CN111785038B - Single-point full-induction type signal timing method based on green light extended request area utilization rate - Google Patents

Single-point full-induction type signal timing method based on green light extended request area utilization rate Download PDF

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CN111785038B
CN111785038B CN202010529377.1A CN202010529377A CN111785038B CN 111785038 B CN111785038 B CN 111785038B CN 202010529377 A CN202010529377 A CN 202010529377A CN 111785038 B CN111785038 B CN 111785038B
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request area
length
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CN111785038A (en
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徐洪峰
张栋
陈虹瑾
章琨
郑启明
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Dalian University of Technology
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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
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G08G1/085—Controlling traffic signals using a free-running cyclic timer
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract

A single-point full-induction type signal timing method based on a green light extended request area utilization rate belongs to the technical field of traffic signal control. The invention provides concepts of the safety extension length of a motor vehicle, a green light extension request area and the utilization rate of the green light extension request area. In a road traffic environment with the penetration rate of the networked automobiles reaching 100%, a calculation method of the utilization rate of a green light extension request area is established for the phase of the current green light motor vehicle at a single signal control intersection according to the length and the number of guide lanes and the number, the position, the entity length and the speed of the motor vehicles in the green light extension request area at the current moment; the utilization rate of the request area is prolonged by using the green light, the active cutting-off condition of the green light is defined, and single-point full-induction logic is designed. The invention can fully utilize the running state data of the networked automobile, accurately depict the traffic demand of the current green light motor vehicle phase, reduce the green light waste phenomenon and the green light shortage phenomenon to the maximum extent, and improve the performance of controlling the intersection by a single signal.

Description

Single-point full-induction type signal timing method based on green light extended request area utilization rate
Technical Field
The invention belongs to the technical field of traffic signal control, and relates to a single-point full-induction type signal timing method based on a green light extension request area utilization rate.
Background
The single signalized intersection (single point for short) is a plane intersection which configures the turn-on sequence and the display time of traffic lights only according to the spatial layout of the road and the traffic demand mode. The guide lane is a vehicle lane which clearly marks the specified driving direction of the motor vehicle and prohibits the motor vehicle from driving beyond the lane at the upstream of the motor vehicle stop line of the signal control intersection.
The working principle of the single-point full-induction type signal timing method can be summarized as follows: arranging physical or virtual detection equipment on each guide lane of a single signal control intersection, collecting motor vehicle running state data, and sensing motor vehicle traffic requirements; determining whether to cut off the green light or not second by second according to the real-time change of the traffic demand of the motor vehicle from the minimum green light duration end time of the motor vehicle phase; in principle, the green duration of the motor vehicle phase should be less than or equal to the maximum green duration; when the green light of the motor vehicle phase is finished, the yellow light and the red light are turned on in sequence, and when the red light time reaches the red light emptying time, the next motor vehicle phase in the phase display sequence turns on the green light; the pedestrian phase and the adjacent non-conflict straight-driving motor vehicle phase are synchronously displayed with green light, and the green light time length of the pedestrian phase is mainly determined by the minimum green light time length of the adjacent non-conflict straight-driving motor vehicle phase.
The action of the vehicle phase to turn off the green light in response to real-time changes in its traffic demand is called active green light turn-off, and the basis for active green light turn-off is called active green light turn-off condition. The act of turning off the green light in response to real-time changes in traffic demand in other phases of the vehicle is referred to as a passive turn-off green light, which is based on a green light passive turn-off condition. Active green light cutoff is the most common technical form of single-point fully-inductive signal timing method. The single-point full-induction logic consisting of the green light active cut-off condition and the green light passive cut-off condition is the core technology of the single-point full-induction type signal timing method.
The single-point fully responsive signal timing method is used to construct the green light active cut-off condition by assessing whether there is a vehicle in the guide lane of the vehicle phase that is likely to pass the stop line continuously. In order to define this active green light cut-off condition, the idle time (i.e. the time from the rearmost end of the front vehicle tail leaving the detection range to the foremost end of the rear vehicle head reaching the detection range) is usually collected by a detection device disposed at a position upstream of the stop line, and the active green light cut-off condition is satisfied when the idle times collected by all the detection devices in the phase successively or simultaneously exceed a certain threshold value from the end of the minimum green light time of the vehicle phase.
