CN111243301A - Traffic signal lamp green light duration determination device, method and system - Google Patents
Traffic signal lamp green light duration determination device, method and system Download PDFInfo
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- G08G1/00—Traffic control systems for road vehicles
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- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
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- G08G1/00—Traffic control systems for road vehicles
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Abstract
The invention discloses a device, a method and a system for determining the green time of a traffic signal lamp, and relates to the field of traffic information perception and control. The method comprises the following steps: calculating the maximum number of retained vehicles of the lane group by using the acquired number of the vehicles entering and the number of the vehicles leaving; calculating a saturated headway by using the acquired time interval; acquiring speed and position information of a vehicle-mounted unit; comparing to obtain a key traffic flow; and calculating the green light duration by using the key traffic flow, the preset starting loss time and the saturated locomotive time interval. According to the invention, the geomagnetic vehicle detectors arranged on all lanes of the intersection and the vehicle-mounted units arranged on the vehicles are used for acquiring the state information of all vehicles on each lane of the intersection in real time, the key traffic flow of the lanes is determined according to the state information, the green light duration is calculated by using the key traffic flow, the preset starting loss time and the saturated head time interval, and the problem of low vehicle passing efficiency caused by unreasonable timing of signal lamps at the intersection can be effectively solved.
Description
Technical Field
The invention relates to the field of traffic information perception and control, in particular to a device, a method and a system for determining the green time of a traffic signal lamp.
Background
With the increasing of the quantity of the Chinese automobiles, the urban traffic jam problem becomes more serious, a signal control system of a single-point intersection is optimized, and the improvement of the traffic capacity of the intersection becomes an effective means for solving the problem. The single-point intersection signal control means that the traffic signal lamps are used for distributing the right of way for the vehicles and pedestrians running at the isolated intersection. The signal control of the single-point intersection is based on a traffic signal control model, and achieves the purposes of relieving traffic jam, ensuring the smoothness of urban roads, avoiding traffic accidents and the like by reasonably controlling the change of the light color of the signal lamps of the intersection. Meanwhile, single-point intersection signal control is used as a basic form of urban road traffic signal control and is also the most main and basic method of urban road traffic control.
Currently, intersection signal control can be divided into timing control, inductive control and adaptive control according to different control modes. The timing scheme of the timing control is determined according to historical traffic flow data, but the timing control cannot adapt to dynamically changing traffic flow due to the randomness and real-time property of vehicle arrival. The induction type control is a control mode which adopts proper signal display to adapt to traffic requirements according to the real-time traffic conditions of the intersection detected by the traffic detector; the inductive control has strong adaptability to the situation that vehicles arrive randomly and the traffic demand changes greatly, but has the defects of poor harmony and high infrastructure cost. The self-adaptive control is a signal control mode developed on the basis of manual technology, can flexibly react according to the change of traffic conditions, has stronger real-time property, independence and robustness, well makes up the defects of the former two modes, and has higher research value. However, the traffic condition considered by the existing signal lamp time length determining method adopting adaptive control is the relationship between the traffic flow condition of the intersection in a certain time period and the traffic flow condition of the intersection in the crossing direction, or the vehicle queuing number in a period, and the global traffic state is not considered, so that the vehicle passing efficiency is low. Therefore, the existing signal lamp duration determining method has the problem of low vehicle passing efficiency.
Disclosure of Invention
The invention aims to provide a device, a method and a system for determining the green time of a traffic signal lamp, which solve the problem of low vehicle passing efficiency of the conventional method for determining the green time of the traffic signal lamp.
In order to achieve the purpose, the invention provides the following scheme:
a traffic signal light green time duration determination apparatus, comprising: the geomagnetic vehicle detector, the vehicle-mounted unit and the road side unit;
the number of the geomagnetic vehicle detectors is multiple, and each lane is provided with one group of the geomagnetic vehicle detectors;
each set of the geomagnetic vehicle detector includes: a first detector and a second detector; the first detector is installed at a stop line of a lane, and the second detector is installed at a preset distance from the first detector; the region between the first detector and the second detector is a stagnant zone;
the geomagnetic vehicle detector is used for acquiring the number of vehicles entering and exiting the detention area, and calculating the number of the detention vehicles and the saturated headway in the detention area according to the number of the entering vehicles and the number of the exiting vehicles;
the vehicle-mounted unit is arranged on an automobile and used for sending speed and position information of the vehicle to the road side unit;
the road side unit is installed at a road intersection and used for acquiring the number of the retained vehicles and the saturated headway, determining key traffic flow according to the number of the retained vehicles, the saturated headway, the speed of the vehicles and the position information, and calculating the green light duration by using the key traffic flow and the saturated headway.
