CN110660233B - Method for setting optimal signal period calculation of reverse variable lane intersection - Google Patents
Method for setting optimal signal period calculation of reverse variable lane intersection Download PDFInfo
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Abstract
The invention relates to a method for setting optimal signal period calculation of a reverse variable lane intersection. In the process of determining the traffic capacity of the reverse variable lane and the left-turn special lane, the state of a subsequent vehicle reaching a rear lane selection model is fully considered, a signalized intersection traffic capacity calculation model for correcting the following model to determine the acceleration of the subsequent vehicle and setting the reverse variable lane is established, then the maximum utilization rate of the reverse variable lane is taken as a target according to the calculation result and the actual running characteristic of the intersection, the optimal green light duration of the signalized intersection entrance lane of the reverse variable lane is calculated, the optimal signal period is calculated according to the relation of each flow of the intersection, and the signalized intersection traffic capacity model of the reverse variable lane is based on the actual running characteristic of the reverse variable lane, so that the optimal green light duration and the optimal signal period under the condition are more accurate.
Description
Technical Field
The invention relates to the field of traffic signal control, in particular to a method for setting optimal signal period calculation of a reverse variable lane intersection.
Background
With the further increase of urban traffic pressure, a left-turn supersaturation state appears at the urban intersection peak, and in order to effectively solve the problems, a reverse variable lane control method is provided. As a novel intersection design method, the green light time and the signal period of the current intersection lack effective basis, and the running characteristics of the reverse variable lane are not combined, so that lane time resource waste and traffic capacity reduction are caused. Therefore, the invention provides a method for calculating the optimal signal period of the intersection with the reverse variable lane by deeply researching and analyzing the running characteristics of the reverse variable lane at the current intersection and combining the established reverse variable lane traffic capacity calculation model, and the traffic efficiency of the intersection with the reverse variable lane can be improved.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a method for setting the optimal signal period of a reverse variable lane intersection.
The purpose of the invention is realized by the following technical scheme:
the invention comprises the following steps:
A) firstly, establishing a signalized intersection traffic capacity calculation model with reverse variable lanes
The method comprises the following steps of establishing a signalized intersection traffic capacity calculation model for setting a reverse variable lane, wherein the signalized intersection traffic capacity calculation model comprises the following steps:
a) firstly, determining the traffic flow characteristic of a left turn lane at an intersection with reverse variable lanes
And (4) surveying the arrival and passing vehicle number of the reverse variable lane and the left-turn lane at the peak time and the intersection signal timing scheme, and calculating the maximum queuing vehicle number P of the left-turn lane by using the data obtained by surveying.
b) Then determining intersection design parameters
Measuring the number m of left-turning lanes at the current intersection on sitelThe length L of the reverse variable lane is arranged at the intersectionrLength l of central isolation fence openingqThe distance L between the stop line of the opposite entry lane and the stop line of the entry lane1Adjacent outlet channel width L4Length L of the section of the inlet channel at the intersection2And waiting for intersection parameters.
c) And finally establishing a signalized intersection traffic capacity calculation model with reverse variable lanes
The process of establishing the signalized intersection traffic capacity calculation model of the reverse variable lane comprises the following steps:
1) firstly, establishing a left-turn vehicle initial release model, describing vehicle release characteristics of a reverse variable lane and a left-turn special lane in an initial state, wherein the left-turn vehicle initial release state follows a traffic flow starting wave model. The method comprises the steps of firstly calculating the minimum time for the reverse variable lane to be started in advance according to design parameters of an intersection, then calculating the number of queued vehicles of the reverse variable lane according to the saturated vehicle head distance, and enabling the queued vehicles on a left-turn special lane and the queued vehicles on the reverse variable lane to release a start wave model according with the traffic flow.
2) Secondly, establishing a subsequent arriving vehicle lane selection model
When vehicles queued on the reverse variable lane and the left-turn special lane in the initial state start to be released, subsequent vehicles arrive at the opening of the central isolation guardrail, and decision-making lane selection is carried out. And selecting the vehicle lane based on a user balance model theory, and selecting the time optimal path by taking the shortest time passing through the intersection stop line as a target. Firstly, determining the situation of the arrival of a subsequent vehicle at a decision point, including parameters such as the time of arrival at the decision point, the speed and the like. And determining the acceleration of the rear vehicle in the queuing following and free flow states based on the distance between the front vehicle and the rear vehicle under the traffic flow state of the intersection by correcting the following model parameters. At the moment, the possible passing time of the vehicle for selecting the reverse variable lane and the passing time of the vehicle for selecting the left-turn special lane when the decision point is reached are respectively calculated. And finally, according to the user balance minimum time theory, the driver selects the lane according to the minimum passing time.