The conventional traffic flow data detection technology can only obtain the running state data of the motor vehicles of a specific type at a specific position in the guide lane, is limited by deficient data resources, people have to roughly describe the traffic demand of the current phase of the motor vehicles under the green light, and the influence caused by the length and the number of the guide lane and the number, the position, the entity length, the speed and other factors of the motor vehicles in the guide lane are not considered when the active green light cutting-off condition is defined. It is reasonable to believe that in the face of various and complicated road spatial layouts, traffic demand modes and traffic running states, the traditional single-point full-induction type signal timing method is likely to cause the phenomena of green light waste and green light insufficiency, and the performance of a single signal control intersection still has a certain space for improvement.
In the era of the popularization and application of the networked automobiles, the running state data of the motor vehicles with high density, multiple types and high precision becomes easily available, and an important development direction of the single-point full-induction type signal timing method is as follows: by means of abundant data resources, a standardized technical process is established, the traffic demand of the current green light motor vehicle phase is accurately described, a new green light active cutting-off condition is constructed on the basis, the green light waste phenomenon and the green light deficiency phenomenon are eliminated, and the performance of a single signal control intersection is improved.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a single-point full-induction type signal timing method based on the utilization rate of a green light extension request area.
The technical scheme adopted by the invention is as follows:
the invention discloses a single-point full-induction type signal timing method based on utilization rate of a green light extension request area, and provides concepts of safety extension length of a motor vehicle, the utilization rate of the green light extension request area and the utilization rate of the green light extension request area. In a road traffic environment with the penetration rate of the networked automobiles reaching 100%, a calculation method of the utilization rate of a green light extension request area is established for the phase of the current green light motor vehicle at a single signal control intersection according to the length and the number of guide lanes and the number, the position, the entity length and the speed of the motor vehicles in the green light extension request area at the current moment; the utilization rate of the request area is prolonged by using the green light, the active cutting-off condition of the green light is defined, and the single-point full-induction logic is designed.
The technical scheme of the invention is introduced from five aspects of implementation conditions, motor vehicle safety extension length, green light extension request area utilization rate and single-point full sensing logic.
1. Conditions for carrying out
(1) The motor vehicles running on the road are all internet automobiles;
(2) The signal control machine can acquire the position, the entity length and the speed of each motor vehicle in each guide lane in real time;
(3) The signal light color and the display sequence of the vehicle phase are 'green light → yellow light → red light → green light'.
2. Safety extension length of motor vehicle
The motor vehicle safety extension length is used for reflecting a standard road space used by a motor vehicle and consists of a physical length and a minimum collision avoidance distance. Wherein the entity length is the length from the head foremost end to the tail rearmost end of the motor vehicle; the minimum collision avoidance distance is equal to the standard distance required for emergency braking of the vehicle to a standstill at the current speed plus the standard distance that the vehicle should remain with a stationary object in front in the standstill state.
Calculating the safe extension length of the ith motor vehicle in the jth guide lane at the moment t and the phase K by using the formula (1)
Figure BDA0002534815400000021
Figure BDA0002534815400000022
Wherein the content of the first and second substances,
Figure BDA0002534815400000023
the entity length of the ith motor vehicle in the jth guide lane representing the phase K at the moment t;
Figure BDA0002534815400000024
indicating the phase at time tMinimum collision avoidance distance of ith vehicle in jth guide lane of position K.
The above-mentioned
Figure BDA0002534815400000025
See formula (2).
Figure BDA0002534815400000031
Wherein, v (t) K,j,i The speed of the ith motor vehicle in the jth guide lane representing the phase K at the moment t;
Figure BDA0002534815400000032
indicating the standard emergency braking deceleration of the ith motor vehicle in the jth guide lane at the moment t and the phase K; d s Which represents the standard distance that the vehicle should maintain at rest from a stationary object in front.
3. Green light extended request area
When the foremost end of the locomotive of the motor vehicle is positioned in the guide lane and the rearmost end of the tail of the motor vehicle is positioned outside the guide lane, the guide lane where the foremost end of the locomotive is positioned is determined as the guide lane where the motor vehicle is positioned; when the foremost end of the vehicle head and the rearmost end of the vehicle tail of the motor vehicle are both positioned in the guide lane, the guide lane where the rearmost end of the vehicle tail is positioned is determined as the guide lane where the motor vehicle is positioned; when the foremost end of the vehicle head of the motor vehicle is positioned outside the guide lane and the rearmost end of the vehicle tail is positioned in the guide lane, the guide lane where the rearmost end of the vehicle tail is positioned is determined as the guide lane where the motor vehicle is positioned.