A method for determining the green time length of a traffic signal lamp is applied to the device for determining the green time length of the traffic signal lamp, and comprises the following steps:
acquiring a signal lamp initial signal scheme, preset starting loss time and a signal lamp phase set;
initializing the green light duration of the current signal light phase i according to the signal light initial signal scheme; 1,2, n, n represents the total number of phases;
executing the current signal lamp phase i;
acquiring the number of vehicles entering and the number of vehicles exiting from a lane group corresponding to the signal lamp phase i + 1; the lane group comprises a plurality of lanes in the same driving direction;
calculating the maximum number of retained vehicles of the lane group by using the number of the entering vehicles and the number of the exiting vehicles;
acquiring the time interval of any two vehicles of the lane continuously passing through the stop line;
calculating the saturated headway by using the time interval;
acquiring speed and position information of a vehicle-mounted unit;
comparing the speed and the position information of the vehicle with the maximum number of the vehicles staying to obtain a key traffic flow;
and calculating the green light duration of the signal lamp phase i +1 by using the key traffic flow, the preset starting loss time and the saturated headway.
Optionally, before the calculating the green light duration of the signal lamp phase i +1 by using the key traffic flow, the preset start loss time and the saturated headway, the method further includes:
judging whether the key traffic flow is 0 or not to obtain a first judgment result;
if the first judgment result is negative, executing the step of calculating to obtain the green light duration of the signal lamp phase i +1 by using the key traffic flow, the preset starting loss time and the saturated headway;
if so, adding 1 to the signal lamp phase i, and returning to the step of 'acquiring the number of the vehicles entering and exiting the lane group corresponding to the signal lamp phase i + 1';
after the calculating of the green light duration of the signal lamp phase i +1 by using the key traffic flow, the preset starting loss time and the saturated headway time interval is used, the method further comprises the following steps:
and adding 1 to the i, and returning to the step of executing the current signal lamp phase i.
Optionally, the calculating the maximum number of vehicles staying in the lane group by using the number of entering vehicles and the number of exiting vehicles specifically includes:
calculating the number of the retained vehicles of the single lane of the lane group by using the number of the entering vehicles and the number of the exiting vehicles;
comparing the number of the detained vehicles of all the single lanes to obtain the maximum number of the detained vehicles;
the calculating the saturated headway by using the time interval specifically includes:
acquiring the time interval of a plurality of any two vehicles continuously passing through a stop line;
and calculating the average value of the time intervals, wherein the average value is the saturated headway.
Optionally, the comparing the speed and the position information of the vehicle with the maximum number of vehicles staying in the vehicle to obtain a key traffic flow specifically includes:
determining the number of the queued vehicles of the single lane according to the speed and the position information of the vehicles;
judging whether the number of the queued vehicles is larger than the maximum number of the retained vehicles or not to obtain a second judgment result;
if so, determining the number of the queued vehicles as the key traffic flow;
and if the second judgment result is negative, determining that the maximum number of the detained vehicles is the key traffic flow.
Optionally, the calculating, by using the key traffic flow, the preset start loss time, and the saturated headway time to obtain the green light duration of the signal lamp phase i +1 specifically includes:
according to the formula
Calculating to obtain the green light duration of the signal light phase i + 1;
wherein,
represents the green time duration of the signal lamp phase i +1,
and representing the key traffic flow, h representing the saturated headway, and t representing preset starting loss time.
A traffic signal green duration determination system, comprising:
the first acquisition module is used for acquiring a signal lamp initial signal scheme, preset starting loss time and a signal lamp phase set;
the initialization module is used for initializing the green light duration of the current signal light phase i according to the signal light initial signal scheme; 1,2, n, n represents the total number of phases;
the execution module is used for executing the current signal lamp phase i;
the second acquisition module is used for acquiring the number of the vehicles entering the lane group corresponding to the signal lamp phase i +1 and the number of the vehicles exiting the lane group; the lane group comprises a plurality of lanes in the same driving direction;
the maximum detained vehicle number module is used for calculating the maximum detained vehicle number of the lane group by utilizing the number of the entering vehicles and the number of the exiting vehicles;
the time interval module is used for acquiring the time interval of any two vehicles of the lane continuously passing through the stop line;
the saturated headway module is used for calculating the saturated headway by utilizing the time interval;
the third acquisition module is used for acquiring the speed and position information of the vehicle-mounted unit;
the key traffic flow module is used for comparing the speed and the position information of the vehicle with the maximum number of the remained vehicles to obtain key traffic flow;
and the green time duration module is used for calculating the green time duration of the signal lamp phase i +1 by using the key traffic flow, the preset starting loss time and the saturated headway.