3) Then determining the passing condition of vehicles turning left in advance by closing the reverse variable lane
The reverse variable lane is closed in advance, the minimum closing time of the reverse variable lane is determined, the vehicles arriving subsequently can only drive away from the intersection through the left-turn special lane, and the vehicles only have a left-turn path selection mode.
4) And finally establishing a signalized intersection traffic capacity calculation model with reverse variable lanes
According to a left-turn vehicle release model in an initial release state and a subsequent left-turn model for vehicle lane selection when a green light is turned on, determining the left-turn vehicle passing condition after a reverse variable lane is closed, and establishing a signalized intersection passing capacity calculation model for setting the reverse variable lane. And finally, according to the left-turn vehicle driving-off condition in the green light period of the two lanes, overlapping the number of the vehicles passing through the reverse variable lane and the number of the vehicles passing through the left-turn special lane in the signal period together to obtain the left-turn traffic capacity of the intersection with the reverse variable lane.
B) Then determining the optimal green light duration and the optimal period of the signalized intersection with the reverse variable lane
The step of determining the optimal green light duration and the optimal period comprises the following steps:
1) design for determining and setting reverse variable lane intersection signal phase sequence
For example, in a general four-way intersection, on an entrance lane provided with a reverse variable lane, in the signal phase sequence design, the entrance turns left first and then goes straight, and the signal phase of the reverse variable lane is treated as a following phase in the intersection.
2) Calculating the optimal green light duration of the signalized intersection with the reverse variable lane
Through a signalized intersection traffic capacity calculation formula of the reverse variable lane in A), the vehicle release condition of the vehicles lined up on the reverse variable lane in the initial state is calculated, then different traffic time of the vehicles for selecting left turn is calculated according to a subsequent vehicle lane selection model, and the minimum value is taken for lane selection. The subsequently arriving vehicle then selects between the reverse changeable lane and the left-turn exclusive lane. The optimal green light duration is targeted at the highest utilization rate of the reverse variable lane, and the ratio of the number of passing vehicles of the reverse variable lane to the number of passing vehicles of the left-turn special lane is calculated according to the lane selection condition on the basis of the minimum advanced closing time of the reverse variable lane. And when the utilization rate is the highest value, determining the passing time of the last vehicle selecting the reverse variable lane as the basis, and calculating the optimal green light duration of the signalized intersection of the reverse variable lane.
3) Determining optimal signal period of signalized intersection with reverse variable lanes
Determining the optimal signalized intersection signal period for setting the reverse variable lane according to the optimal green light time of the signalized intersection for setting the reverse variable lane obtained in the step 2), combining the left-turn saturated flow and the intersection flow, and according to the calculation relation between the green light time and the optimal period.
In the process of determining the traffic capacity of the reverse variable lane and the left-turn special lane, the state of a subsequent vehicle reaching a rear lane selection model is fully considered, a signalized intersection traffic capacity calculation model for correcting the following model to determine the acceleration of the subsequent vehicle and setting the reverse variable lane is established, then the maximum utilization rate of the reverse variable lane is taken as a target according to the calculation result and the actual running characteristic of the intersection, the optimal green light duration of the signalized intersection entrance lane of the reverse variable lane is calculated, the optimal signal period is calculated according to the relation of each flow of the intersection, and the signalized intersection traffic capacity model of the reverse variable lane is based on the actual running characteristic of the reverse variable lane, so that the optimal green light duration and the optimal signal period under the condition are more accurate.
The invention has the beneficial effects that:
when the optimal green light time and the optimal signal period of the signalized intersection with the reverse variable lane are determined, the method firstly determines an intersection phase and phase sequence design scheme according to the actual running characteristics of the reverse variable lane on the basis of the actual design parameters of the intersection, and establishes the optimal green light time and the optimal signal period of the signalized intersection with the reverse variable lane by fully considering the acceleration of the vehicle during left turning on the basis of a subsequent arrival vehicle lane selection model.