A vehicle phase may control one or more of the guide lanes. A virtual stop line is provided 5 to 10 meters upstream of the actual stop line of each guide lane, and the space from the start point of the guide lane to the virtual stop line is referred to as a green light extension request zone, as shown in fig. 1. For a current green light vehicle phase, the generation of an extended green light decision depends on the vehicle operating conditions in all green light extension request zones for that phase, independent of the vehicle operating conditions between the virtual stop-line and the actual stop-line.
4. Green light extended request area utilization rate
The utilization rate of the green light extension request area is the ratio of the usage length of the green light extension request area to the available length of the green light extension request area in the phase of the motor vehicle at the current moment. For the current green light motor vehicle phase, the utilization rate of the green light extension request area is used for reflecting the traffic demand of the motor vehicle.
Calculating utilization rate of green light extension request area of time t phase K by using formula (3)
Figure BDA0002534815400000033
Figure BDA0002534815400000034
Wherein the content of the first and second substances,
Figure BDA0002534815400000035
the service length of the green light extension request area of the phase K at the moment t is represented;
Figure BDA0002534815400000036
the green light extension request field available length, which represents phase K at time t.
(1) Green light extension request area available length
When a green light extension request area of one guide lane is stored in the motor vehicle, the available length of the green light extension request area is equal to the sum of the lengths of the green light extension request areas obtained by all the motor vehicles. The length of a green light extension request area obtained by the 1 st motor vehicle behind the virtual stop line is equal to the distance from the rearmost end of the tail of the vehicle to the virtual stop line; the length of the green light extension request area obtained by the 2 nd motor vehicle and the subsequent motor vehicles behind the virtual stop line is equal to the distance from the rearmost end of the tail of the motor vehicle to the rearmost end of the tail of the front motor vehicle.
When no vehicle exists in the green light extension request area of one guide lane, the available length of the green light extension request area is equal to the length of the green light extension request area.
Calculating j-th guide lane of phase K at time t by using formula (4)Green light of extended request area available length
Figure BDA0002534815400000041
Figure BDA0002534815400000042
Wherein L is K,j The length of a green light extension request area of the jth guide lane representing the phase K;
Figure BDA0002534815400000043
indicating the length of a green light extension request area obtained by the ith motor vehicle in the jth guide lane at the moment t and the phase K; i represents the number of vehicles in the jth guide lane of phase K at time t.
Calculating available length of green light extension request region of time t phase K by using formula (5)
Figure BDA0002534815400000044
Figure BDA0002534815400000045
Where J represents the number of guidance lanes for phase K.
(2) Green light extension request area use length
When a green light extension request area of one guide lane is stored in the motor vehicle, the using length of the green light extension request area is equal to the sum of the lengths of the green light extension request areas used by all the motor vehicles. The length of the green light extension request area used by the motor vehicle is equal to the minimum value of the length of the green light extension request area obtained by the vehicle and the safety extension length of the vehicle.
When no vehicle exists in the green light extension request area of one guide lane, the service length of the green light extension request area is zero.
Calculating the length of the green light extension request area used by the ith motor vehicle in the jth guide lane at the time t and the phase K by using the formula (6)
Figure BDA0002534815400000046
Figure BDA0002534815400000047
Calculating the green light extension request area use length of the jth guide lane at the time t and the phase K by using the formula (7)
Figure BDA0002534815400000048
Figure BDA0002534815400000049
Calculating the service length of the green light extension request area of the time t phase K by using the formula (8)
Figure BDA00025348154000000410
Figure BDA00025348154000000411
5. Single point full sense logic
It is known that: g (t) K 、
Figure BDA00025348154000000415
Respectively represent the time t phase K, K ～ Green light duration of; minG K 、
Figure BDA00025348154000000416
Respectively represent the phase K, K ～ Minimum green time period of; maxG K 、
Figure BDA00025348154000000417
Respectively represent the phase K, K ～ Maximum green time period of;
Figure BDA00025348154000000412
Figure BDA00025348154000000413
respectively represent the phase K, K ～ The green light extension request area utilization threshold.
If the phase K can independently turn off the green light, the green light of the phase K is immediately turned off when the following condition 1 or 2 is satisfied at the time t:
1.