Optionally, the maximum number of vehicles staying at the module specifically includes:
a number-of-remaining-vehicles unit configured to calculate the number of remaining vehicles in a single lane of the lane group using the number of entering vehicles and the number of exiting vehicles;
the maximum detained vehicle number unit is used for comparing the detained vehicle numbers of all the single lanes to obtain the maximum detained vehicle number;
the saturated headway module specifically includes:
the time interval unit is used for acquiring the time interval of a plurality of any two vehicles continuously passing through the stop line;
and the saturated headway unit is used for calculating the average value of the time intervals, and the average value is the saturated headway.
Optionally, the key traffic flow module specifically includes:
the number-of-queued-vehicles unit is used for determining the number of queued vehicles of the single lane according to the speed and position information of the vehicles;
the second judgment unit is used for judging whether the number of the queued vehicles is greater than the maximum number of the detained vehicles to obtain a second judgment result;
a second unit, configured to determine that the number of queued vehicles is the critical traffic flow if the second determination result is yes;
and a second negative unit, configured to determine that the maximum number of vehicles staying is the key traffic flow if the second determination result is negative.
Optionally, the green light duration module specifically includes:
a green light duration unit for calculating a time duration according to the formula
Calculating to obtain the green light duration of the signal light phase i + 1;
wherein,
represents the green time duration of the signal lamp phase i +1,
and representing the key traffic flow, h representing the saturated headway, and t representing preset starting loss time.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides a traffic signal lamp green light duration determining device, method and system. The method comprises the following steps: acquiring a signal lamp initial signal scheme, preset starting loss time and a signal lamp phase set; initializing the green light duration of the current signal light phase i according to a signal light initial signal scheme; executing a current signal lamp phase i; acquiring the number of vehicles entering and the number of vehicles exiting from a lane group corresponding to the signal lamp phase i + 1; the lane group comprises a plurality of lanes in the same driving direction; calculating the maximum number of retained vehicles of the lane group by using the number of the vehicles entering and the number of the vehicles leaving; acquiring the time interval of any two vehicles continuously passing through the stop line; calculating a saturated headway by using a time interval; acquiring speed and position information of a vehicle-mounted unit; comparing the speed and position information of the vehicle with the maximum number of retained vehicles to obtain a key traffic flow; and calculating the green light duration of the signal lamp phase i +1 by using the key traffic flow, the preset starting loss time and the saturated head time interval. According to the invention, the geomagnetic vehicle detectors arranged On all lanes of the intersection and the vehicle-mounted units (OBUs) arranged On the vehicles are used for acquiring the state information of all vehicles On each lane of the intersection in real time, the key traffic flow of the lanes is determined according to the information of the geomagnetic vehicle detectors and the vehicle-mounted units, the optimal green light duration of the queuing vehicles in the phase is calculated by using the key traffic flow, the preset starting loss time and the saturated head time interval, the problem of low vehicle passing efficiency caused by unreasonable timing of signal lamps at the intersection can be effectively solved, and the queuing time of the vehicles at the intersection is reduced while the discharge amount of the vehicles is effectively reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a block diagram of a device for determining a green time period of a traffic signal according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for determining a green duration of a traffic signal according to an embodiment of the present invention;
FIG. 3 is a system diagram of a system for determining green duration of a traffic signal according to an embodiment of the present invention;
fig. 4 is a schematic layout diagram of a geomagnetic vehicle detector according to an embodiment of the present invention.
Wherein, 1, geomagnetic vehicle detector; 2. an on-board unit; 3. a road side unit; 4. a stagnant zone.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a device, a method and a system for determining the green time of a traffic signal lamp, which solve the problem of low vehicle passing efficiency of the conventional method for determining the green time of the traffic signal lamp.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The present embodiment provides a device for determining a green time of a traffic signal, fig. 1 is a structural diagram of the device for determining a green time of a traffic signal according to the embodiment of the present invention, and referring to fig. 1, the device for determining a green time of a traffic signal includes: a geomagnetic vehicle detector 1, an on-board unit 2, and a roadside unit 3.
The number of the geomagnetic vehicle detectors 1 is plural, and one set of the geomagnetic vehicle detectors 1 is installed for each lane. The geomagnetic vehicle detector 1 is wirelessly connected to the roadside unit 3.
Each group of geomagnetic vehicle detectors includes: a first detector and a second detector; the first detector is installed at a stop line of a lane, and the second detector is installed at a preset distance from the first detector; the region between the first detector and the second detector is the stagnant zone. The first detector is used for detecting the number of the vehicles entering the detention area, and the second detector is used for detecting the number of the vehicles exiting the detention area. The length of the stagnation area, i.e., the preset distance between the second detector and the first detector, can be determined according to the longest vehicle queue length of the intersection where the traffic signal lamp is located.
The geomagnetic vehicle detector is used for acquiring the number of the entering vehicles entering the detention area and the number of the exiting vehicles exiting the detention area, and calculating the number of the detention vehicles and the saturated headway in the detention area according to the number of the entering vehicles and the number of the exiting vehicles.