The method aims at the highest utilization rate of the reverse variable lane, determines the traffic capacity of the reverse variable lane according to the size parameters of the intersection canalization section, the length of the reverse variable lane and the like and the traffic flow characteristics of left-turn vehicles at the intersection, and calculates the optimal green light duration and the optimal signal period of the reverse variable lane at the intersection more accurately according to a reverse variable lane traffic capacity calculation model, thereby improving the traffic efficiency of the signal intersection for setting the reverse variable lane.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a diagram of a signal timing scheme employed by the present invention;
FIG. 3 is a schematic illustration of the initial left turn vehicle release at the intersection of the present invention;
FIG. 4 is a schematic diagram of a subsequent vehicle lane-selection passing of the present invention;
FIG. 5 is a schematic view of the present invention showing the time when the rear vehicle reaches the stop line
FIG. 6 is a schematic diagram of reverse variable lane closing left turn vehicle traffic in accordance with the present invention.
Detailed Description
The invention is explained in further detail below with reference to the drawings and examples;
the method takes the highest utilization rate of the reverse variable lane as a target, fully considers the state of a subsequent vehicle reaching a post-selection model, establishes a signalized intersection traffic capacity calculation model for setting the reverse variable lane by considering the acceleration of the subsequent vehicle, calculates the optimal green light time of the signalized intersection entrance lane for setting the reverse variable lane by combining the actual running characteristic of the intersection, calculates the optimal signal period, and makes the optimal green light time and the optimal signal period more accurate on the basis of the actual running characteristic of the reverse variable lane.
As shown in fig. 1, the present invention includes: the method comprises the steps of firstly determining basic parameters of the signalized intersection, then establishing a signalized intersection traffic capacity calculation model of a reverse variable lane, then calculating and setting the optimal left-turning green light time of the signalized intersection of the reverse variable lane, and finally determining and setting the optimal signal period of the signalized intersection of the reverse variable lane according to the relation between the green light time and the period.
A) Firstly, establishing a signalized intersection traffic capacity calculation model with reverse variable lanes
The traffic flow characteristics of the intersection with the reverse variable lane, intersection design parameters and a signal timing scheme of the intersection are required to be acquired, and finally a signalized intersection traffic capacity calculation model with the reverse variable lane is established.
a) Firstly, determining the traffic flow characteristic of a left turn lane at an intersection with reverse variable lanes
The data source is mainly used for acquiring data for calculating the traffic flow characteristic of the left-turn lane through field investigation, and comprises the following steps: the scheme of the signal timing of the arrival, the passing number and the intersection of the reverse variable lane and the left-turn lane in the peak period is shown in figure 2.
The parameters here include: single period tnThe maximum number P of the vehicles in the left turn lane, the vehicle arrival rate q of the intersection, and the flow direction proportion k of the left turn in the intersectioniCorrection factor gamma of arriving vehicle, time t of left-turn red lighthNumber m of lanes turning left at intersectionlThe number P of left-turn vehicles left in the previous cyclere。
b) Then determining intersection design parameters
By measuring the number m of left-turning lanes at the current intersection on sitelThe length L of the reverse variable lane is arranged at the intersectionrLength l of central isolation fence openingqThe distance L between the stop line of the opposite entry lane and the stop line of the entry lane1Adjacent outlet channel width L4Length L of the section of the inlet channel at the intersection2。
c) And finally establishing a signalized intersection traffic capacity calculation model with reverse variable lanes
The process of establishing the signalized intersection traffic capacity calculation model of the reverse variable lane comprises the following steps:
1) first, an initial release model of left-turn vehicles is established, and left-turn vehicle release states of the reverse variable lane and the left-turn special lane in the initial state are described, wherein the initial release state of the left-turn vehicles follows a traffic flow starting wave model, and the left-turn vehicle release state is shown in fig. 3.
11) Minimum time for advance opening of reverse variable lane
Here, the calculation of the parameters includes: minimum time t for advance opening of reverse variable laneaTime t when the first vehicle starts to enter the reverse laneoThe length L of the reverse variable lane is arranged at the intersectionrAverage speed V of vehicle running on reverse variable lane with pre-signal onu。
12) Number of vehicles in line in reverse variable lane
Here, the calculation of the parameters includes: length L of reverse variable lanerSaturated vehicle head spacing loThe parking space l between two adjacent vehicles in the parking queuejLength l of body of vehicle in parking queuec。
13) Traffic flow starting wave model
Here, the calculation of the parameters includes: velocity of start wave UwSaturated headway h, density k of traffic jamjVehicle start delay G1N +1 th vehicle from the time of starting acceleration until the time of driving off the intersection through the stop line
Time t taken for maximum travel speedaAcceleration a of following vehicle in linegAfter the traffic flow is stably driven, the maximum speed of the following driving is the driving speed u corresponding to the saturated head time distanceDegree of rotation
Distance l traveled by left-turn vehicle after starting to accelerate to maximum driving speedθ。
The vehicle queuing release follows a traffic flow starting wave model, and the vehicles in the queue of the reverse variable lane and the left-turning special lane are all according to the following formula:
when the passing time of the n +1 th vehicle in line of the subsequent left-turning vehicle is as follows:
time t taken for left-turn vehicle to accelerate to maximum travel speed after startingaDistance l traveledθ：
Vehicle passing stop-line time:
2) Secondly, establishing a subsequent arriving vehicle lane selection model
When vehicles queued on the reverse variable lane and the left-turn dedicated lane in the initial state start to be released, the vehicles arrive at the opening of the central isolation guardrail after reaching the opening, and decision-making and lane selection are performed, as shown in fig. 4.