Figure BDA00025348154000000414
2.G(t) K ≥maxG K 。
if phases K and K ～ The green light must be turned off simultaneously, at time t 1 When the following condition 1 or 2 is satisfied, the green lamp of phase K is allowed to be turned off; when the time t 2 When the following condition 3 or 4 is satisfied, the off-phase K is allowed ～ The green light of (2):
1.
Figure BDA0002534815400000051
2.G(t 1 ) K ≥maxG K ；
3.
Figure BDA0002534815400000052
4.
Figure BDA0002534815400000053
once allowing both phases K and K to be switched off ～ Green lamp of, immediately cutting off phases K and K ～ The green light of (1).
The invention has the following beneficial effects:
the green light provided by the invention can prolong the utilization rate of the request area, can fully utilize the running state data of the networked automobiles, and accurately depict the traffic demand of the current green light motor vehicle phase. The single-point full-induction type signal timing method based on the green light extension request area utilization rate can reduce the green light waste phenomenon and the green light deficiency phenomenon to the maximum extent and improve the performance of a single signal control intersection.
Drawings
Fig. 1 is a schematic diagram of a guidance lane and a green light extension request region, where L is between 5m and 10 m.
FIG. 2 is a schematic diagram of a road space layout and a phase setting mode at a case intersection, wherein L1 is 50m; taking L2 as 5m; l3 is 9.5m.
Fig. 3 is a phase display sequence of case crossings.
FIG. 4 shows the operation of the motor vehicle in case one, where L1 is 50m; l2 is 40m.
FIG. 5 shows the operating state of the vehicle in case two, where L1 is 50m; l2 is 40m.
Detailed Description
The following embodiments are provided to further explain the present invention.
The spatial layout and phase setting mode of the roads at the case intersection are shown in fig. 2.
The phase K1 is the phase of a left-turning motor vehicle at east, and an arrow-shaped signal lamp is adopted;
the phase K2 is the phase of a straight-going motor vehicle at the west inlet and adopts a disc-shaped signal lamp;
the phase K3 is the phase of a left-turning motor vehicle at the south of the world, and an arrow-shaped signal lamp is adopted;
the phase K4 is the phase of the straight-ahead motor vehicle at the north entrance, and a disc-shaped signal lamp is adopted;
the phase K5 is the phase of a left-turning motor vehicle at the west entrance and adopts an arrow-shaped signal lamp;
the phase K6 is the phase of the straight-going motor vehicle at east import and adopts a disc-shaped signal lamp;
the phase K7 is the phase of a left-turning motor vehicle at the north entrance, and an arrow-shaped signal lamp is adopted;
the phase K8 is the phase of a straight-going motor vehicle at the south import and adopts a disc-shaped signal lamp;
the phase F2 is the pedestrian phase at the inlet and outlet of the south side;
the phase F4 is the pedestrian phase at the west entrance;
the phase F6 is the pedestrian phase at the inlet and outlet on the north side;
the phase F8 is the pedestrian phase at the east exit.
The phases at case crossings are shown in sequence as shown in fig. 3.
Phases K2 and K6 are the leading phases of the east-west inputs;
phases K1 and K5 are the postphases of the east-west inlets;
phases K4 and K8 are the leading phases of the north-south import;
phases K3 and K7 are the north-south imported post-phases.
The signal light color of the vehicle phase and the pedestrian phase is updated every second. The front phase can independently turn off the green light, and the rear phase must simultaneously turn off the green light.
The virtual stop line for each guide lane is set 10 meters upstream of the actual stop line.
In the formula 2, the first and second groups of the compound,
Figure BDA0002534815400000061
in the single-point full sensing logic, the sensing logic,
Figure BDA0002534815400000062
case one
Phase K6 is a leading phase and allows independent green lamp cutoff. Time t after the minimum green time of phase K6 is over and before the maximum green time is reached 1 The green lamp extension request zone of phase K6 shows the vehicle running state as shown in fig. 4.
According to the formulas 4 and 5, obtaining
Figure BDA0002534815400000063
Wherein 40.0 represents the green light extension request region length; 9.0 and 21.5 respectively represent the length of the green light extension request area obtained by the motor vehicle;
according to the formulas 6, 7 and 8, the method obtains
Figure BDA0002534815400000064
Wherein 9.0 and 20.34 respectively represent the length of the green light extension request area used by the motor vehicle;
according to the formula 3, obtainingTo
Figure BDA0002534815400000065
According to single-point full sensing logic, satisfy
Figure BDA0002534815400000066
Time t 1 The green lamp of phase K6 should be switched off immediately.