The on-board unit 2 is mounted on the automobile, and the on-board unit 2 is used to transmit the speed and position information of the vehicle to the roadside unit 3. The on-board unit 2 includes: a speed sensor, a vehicle positioning sensor and a vehicle wireless communication (V2X communication) module. The vehicle-mounted unit sends the real-time vehicle state information to the road side unit 3 at a fixed period of 200 milliseconds (ms), and is installed around the vehicle-mounted navigation system. The vehicle real-time status information includes real-time location information and speed information of the vehicle. The on-board unit is wirelessly connected with the roadside unit 3.
The road side unit 3 is installed at a road intersection, and the road side unit 3 is used for acquiring the number of retained vehicles and the saturated headway, determining the key traffic flow according to the number of retained vehicles, the saturated headway, the speed of the vehicle and the position information, and calculating the green light duration by using the key traffic flow and the saturated headway.
The embodiment provides a method for determining the green time length of a traffic signal lamp, which is applied to a device for determining the green time length of the traffic signal lamp, and fig. 2 is a flowchart of the method for determining the green time length of the traffic signal lamp provided by the embodiment of the invention. Referring to fig. 2, the method for determining the green time period of the traffic signal lamp includes:
And 103, executing the current signal lamp phase i.
104, acquiring the number of the vehicles entering and the number of the vehicles exiting from the lane group corresponding to the signal lamp phase i + 1; the lane group includes a plurality of lanes in the same driving direction.
And 105, calculating the maximum number of the staying vehicles in the lane group by using the number of the entering vehicles and the number of the exiting vehicles.
Step 105 specifically includes:
and calculating the number of the retained vehicles of the single lane of the lane group by using the number of the entering vehicles and the number of the exiting vehicles. The number of the remaining vehicles in the single lane is the difference between the number of the entering vehicles and the number of the exiting vehicles in the single lane.
And comparing the number of the retained vehicles of all the single lanes to obtain the maximum number of the retained vehicles.
And 106, acquiring the time interval of two vehicles in the lane continuously passing through the stop line.
And step 107, calculating the saturated headway by using the time interval.
Step 107 specifically includes:
a time interval is obtained for a plurality of arbitrary two vehicles to successively pass the stop line. Since there is a startup lost time, the time intervals between the first three vehicles are culled at the time of acquiring the time intervals.
And calculating the average value of a plurality of time intervals, wherein the average value is the saturated headway.
In step 108, speed and position information of the vehicle of the on-board unit is acquired.
And step 109, comparing the speed and the position information of the vehicle with the maximum number of the retained vehicles to obtain the key traffic flow.
Step 109 specifically includes:
and determining the number of the vehicles in line in the single lane according to the speed and the position information of the vehicles.
And judging whether the number of the queued vehicles is larger than the maximum number of the retained vehicles or not to obtain a second judgment result.
The second judgment result is that the number of queued vehicles is determined as the key traffic flow.
And if the second judgment result is negative, determining the maximum number of the detained vehicles as the key traffic flow.
And step 110, judging whether the key traffic flow is 0 or not, and obtaining a first judgment result.
If the first judgment result is negative, step 112, calculating the green time length of the signal lamp phase i +1 by using the key traffic flow, the preset starting loss time and the saturated headway.
And step 111, if the first judgment result is yes, adding 1 to the i, and returning to the step 104, namely acquiring the number of the vehicles entering the lane group corresponding to the signal lamp phase i +1 and the number of the vehicles leaving the lane group.
And 112, calculating the green light duration of the signal lamp phase i +1 by using the key traffic flow, the preset starting loss time and the saturated headway.
Step 112 specifically includes:
according to the formula
And calculating to obtain the green time length of the phase i +1 of the signal lamp.
In the above formula, the first and second carbon atoms are,
indicating the green duration of the signal phase i +1,
the method is characterized in that key traffic flow is represented, h represents saturated headway, and t represents preset starting loss time.
And step 113, adding 1 to the i, and returning to the step 103 of executing the current signal lamp phase i.
The embodiment provides a system for determining the green time of a traffic signal lamp, and fig. 3 is a system diagram of the system for determining the green time of a traffic signal lamp according to the embodiment of the present invention. Referring to fig. 3, the traffic signal light green time period determination system includes:
the first obtaining module 201 is configured to obtain a signal lamp initial signal scheme, a preset startup loss time, and a signal lamp phase set.
The initialization module 202 is configured to initialize a green duration of a current signal lamp phase i according to a signal lamp initial signal scheme; i denotes the phase sequence, i.e. the phase sequence number, i 1, 2.
And the execution module 203 is configured to execute the current signal lamp phase i.
