated state of the intersection, the following components are present:
in the formula (f)pmiThe method is a queuing dispersion index of an m phase I of an intersection and is used for describing the vehicle queuing dispersion condition of a detected road section of the m phase I of the intersection, IxmiFor the display of m-phase i at crossingsGreen light adjustment interval, TxmiQueuing dissipation time for the vehicles at the m phase i of the intersection;
the downstream road section unblocked index of the intersection phase is as follows:
in the formula (f)εmiIs a downstream road section unblocked index of an intersection m phase i and is used for describing the unblocked degree of an exit road released by the intersection m phase i and a second sub road section of a road section between an adjacent intersection m +1 and an intersection m-1, and q ismiAverage flow rate per unit time for the m-phase i at the intersection, NmiIs the flow rate of m phase i at the intersection in unit time, WmiAnd the traffic capacity of the second sub-road section of the m phase i at the intersection.
6. The method for controlling the trunk intersection based on the fuzzy control as claimed in claim 5, wherein the trunk coordination control index in the step S5 is:
Jxmi＝fvmi·fpmi·fεmi
in the formula, JxmiAnd the index is the trunk line coordination control index of the m phase i at the intersection.
7. The method for controlling the intersection of the trunk line based on the fuzzy control as claimed in claim 6, wherein the congestion index of the trunk line upstream in the step S6 is as follows:
in the formula (I), the compound is shown in the specification,for m phases i at crossingsA trunk upstream congestion index describing the degree of congestion of a second sub-section of the section in which the approach is located, vsmiThe calculation of the average speed, which is the average speed of the vehicle in the second sub-segment, when there are ramp exits, comprises the flow of the ramp segment.
8. The method for controlling the intersection of the trunk line based on the fuzzy control as claimed in claim 7, wherein the step S7 specifically comprises the steps of:
s71, dividing input variables of the trunk coordination control index into 7 fuzzy subsets, and expressing the fuzzy subsets by a set { XXS, XS, S, M, L, XL, XXL }, wherein the queuing length is sequentially increased from 'XXS' to 'XXL';
s72, dividing input variables of the trunk upstream congestion index into 7 fuzzy subsets, and expressing the fuzzy subsets by a set {0L, 1L, 2L, 3L, 4L, 5L, 6L }, namely the congestion degree is gradually reduced from '0L' to '6L';
s73, correspondingly dividing the output variables into 7 fuzzy subsets, and expressing the fuzzy subsets by a set { N, I, II, III, IV, V, VI }, wherein 'N' expresses that the green light display time is expected to be the minimum green light display time, and 'VI' expresses that the green light display time is expected to be the maximum green light display time, namely the green light display time is continuously increased from 'I' to 'V';
s74, defining membership function of fuzzy control rule:
δ＝1.1
in the formula, x is the distribution of state variables, delta is the standard deviation of the distribution of the state variables, and c is the mean value of the distribution of the state variables;
s75, combining the membership function and the input variable, and obtaining a trunk line coordination control index fuzzy subset and a trunk line upstream congestion index fuzzy subset through calculation to obtain a corresponding fuzzy control rule;
s76, based on fuzzy control rule, weighted average is carried out to the output variable to obtain the accurate output value of the fuzzy controller, thereby calculating the expected display time of the green light as:
when Y ismNot less than 0.9, namely under the saturated state of the intersection, the following components are present:
when Y ismLess than 0.9, namely under the unsaturated state of the intersection, the following components are present:
in the formula, gymiAnd (3) predicting display time for the green light of the m phase i at the intersection, and P is an accurate output value of the fuzzy controller.
9. The method for controlling the trunk intersection based on the fuzzy control as claimed in claim 8, wherein the trunk coordination constraint index in the step S8 is:
Zxmi＝flm1+…+flm(i-1)+flm(i+1)...+flmj
in the formula, ZxmiFor the trunk coordination constraint index, f, of the m phase i at the intersectionlmjThe index is the urgent index of the m phase j at the intersection, and j is not equal to i;
when Y ismNot less than 0.9, namely under the saturated state of the intersection, the following components are present:
when Y ismLess than 0.9, namely under the unsaturated state of the intersection, the following components are present:
in the formula, TxmjVehicle queue dissipation time, gamma, for m phase j at intersectionmjVehicle arrival rate at intersection m phase j, SmjIs the saturated flow of the m phase j at the intersection.
10. The method for controlling the intersection of the trunk line based on the fuzzy control as claimed in claim 9, wherein the display green time of the intersection phase in the step S9 is as follows:
when Y ismNot less than 0.9, namely under the saturated state of the intersection, the following components are present:
when Y ismLess than 0.9, namely under the unsaturated state of the intersection, the following components are present:
in the formula, gmisAnd displaying the green time for the m phase i of the intersection.
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