Case two
Phase K2 is a leading phase and allows independent switching off of the green lamp. Time t after the minimum green time of phase K2 is over and before the maximum green time is reached 2 The green lamp extension request zone of phase K2 shows the vehicle running state as shown in fig. 5.
According to the formulas 4 and 5, obtaining
Figure BDA0002534815400000067
Wherein, 7.5, 25.0, 5.5, 33.75 and 23.5 respectively represent the green light extension request zone length obtained by the motor vehicle;
according to the formulas 6, 7 and 8, the method obtains
Figure BDA0002534815400000068
Wherein, 7.5, 14.29, 5.5, 15.31, 14.16 respectively represent the green light extension request zone length used by the motor vehicle;
according to the formula 3, obtain
Figure BDA0002534815400000071
According to single point full sense logic, does not satisfy
Figure BDA0002534815400000072
Nor G (t) 2 ) K2 ≥maxG K2 Time t 2 The green lamp of phase K2 should continue to be extended.
The above-mentioned embodiments only express the embodiments of the present invention, but not should be understood as the limitation of the scope of the invention patent, it should be noted that, for those skilled in the art, many variations and modifications can be made without departing from the concept of the present invention, and these all fall into the protection scope of the present invention.

Claims (1)

1. A single-point full-induction type signal timing method based on green light extension request area utilization rate is characterized by comprising five aspects of implementation conditions, motor vehicle safety extension length, green light extension request area utilization rate and single-point full-induction logic, and specifically comprises the following steps:
1. conditions for carrying out
(1) The motor vehicles running on the road are all internet automobiles;
(2) The signal control machine can acquire the position, the entity length and the speed of each motor vehicle in each guide lane in real time;
(3) The signal light color and the display sequence of the motor vehicle phase are 'green light → yellow light → red light → green light';
2. safety extension length of motor vehicle
The motor vehicle safety extension length is used for reflecting a standard road space used by a motor vehicle and consists of an entity length and a minimum collision avoidance distance; wherein the entity length is the length from the head foremost end to the tail rearmost end of the motor vehicle; the minimum collision avoidance distance is equal to the standard distance required for emergency braking of the motor vehicle to be stationary at the current speed plus the standard distance that the motor vehicle should keep with a front stationary object in a stationary state;
calculating the safe extension length of the ith motor vehicle in the jth guide lane at the moment t and the phase K by using the formula (1)
Figure FDA0003762423520000011
Figure FDA0003762423520000012
Wherein the content of the first and second substances,
Figure FDA0003762423520000013
to representThe entity length of the ith motor vehicle in the jth guide lane at the time t and the phase K;
Figure FDA0003762423520000014
the minimum collision avoidance distance of the ith motor vehicle in the jth guide lane representing the phase K at the moment t;
Figure FDA0003762423520000015
wherein, v (t) K,j,i The speed of the ith motor vehicle in the jth guide lane representing the phase K at the moment t;
Figure FDA0003762423520000016
indicating the standard emergency braking deceleration of the ith motor vehicle in the jth guide lane at the moment t and the phase K; d s Indicating a standard distance that the motor vehicle should keep with a front stationary object in a stationary state;
3. green light extended request area
When the foremost end of the locomotive of the motor vehicle is positioned in the guide lane and the rearmost end of the tail of the motor vehicle is positioned outside the guide lane, the guide lane where the foremost end of the locomotive is positioned is determined as the guide lane where the motor vehicle is positioned; when the foremost end of the vehicle head and the rearmost end of the vehicle tail of the motor vehicle are both positioned in the guide lane, the guide lane where the rearmost end of the vehicle tail is positioned is determined as the guide lane where the motor vehicle is positioned; when the head of the motor vehicle is positioned outside the guide lane and the tail of the motor vehicle is positioned in the guide lane, the guide lane where the tail of the motor vehicle is positioned is determined as the guide lane where the motor vehicle is positioned;
a motor vehicle phase controls one or more of the guide lanes; arranging a virtual stop line 5-10 meters upstream of the actual stop line of each guide lane, wherein the space from the starting point of each guide lane to the virtual stop line is called a green light extension request area; for the current green light motor vehicle phase, the generation of the green light extension decision depends on the motor vehicle running state in all green light extension request areas of the phase, and is irrelevant to the motor vehicle running state between the virtual stop line and the actual stop line;
4. green light extended request area utilization rate