The second obtaining module 204 is configured to obtain the number of entering vehicles and the number of exiting vehicles of the lane group corresponding to the signal lamp phase i + 1; the lane group includes a plurality of lanes in the same driving direction.
And a maximum number-of-vehicles-staying module 205, configured to calculate a maximum number of vehicles staying in the lane group using the number of incoming vehicles and the number of outgoing vehicles.
The maximum number of remaining vehicles module 205 specifically includes:
and a retained vehicle number unit for calculating the retained vehicle number of the single lane of the lane group by using the number of the entering vehicles and the number of the exiting vehicles. The number of the remaining vehicles in the single lane is the difference between the number of the entering vehicles and the number of the exiting vehicles in the single lane.
And the maximum vehicle staying number unit is used for comparing the vehicle staying numbers of all the single lanes to obtain the maximum vehicle staying number.
And a time interval module 206, configured to obtain a time interval when any two vehicles of the lane continuously pass through the stop line.
And the saturated headway module 207 is used for calculating the saturated headway by utilizing the time interval.
The saturated headway module 207 specifically includes:
and the time interval unit is used for acquiring the time interval of a plurality of any two vehicles continuously passing through the stop line. Since there is a startup lost time, the time intervals between the first three vehicles are culled at the time of acquiring the time intervals.
And the saturated headway unit is used for calculating the average value of a plurality of time intervals, and the average value is the saturated headway.
A third obtaining module 208 for obtaining speed and position information of the vehicle of the on-board unit.
And the key traffic flow module 209 is used for comparing the speed and the position information of the vehicle and the maximum number of the remained vehicles to obtain the key traffic flow.
The key traffic flow module 209 specifically includes:
and the number-of-queued vehicles unit is used for determining the number of queued vehicles of a single lane according to the speed and position information of the vehicles.
And the second judgment unit is used for judging whether the number of the queued vehicles is greater than the maximum number of the detained vehicles to obtain a second judgment result.
And the second unit is used for determining the number of the queued vehicles as the key traffic flow if the second judgment result is yes.
And the second negative unit is used for determining that the maximum number of the detained vehicles is the key traffic flow if the second judgment result is negative.
The first judging module 210 is configured to judge whether the key traffic flow is 0, so as to obtain a first judgment result; if the first judgment result is negative, the green light duration module 212 is executed; if so, the first yes module 211 is executed.
The first module 211 is configured to add 1 to i, and execute the second obtaining module 204.
And a green time duration module 212, configured to calculate a green time duration of the signal lamp phase i +1 by using the key traffic flow, the preset start loss time, and the saturated headway.
The green light duration module 212 specifically includes:
a green light duration unit for calculating a time duration according to the formula
And calculating to obtain the green time length of the phase i +1 of the signal lamp.
In the above formula, the first and second carbon atoms are,
indicating the green duration of the signal phase i +1,
the method is characterized in that key traffic flow is represented, h represents saturated headway, and t represents preset starting loss time.
And a returning module 213, configured to add 1 to i, and execute the module 203.
The embodiment also provides an intelligent green light duration adjusting method for the traffic signal lights of the single intersection based on the information fusion technology, wherein a group of geomagnetic vehicle detectors are arranged on each entrance lane of the intersection, and a first detector and a second detector of the geomagnetic vehicle detectors are respectively used for detecting the number of vehicles driving out of the entrance lane and driving into the entrance lane; the vehicle passing through the intersection is provided with a vehicle-mounted unit, the vehicle-mounted unit is provided with a speed sensor, a vehicle positioning sensor and a V2X communication module, the vehicle-mounted unit sends the real-time state information of the vehicle to a road side unit of the entrance lane in a fixed period of 200ms, and the installation position of the vehicle-mounted unit is consistent with that of a vehicle-mounted navigation system; the road side unit calculates the real-time queuing vehicle number and the saturated headway of each entrance lane by combining the detection data of the geomagnetic vehicle detector and the real-time vehicle state information, determines the key traffic flow of each lane group, calculates the optimal green light time length of the current passing right phase based on the key traffic flow, and determines the green light time length of the next phase after the phase is finished; the road test unit sends the optimal green light time length to a traffic light signal controller of the intersection so as to control the green light time length of a traffic light, so that real-time dynamic green light time length adjustment of the traffic light adapting to the current traffic state is achieved, and traffic passing efficiency of the intersection is optimized.