21) User balance model theory for lane selection
Here, the calculation of the parameters includes: traffic volume x on a road sectionaTraffic impedance t on road sectionaTraffic impedance function t of road section a with traffic volume as argumenta(xa) Traffic flow of the k-th route
OD amount qrsPath dependent variables
22) Determining subsequent vehicle arrival decision point conditions
Setting the opening of the central isolation guardrail as a subsequent vehicle decision point, and deciding whether to select a reverse variable lane according to a user balance model by the vehicle, wherein the speed and the arrival time of the subsequent arriving vehicle when queuing to the decision point need to be calculated.
The calculating of the parameters includes: saturated head spacing loMaximum acceleration distance l in following stateθTime to decision point
Length L of reverse variable lane arranged at intersectionrAcceleration a of following vehicle in linegMaximum speed V for queuing and followingl 1Speed V to decision pointd。
Vehicle arrival at decision point time:
Speed of subsequent vehicle reaching decision point:
23) determining rear vehicle acceleration by modifying the following model
A modified stimulus-response type following model for determining a rear vehicle acceleration from a front-rear vehicle distance, wherein the calculation parameters include: n acceleration a of vehicle at time T + Tn(T + T), speed v of n-1 vehicle and n vehicle at time Tn-1(t) and vn(t), n-1 vehicle and n vehicle's displacement x at time tn-1(t) and xn(T), the reaction time T of the driver, the sensitivity coefficient lambda and undetermined parameters m and l. Obtaining the nth vehicle acceleration:
24) vehicle reverse variable lane transit time selection
Here, the calculation of the parameters includes: time t for vehicle to pass through openingrSpeed of vehicle after arriving at reverse variable lane
Acceleration a under free flowfMaximum velocity V under free flowl', acceleration time t under free flowβAcceleration distance l under free flowβInitial front and rear vehicle head interval hsMinimum safe headway hoLength L of reverse variable lanerAcceleration a of following vehicle in linegTime T when vehicle passes through stop linei’；
Speed of the vehicle after reaching the reverse variable lane:
when the vehicle reaches the reverse variable lane, the vehicle starts free-flow running, and at the moment, the fastest running time of the vehicle needs to be compared with the moment when the front vehicle reaches the stop line.
At the end of the canalized lane, a vehicle i-1 and a rear vehicle i in a following state run, and the headway time of the front vehicle and the rear vehicle is hs. If the front and the rear vehicles pass through different acceleration processes, the head time distance at the stop line is just shortened to ho. Namely, it is
Ti’-T’i-1≤h0
If the inequality is true, the actual passing time T of the rear vehiclei'＝Ti’-T’i-1(ii) a Otherwise, it is the requested Ti', see FIG. 5.
25) Vehicle left-turn special lane passing time selection
If the front vehicle is driven through the intersection in a queue following manner, when the starting wave is transmitted to the vehicle, the vehicle continues to accelerate at the saturated traffic flow acceleration agThe front vehicles are queued and driven away from the intersection with the following vehicles:
If the front vehicle leaves the intersection in the free flow state, the vehicle is also in free flow running, and the following steps are performed:
Similarly, when the vehicle selects the left-turn lane, if the front and rear vehicles exit the intersection in a following state, the headway of the front and rear vehicles is hoThe limit state at which this situation occurs is hoAfter the two vehicles pass through different acceleration processes, the time distance between the two vehicles at the stop line is just shortened to ho。
Ti”-T”i-1≤h0
If the inequality is true, the actual passing time T of the rear vehiclei”＝Ti-1+h0(ii) a Otherwise, it is the requested Ti”。
26) Selecting the lane according to the minimum passing time
Calculating the lane selection model to obtain the time T when the vehicles with the reverse variable lanes pass through the stop linei', time T when the vehicle passing through the stop line in the left-turn special lanei", the lane selection is completed according to the user balance model.