The utilization rate of the green light extension request area is the ratio of the service length of the green light extension request area to the available length of the green light extension request area of the motor vehicle phase at the current moment; for the current green light motor vehicle phase, the utilization rate of the green light extension request area is used for reflecting the traffic demand of the motor vehicle;
calculating utilization rate of green light extension request area of time t phase K by using formula (3)
Figure FDA0003762423520000021
Figure FDA0003762423520000022
Wherein the content of the first and second substances,
Figure FDA0003762423520000023
the service length of the green light extension request area of the phase K at the moment t is represented;
Figure FDA0003762423520000024
the available length of the green light extension request area of the phase K at the moment t is represented;
(1) Green light extension request area available length
When a green light extension request area of a guide lane is stored in the motor vehicle, the available length of the green light extension request area is equal to the sum of the lengths of the green light extension request areas obtained by all the motor vehicles: the length of a green light extension request area obtained by the 1 st motor vehicle behind the virtual stop line is equal to the distance from the rearmost end of the tail of the vehicle to the virtual stop line; the length of a green light extension request area obtained by the 2 nd motor vehicle and the subsequent motor vehicles behind the virtual stop line is equal to the distance from the rearmost end of the tail of the motor vehicle to the rearmost end of the tail of the front motor vehicle;
when no motor vehicle exists in the green light extension request area of one guide lane, the available length of the green light extension request area is equal to the length of the green light extension request area;
calculating the available length of the green light extension request area of the jth guide lane at the time t and the phase K by using the formula (4)
Figure FDA0003762423520000025
Figure FDA0003762423520000026
Wherein L is K,j The length of a green light extension request area of the jth guide lane representing the phase K;
Figure FDA0003762423520000027
indicating the length of a green light extension request area obtained by the ith motor vehicle in the jth guide lane at the time t and the phase K; i represents the number of motor vehicles in the jth guide lane of the phase K at the moment t;
calculating available length of green light extension request region of time t phase K by using formula (5)
Figure FDA0003762423520000028
Figure FDA0003762423520000029
Wherein J represents the number of guide lanes of phase K;
(2) Green light extension request area use length
When a green light extension request area of one guide lane is stored in the motor vehicle, the using length of the green light extension request area is equal to the sum of the lengths of the green light extension request areas used by all the motor vehicles; the length of the green light extension request area used by the motor vehicle is equal to the minimum value of the length of the green light extension request area obtained by the vehicle and the safety extension length of the vehicle;
when no motor vehicle exists in the green light extension request area of one guide lane, the service length of the green light extension request area is zero;
calculated using equation (6)The length of the green light extension request area used by the ith motor vehicle in the jth guide lane at the time t and the phase K
Figure FDA0003762423520000031
Figure FDA0003762423520000032
Calculating the green light extension request area use length of the jth guide lane at the time t and the phase K by using the formula (7)
Figure FDA0003762423520000033
Figure FDA0003762423520000034
Calculating the service length of the green light extension request area of the time t phase K by using the formula (8)
Figure FDA0003762423520000035
Figure FDA0003762423520000036
5. Single point full sense logic
It is known that: g (t) K 、
Figure FDA0003762423520000037
Respectively represent the time t phase K, K ～ Green time of; minG K 、
Figure FDA0003762423520000038
Respectively, the phase K, K ～ Minimum green time period of; maxG K 、
Figure FDA0003762423520000039
Respectively represent the phase K, K ～ Maximum green time period of;
Figure FDA00037624235200000310
Figure FDA00037624235200000311
respectively represent the phase K, K ～ The utilization rate threshold of the green light extension request area is set;
if the green lamp is cut off independently for the phase K, the green lamp for the phase K is immediately cut off when the following condition 1 or 2 is satisfied for the time t:
Figure FDA00037624235200000312
Figure FDA00037624235200000316
if phases K and K ～ The green light must be turned off simultaneously, at time t 1 Allowing the green lamp of phase K to be turned off when the following condition 1 or 2 is satisfied; when the time t 2 When the following condition 3 or 4 is satisfied, the off-phase K is allowed ～ The green light of (2):
Figure FDA00037624235200000313
Figure FDA00037624235200000317
Figure FDA00037624235200000314
Figure FDA00037624235200000315
once allowing both phases K and K to be switched off ～ Green lamp of, immediately cutting off phases K and K ～ The green light of (1).
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