The intelligent green light time length adjusting method specifically comprises the following steps:
(1) traffic real-time status awareness
The real-time traffic state perception is realized by a geomagnetic vehicle detector and a vehicle-mounted unit:
the geomagnetic vehicle detector adopts a geomagnetic coil, when a vehicle passes through the geomagnetic coil, the vehicle can cut a magnetic field to generate a sensing signal, and the sensing signal is transmitted to the road side unit through wireless. Fig. 4 is a schematic layout diagram of geomagnetic vehicle detectors according to an embodiment of the present invention, and referring to fig. 4, a group of geomagnetic vehicle detectors is disposed in each entrance lane, and each group of geomagnetic vehicle detectors includes: a first detector d (out) installed at a stop line of the entrance lane, and a second detector d (in) installed at a predetermined distance from the first detector d (out). The area between the first detector d (out) and the second detector d (in) is the stagnant zone 4, the length of the stagnant zone 4 is greater than or equal to the historical maximum queuing length of the intersection, and in this embodiment, the preset distance is that the length of the stagnant zone is 100 meters. The first detector is used for detecting the number of vehicles running out of the detention area, and the second detector is used for detecting the number of vehicles running into the detention area. The set position of the road side unit is consistent with the position of a traffic light signal controller installed at the intersection.
One lane group includes one or more lanes in the same driving direction.
A set of earth magnetism vehicle detector can be accurate confirm the vehicle number in the district of staying at every moment, specifically is: the present embodiment does not consider right-turn vehicles at the intersection, so the lane group at the intersection includes a straight lane group including two straight lanes and a left-turn lane group including one left-turn lane. The number of the vehicles entering the straight lane of the straight lane group is
The number of vehicles coming out is
The number of the vehicles entering the left-turn lane of the left-turn lane group is
The number of vehicles coming out is
Calculating the number of the retained vehicles in the single lane of the straight-going lane group according to the formula (1):
in the above formula, J represents the serial number of the straight lane, and J is 1, 2.. multidot.j, J represents the total number of the straight lanes;
indicates the number of parked vehicles in the jth straight-ahead lane parking zone,
indicates the number of the vehicles entering the jth straight lane,
the number of vehicles exiting the jth straight lane is indicated.
Calculating the number of the retained vehicles in the single lane of the left-turn lane group according to the formula (2):
in the above formula, P represents the number of the left-turn lane, and P is 1, 2.
Indicates the number of parked vehicles in the p-th left-turn lane parking zone,
indicating the number of vehicles entering the p-th left-turn lane,
the number of vehicles driven out of the p-th left-turn lane is indicated.
Calculating the maximum number of straight-going retained vehicles of all straight-going lanes according to the formula (3)
In the above formula, J represents the serial number of the straight lane, and J is 1, 2.. multidot.j, J represents the total number of the straight lanes;
the number of parked vehicles in the jth straight-ahead lane parking zone is indicated.
Calculating the maximum left-turn stuck vehicle number Q of all left-turn lanes according to the formula (4)l*：
In the above formula, P represents the number of the left-turn lane, and P is 1, 2.
Indicating the number of parked vehicles in the p-th left-turn lane parking zone.
The saturated headway is the time interval in which any two vehicles on the same lane of the ingress lane continuously pass the stop line, i.e. the average of the time intervals of the first detector d (out), because of the start-up lost time, the time interval of three vehicles in front of the fleet is rejected.
Considering that the vehicle entering the intersection changes between the straight lane and the left-turn lane, the length of the lane boundary solid line between the straight lane and the left-turn lane can be properly prolonged, so that the vehicle is prevented from changing between straight and left-turn in the entrance lane detention area.
When the vehicle enters the intersection roadside unit signal receiving range, the V2X communication module of the vehicle on-board unit transmits the speed and position information of the vehicle itself to the roadside unit at a cycle of 200 ms. The road side unit determines whether the vehicle is parked or not according to the speed of the vehicle, and if the speed of the vehicle is zero, the vehicle is in a parking state; otherwise, the vehicle is in a non-parking state, and further whether the vehicle enters a queuing state is judged, the vehicle in the parking state enters the queuing state, and the vehicle not entering the parking state does not enter the queuing state; meanwhile, the road side unit judges whether the vehicle is in the retention area or not according to the position information of the vehicle and the setting position of the retention area; finally, the roadside unit determines the number of queued vehicles of each single lane in the detention area according to the speed and the position information, and if the speed of the vehicles is zero and the positions of the vehicles are in the detention area, the vehicles are determined as queued vehicles; otherwise, it is determined that the vehicle is not a queued vehicle.
The road side unit compares the maximum number of the remained vehicles of the geomagnetic vehicle detector with the number of the queued vehicles of the vehicle-mounted unit, and if the number of the queued vehicles is larger than the maximum number of the remained vehicles, the number of the queued vehicles is determined as a key traffic flow; and if the number of the queued vehicles is less than or equal to the maximum number of the retained vehicles, determining the maximum number of the retained vehicles as the key traffic flow.