3) A reverse variable lane early turn-off left-turn vehicle traffic condition is determined, see fig. 6.
The reverse variable lane is closed in advance, a vehicle arriving subsequently can only drive away from the intersection through a left-turn special lane, the minimum closing time of the reverse variable lane is determined, and the calculation parameters comprise: reverse variable lane closing in advance for a minimum time tbTime t of vehicle passing through openingrLength L of reverse variable lanerAcceleration under free flow afSpeed of vehicle after passing through opening
Stable speed V for reverse variable lane drivingc。
4) Establishing signalized intersection traffic capacity calculation model with reverse variable lanes
And establishing a signalized intersection traffic capacity calculation model for setting the reverse variable lane according to the left-turn vehicle release model and the subsequent arrival vehicle lane selection model in the previous initial state and according to the left-turn vehicle traffic condition after the reverse variable lane is closed. And finally, according to the respective vehicle driving-off conditions of the two lanes, overlapping the number of the vehicles passing through the reverse variable lane and the number of the vehicles passing through the left-turn special lane within unit time, and obtaining the left-turn traffic capacity of the intersection of the reverse variable lane.
B) Then determining the optimal green light duration and the optimal period of the signalized intersection with the reverse variable lane
The step of determining the optimal green light duration and the optimal period comprises the following steps:
1) design for determining and setting reverse variable lane intersection signal phase sequence
For example, in a general four-way intersection, on an entrance lane provided with a reverse variable lane, in the signal phase sequence design, the entrance turns left first and then goes straight, and the signal phase of the reverse variable lane is treated as a following phase in the intersection.
2) Calculating the optimal green light duration of the signalized intersection with the reverse variable lane
Through a signalized intersection traffic capacity calculation formula of the reverse variable lane in A), the vehicle release condition of the vehicles lined up on the reverse variable lane in the initial state is calculated, then different traffic time of the vehicles for selecting left turn is calculated according to a subsequent vehicle lane selection model, and the minimum value is taken for lane selection. The subsequently arriving vehicle then selects between the reverse changeable lane and the left-turn exclusive lane. The optimal green light duration is targeted at the highest utilization rate of the reverse variable lane, and the ratio of the number of passing vehicles of the reverse variable lane to the number of passing vehicles of the left-turn special lane is calculated according to the lane selection condition on the basis of the minimum advanced closing time of the reverse variable lane. When the utilization rate is the highest value, determining the passing time of the last vehicle selecting the reverse variable lane as the basis, and calculating the signal for setting the reverse variable laneThe optimal green time at the intersection. Where the calculated parameter comprises the optimum green duration geEffective green light duration g1cTime D of vehicle delay, and time t of left turn clear at intersection1sThen, the optimal green duration is:
ge＝g1c+D+t1s
3) determining optimal signal period of signalized intersection with reverse variable lanes
Determining the optimal signalized intersection signal period for setting the reverse variable lane according to the optimal green light time of the signalized intersection for setting the reverse variable lane obtained in the step 2), combining the left-turn saturated flow and the intersection flow, and according to the calculation relation between the green light time and the optimal period. Here, the calculation of the parameters includes: optimum signal period C, traffic flow q, saturation flow S, optimum green light duration geThen, the optimal signal period calculation formula is:
Claims (4)
1. the method for setting the optimal signal period calculation of the reverse variable lane intersection is characterized by comprising the following steps of:
A) the method for establishing the signalized intersection traffic capacity calculation model with the reverse variable lanes comprises the following steps:
a) determining the traffic flow characteristic of a left-turn lane of a reverse variable lane intersection;
and (3) surveying the arrival and passing vehicle number and intersection signal timing schemes of the reverse variable lane and the left-turn lane at the peak time, and calculating by using data obtained by surveying: the maximum number of the vehicles queued in a left-turn lane in a single period, the arrival rate of the vehicles at the intersection and the flow direction proportion of the left-turn in the intersection;
b) determining intersection design parameters;
measuring the number of lanes turning left at the current intersection on site, setting the length of a reverse variable lane and the opening length of a central isolation guardrail at the intersection, setting the distance between a stop line of an opposite inlet lane and the inlet stop line, and setting the width of an adjacent outlet lane and the length of an inlet channeling section at the intersection;
c) the method for establishing the signalized intersection traffic capacity calculation model with the reverse variable lanes comprises the following steps:
1) establishing a left-turn vehicle initial release model, describing vehicle release characteristics of a reverse variable lane and a left-turn special lane in an initial state, wherein the left-turn vehicle initial release state follows a traffic flow starting wave model;
2) establishing a subsequent arriving vehicle lane selection model;
3) determining the passing condition of vehicles turning left ahead of the reverse variable lane;
4) establishing a signalized intersection traffic capacity calculation model with a reverse variable lane;
B) determining the optimal green light duration and the optimal period of a signalized intersection for setting a reverse variable lane;
the step of determining the optimal green light duration and the optimal period comprises the following steps:
1) firstly, determining the design of setting a reverse variable lane intersection signal phase sequence;
taking a four-way intersection as an example, on an entrance road provided with a reverse variable lane, in the signal phase sequence design, the entrance firstly turns left and then runs straight, and the signal phase of the reverse variable lane is treated as a following phase in the intersection;
2) calculating the optimal green light duration of the signalized intersection with the set reverse variable lane;
firstly, calculating the vehicle release condition of the vehicles lined up on the reverse variable lane in the initial state through a signalized intersection traffic capacity calculation model of the reverse variable lane in the step A);
then, calculating different passing time of the left turn of the vehicle according to a subsequent arriving vehicle lane selection model, taking the minimum value, and performing lane selection; at the moment, the subsequent arriving vehicles select between the reverse variable lane and the left-turning special lane;
the optimal green light duration is targeted at the highest utilization rate of the reverse variable lane, and the ratio of the number of passing vehicles of the reverse variable lane to the number of passing vehicles of the left-turn special lane is calculated according to the lane selection condition on the basis of the minimum advanced closing time of the reverse variable lane;
when the utilization rate is the highest value, determining the passing time of the last vehicle selecting the reverse variable lane as the basis, and calculating the optimal green light duration of the signalized intersection for setting the reverse variable lane;
3) determining an optimal signal period of a signalized intersection with a reverse variable lane;
determining the optimal signalized intersection signal period for setting the reverse variable lane according to the obtained optimal green light time of the signalized intersection for setting the reverse variable lane, combining the left-turn saturated flow and the intersection flow and according to the calculation relation between the green light time and the optimal period;
wherein 2) in step c) is specifically:
selecting a lane by the vehicle based on a user balance model theory, and selecting a time optimal path by taking the shortest time passing through a stop line at an intersection as a target;
determining the condition of the subsequent vehicle reaching the decision point, including the moment and the speed of reaching the decision point;
determining the acceleration of the rear vehicle in the queuing following and free flow states based on the distance between the front vehicle and the rear vehicle under the traffic flow state of the intersection by correcting the following model parameters;
respectively calculating the possible passing time of the vehicle selecting the reverse variable lane and the passing time of selecting the left-turn special lane when the vehicle reaches the decision point;
and selecting the lane according to the minimum passing time.
2. The method for setting optimal signal period at an intersection of reverse variable lanes according to claim 1, characterized in that: 1) in step c) is specifically:
firstly, calculating the minimum time for the reverse variable lane to be opened in advance according to intersection design parameters;
then calculating the number of vehicles in the reverse variable lane according to the saturated vehicle head distance; at the moment, the queued vehicles on the left-turn special lane and the reverse variable lane release a start wave model according with the traffic flow.
3. The method for setting optimal signal period at an intersection of reverse variable lanes according to claim 1, characterized in that: the step 3) in the step c) is specifically as follows:
the reverse variable lane is closed in advance, the minimum closing time of the reverse variable lane is determined, the vehicles arriving subsequently can only drive away from the intersection through the left-turn special lane, and the vehicles only have a left-turn path selection mode.
4. The method for setting optimal signal period at an intersection of reverse variable lanes according to claim 1, characterized in that: the step 4) in the step c) is specifically as follows:
according to a left-turn vehicle release model and a subsequent arrival vehicle lane selection model in an initial release state when a green light is turned on, determining the left-turn vehicle passing condition after a reverse variable lane is closed, and establishing a signalized intersection passing capacity calculation model for setting the reverse variable lane;
and according to the left-turn vehicle driving-away condition in the green light period of the two lanes, overlapping the number of the vehicles passing through the reverse variable lane and the number of the vehicles passing through the left-turn special lane in the signal period together to obtain the left-turn traffic capacity of the intersection with the set reverse variable lane.
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