(2) Phase optimized green time calculation
Obtaining an initial signal scheme of an intersection signal lamp, and determining a phase set { P }i1,2, …, n, n denotes the total number of phases. At a signalized intersection, each control state (right of way), i.e., the combination of different light colors displayed for different directions of various entrance lanes, is called a signal light phase. Determining the key traffic flow in the retention area of the lane group with right of way in the next phase according to (1) the real-time traffic state perception from the moment when the green light of the current phase ends, namely the moment when the yellow light begins
Calculating the required passing time of the key traffic flow of any lane passing through the intersection by using a formula (5) according to the key traffic flow, the preset starting loss time and the saturated headway time
I.e. the green time duration of the next traffic light phase with right of way:
in the above formula, the first and second carbon atoms are,
indicating the green duration of the signal phase i +1,
the method is characterized in that key traffic flow is represented, h represents saturated headway, t represents preset starting loss time, and t is generally 2 s. If there is no vehicle passing requirement in a certain phase, namely the key traffic flow is zero, the green light duration of the phase is not calculated. If all phases do not wait for vehicles, namely the key traffic flow is zero, circulation is carried out according to the preset green light duration, all imports are prevented from displaying red lights, and the preset green light duration is 30 s.
The optimal green light time calculated by the method can meet the optimal passing requirement of the intersection, the optimal green light time is matched with the actual number of queued vehicles, the time for the queued vehicles to pass through the intersection is set to be the green light time when a plurality of vehicles are queued, and the secondary queuing phenomenon of the vehicles caused by the idle discharge of the green light due to the overlong green light time and the overlong green light time is avoided. Meanwhile, the invention is an intelligent adjusting method, namely, the method can respond to the dynamically changed traffic flow at any time, and has stronger robustness and better real-time performance compared with a fixed timing control mode and an induction type signal control mode of traffic signals. Therefore, the passing delay time of the vehicles at the intersection can be effectively reduced, and the passing efficiency of the vehicles at the intersection is improved.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. A traffic signal light green time duration determination apparatus, comprising: the geomagnetic vehicle detector, the vehicle-mounted unit and the road side unit;
the number of the geomagnetic vehicle detectors is multiple, and each lane is provided with one group of the geomagnetic vehicle detectors;
each set of the geomagnetic vehicle detector includes: a first detector and a second detector; the first detector is installed at a stop line of a lane, and the second detector is installed at a preset distance from the first detector; the region between the first detector and the second detector is a stagnant zone;
the geomagnetic vehicle detector is used for acquiring the number of vehicles entering and exiting the detention area, and calculating the number of the detention vehicles and the saturated headway in the detention area according to the number of the entering vehicles and the number of the exiting vehicles;
the vehicle-mounted unit is arranged on an automobile and used for sending speed and position information of the vehicle to the road side unit;
the road side unit is installed at a road intersection and used for acquiring the number of the retained vehicles and the saturated headway, determining key traffic flow according to the number of the retained vehicles, the saturated headway, the speed of the vehicles and the position information, and calculating the green light duration by using the key traffic flow and the saturated headway.
2. A traffic signal green time length determination method applied to the traffic signal green time length determination apparatus according to claim 1, the traffic signal green time length determination method comprising:
acquiring a signal lamp initial signal scheme, preset starting loss time and a signal lamp phase set;
initializing the green light duration of the current signal light phase i according to the signal light initial signal scheme; 1,2, n, n represents the total number of phases;
executing the current signal lamp phase i;
acquiring the number of vehicles entering and the number of vehicles exiting from a lane group corresponding to the signal lamp phase i + 1; the lane group comprises a plurality of lanes in the same driving direction;
calculating the maximum number of retained vehicles of the lane group by using the number of the entering vehicles and the number of the exiting vehicles;
acquiring the time interval of any two vehicles of the lane continuously passing through the stop line;
calculating the saturated headway by using the time interval;
acquiring speed and position information of a vehicle-mounted unit;
comparing the speed and the position information of the vehicle with the maximum number of the vehicles staying to obtain a key traffic flow;
and calculating the green light duration of the signal lamp phase i +1 by using the key traffic flow, the preset starting loss time and the saturated headway.
3. The method for determining the green time of the traffic signal lamp according to claim 2, wherein before the calculating the green time of the signal lamp phase i +1 by using the key traffic flow, the preset startup loss time and the saturated headway, the method further comprises:
judging whether the key traffic flow is 0 or not to obtain a first judgment result;
if the first judgment result is negative, executing the step of calculating to obtain the green light duration of the signal lamp phase i +1 by using the key traffic flow, the preset starting loss time and the saturated headway;
if so, adding 1 to the signal lamp phase i, and returning to the step of 'acquiring the number of the vehicles entering and exiting the lane group corresponding to the signal lamp phase i + 1';
after the calculating of the green light duration of the signal lamp phase i +1 by using the key traffic flow, the preset starting loss time and the saturated headway time interval is used, the method further comprises the following steps:
and adding 1 to the i, and returning to the step of executing the current signal lamp phase i.
4. The method for determining the green time duration of the traffic signal lamp according to claim 2, wherein the calculating the maximum number of the staying vehicles in the lane group by using the number of the entering vehicles and the number of the exiting vehicles specifically comprises:
calculating the number of the retained vehicles of the single lane of the lane group by using the number of the entering vehicles and the number of the exiting vehicles;
comparing the number of the detained vehicles of all the single lanes to obtain the maximum number of the detained vehicles;
the calculating the saturated headway by using the time interval specifically includes:
acquiring the time interval of a plurality of any two vehicles continuously passing through a stop line;
and calculating the average value of the time intervals, wherein the average value is the saturated headway.
5. The method for determining the green time duration of a traffic signal lamp according to claim 2, wherein the step of comparing the speed and the position information of the vehicle with the maximum number of vehicles staying in order to obtain a key traffic flow specifically comprises the steps of:
determining the number of the queued vehicles of the single lane according to the speed and the position information of the vehicles;
judging whether the number of the queued vehicles is larger than the maximum number of the retained vehicles or not to obtain a second judgment result;
if so, determining the number of the queued vehicles as the key traffic flow;
and if the second judgment result is negative, determining that the maximum number of the detained vehicles is the key traffic flow.
6. The method for determining the green time length of the traffic signal lamp according to claim 2, wherein the calculating the green time length of the signal lamp phase i +1 by using the key traffic flow, the preset starting loss time and the saturated headway specifically includes:
according to the formula
Calculating to obtain the green light duration of the signal light phase i + 1;
wherein,
represents the green time duration of the signal lamp phase i +1,
and representing the key traffic flow, h representing the saturated headway, and t representing preset starting loss time.
7. A traffic signal green duration determination system, comprising:
the first acquisition module is used for acquiring a signal lamp initial signal scheme, preset starting loss time and a signal lamp phase set;
the initialization module is used for initializing the green light duration of the current signal light phase i according to the signal light initial signal scheme; 1,2, n, n represents the total number of phases;
the execution module is used for executing the current signal lamp phase i;
the second acquisition module is used for acquiring the number of the vehicles entering the lane group corresponding to the signal lamp phase i +1 and the number of the vehicles exiting the lane group; the lane group comprises a plurality of lanes in the same driving direction;
the maximum detained vehicle number module is used for calculating the maximum detained vehicle number of the lane group by utilizing the number of the entering vehicles and the number of the exiting vehicles;
the time interval module is used for acquiring the time interval of any two vehicles of the lane continuously passing through the stop line;
the saturated headway module is used for calculating the saturated headway by utilizing the time interval;
the third acquisition module is used for acquiring the speed and position information of the vehicle-mounted unit;
the key traffic flow module is used for comparing the speed and the position information of the vehicle with the maximum number of the remained vehicles to obtain key traffic flow;
and the green time duration module is used for calculating the green time duration of the signal lamp phase i +1 by using the key traffic flow, the preset starting loss time and the saturated headway.
8. The system for determining the duration of green time at a traffic signal according to claim 7, wherein the maximum number of vehicles staying at the module specifically comprises:
a number-of-remaining-vehicles unit configured to calculate the number of remaining vehicles in a single lane of the lane group using the number of entering vehicles and the number of exiting vehicles;
the maximum detained vehicle number unit is used for comparing the detained vehicle numbers of all the single lanes to obtain the maximum detained vehicle number;
the saturated headway module specifically includes:
the time interval unit is used for acquiring the time interval of a plurality of any two vehicles continuously passing through the stop line;
and the saturated headway unit is used for calculating the average value of the time intervals, and the average value is the saturated headway.
9. The system for determining the duration of a green light of a traffic light according to claim 7, wherein the key traffic flow module specifically comprises:
the number-of-queued-vehicles unit is used for determining the number of queued vehicles of the single lane according to the speed and position information of the vehicles;
the second judgment unit is used for judging whether the number of the queued vehicles is greater than the maximum number of the detained vehicles to obtain a second judgment result;
a second unit, configured to determine that the number of queued vehicles is the critical traffic flow if the second determination result is yes;
and a second negative unit, configured to determine that the maximum number of vehicles staying is the key traffic flow if the second determination result is negative.
10. The system for determining the duration of green time of a traffic signal according to claim 7, wherein the green time duration module specifically comprises:
a green light duration unit for calculating a time duration according to the formula
Calculating to obtain the green light duration of the signal light phase i + 1;
wherein,
represents the green time duration of the signal lamp phase i +1,
and representing the key traffic flow, h representing the saturated headway, and t representing preset starting loss time.
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