CN112071095A - Signal timing method for emergency vehicle passing intersection based on V2X technology - Google Patents

Signal timing method for emergency vehicle passing intersection based on V2X technology Download PDF

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CN112071095A
CN112071095A CN202010610564.2A CN202010610564A CN112071095A CN 112071095 A CN112071095 A CN 112071095A CN 202010610564 A CN202010610564 A CN 202010610564A CN 112071095 A CN112071095 A CN 112071095A
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intersection
path
signal
time
traffic
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CN112071095B (en
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吴迪
余凯
顾童童
陶波
韩卫
张晟瑞
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Hefei 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
    • G08G1/087—Override of traffic control, e.g. by signal transmitted by an emergency vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals

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Abstract

The invention discloses a signal timing method for an emergency vehicle to pass through an intersection based on a V2X technology, which comprises the following steps: a1, acquiring traffic flow and vehicle running state data of each road section on a running path through V2X road surface equipment, judging the vehicle running path, obtaining the shortest running time of an emergency vehicle on one road section by utilizing the corresponding relation between the running time and the traffic flow in a Davidson function, and optimizing the shortest time path by utilizing a Dijkstra algorithm; a2, determining nodes of the intersection in the path according to the obtained shortest path, calculating an optimization strategy of the intersection, and adjusting traffic signals of the intersection according to the optimization strategy. The invention can comprehensively realize the path selection when the emergency vehicle executes the task, and dynamically adjust and plan the real-time virtual signal lamp according to the path selection distribution; the emergency vehicle can travel more efficiently; meanwhile, the influence of the phase change of the signal lamps at the single intersection on the passing efficiency of the surrounding road networks is reduced as much as possible, and the global planning is realized.

Description

Signal timing method for emergency vehicle passing intersection based on V2X technology
Technical Field
The invention relates to the technical field of traffic signals, in particular to a signal timing method for an emergency vehicle to pass through an intersection based on a V2X technology.
Background
In recent years, with the rapid growth of GDP in China, the urban scale is continuously enlarged, and the urban traffic is more and more congested. The congestion of urban traffic not only causes serious environmental pollution, but also delays the vehicle traveling time, which brings great difficulty to the normal work of emergency vehicles (including police cars, fire trucks, engineering emergency vehicles, ambulances, traffic monitoring accident investigation vehicles and the like). When an emergency happens, due to the current situation of traffic jam, the emergency vehicle is often detained on the road, and rescue work is difficult to be carried out at the first time. And the emergency vehicle has great potential safety hazard when preferentially passing through the intersection, and is easy to conflict with the normal running vehicle.
The emergency vehicle path optimization based on the intelligent system is greatly improved in the present generation. The type of the emergency vehicle is identified through the vehicle detection system, and the traffic flow detection system is used for planning a path, and the traffic information service system is used for acquiring road condition information to plan the path of the emergency vehicle. On the basis of acquiring the position of the emergency vehicle, the distance between the emergency vehicle and the traffic light intersection and the predicted passing time are calculated, the green light passing time is prolonged or the red light waiting time is shortened through controlling the signal light, so that the vehicle in front of the emergency vehicle is emptied, and the emergency vehicle can pass smoothly. However, the method has a limited application range, and when the traffic flow of the road exceeds a certain threshold value, the signal lamp control has extremely limited effect on improving the traffic efficiency of emergency vehicles.
And most of the existing researches aim at the problem of the passing efficiency of emergency vehicles passing through a single intersection with a signal lamp, the influence of the phase change of the signal lamp of the single intersection on the passing efficiency of surrounding road networks is not considered comprehensively, and the optimization research is not applicable any more if the emergency vehicles meet the intersection without the signal lamp, so that the current situations of congestion and trip risk still exist.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a signal timing method for an emergency vehicle to pass through an intersection based on a V2X technology, which solves the problem that the emergency vehicle is difficult to pass efficiently even accidents occur on a congested road section, and the optimal rescue time is delayed due to the fact that the emergency vehicle has priority right to pass through due to serious traffic jam problem at present.
In order to solve the technical problems, the invention provides the following technical scheme:
the invention discloses a signal timing method for an emergency vehicle to pass through an intersection based on a V2X technology, which comprises the following steps:
a1, acquiring traffic flow and vehicle running state data of each road section on a running path through V2X road surface equipment, judging the vehicle running path, obtaining the shortest running time of an emergency vehicle on one road section by utilizing the corresponding relation between the running time and the traffic flow in a Davidson function, representing the road section as an arc in a graph theory network, representing an intersection as a node in the network, taking the shortest running time as a weight, and carrying out shortest time path optimization by using a Dijkstra algorithm;
a2, determining nodes of the intersection in the path according to the obtained shortest path, calculating an optimization strategy of the intersection, and adjusting traffic signals of the intersection according to the optimization strategy.
As a preferred technical solution of the present invention, the relationship between the travel time and the traffic flow in the Davidson function is as follows:
Figure BDA0002561954350000021
λ is lane green ratio; x is vehicle saturation; c is the signal period duration; t is taIs the actual transit time on the road segment; z is a service level parameter; eta1The interference coefficient of the bicycle to the motor vehicle; q. q.saIs the road section motor vehicle flow; caThe practical traffic capacity of the road section is achieved.
As a preferred technical scheme of the invention, the steps of the optimization strategy are as follows:
1. evaluating a traffic signal instruction at the intersection;
2. training by adopting a Q learning algorithm according to the evaluation value;
3. and calculating the split ratio of the intersection.
As a preferred technical solution of the present invention, the Q learning algorithm includes the following steps:
if sgn (a) is 0, Hj(tk)→Hj(tk)+β(1-Hj(tk))，Hi≠j(tk)→(1-β)Hj(tk)
If sgn (a) is 1, Hj(tk)→(1-β)Hj(tk)，Hi≠j(tk)→(1-β)Hj(tk)+β
Wherein β represents a learning rate, tkIs an intersection CkAn observed state value;
Figure BDA0002561954350000031
j is intersection CkSet of adjacent intersections, pjIs an intersection CkThe state of a signal lamp at an adjacent intersection, wherein N is a state number, and N is 2; hj(tk) Is at pjTime crossing according to observed state tkSelecting action instruction ziProbability of (H)i≠j(tk) Is not at pjTime crossing according to observed state tkTime-selective action instruction ziProbability of action instruction.
As a preferred embodiment of the present invention, when Hj(tk)＞Hi≠j(tk) While, the intersection CkHas a green signal ratio of
Hj(tk)/Hi≠j(tk)。
Compared with the prior art, the invention has the following beneficial effects:
1. according to the scheme, the path selection of the emergency vehicle during task execution can be comprehensively realized, and the real-time virtual signal lamp dynamic adjustment and planning of the path vehicle during dissipation are realized, so that the emergency vehicle is more efficient in traveling.
2. Under the environment of V2X, a virtual signal lamp self-adaptive control strategy is adopted to realize the efficient passing of emergency vehicles. Meanwhile, the influence of the phase change of the signal lamps at the single intersection on the passing efficiency of the surrounding road networks is reduced as much as possible, and the global planning is realized.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a flow chart of a method of the present invention;
FIG. 2 is a flow chart of the steps of the optimization strategy of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
In addition, if a detailed description of the known art is not necessary to show the features of the present invention, it is omitted.
Example 1
As shown in fig. 1, the invention provides a signal timing method for emergency vehicles to pass through an intersection based on a V2X technology, which comprises the following steps: the method comprises the following steps:
a1, planning the path of the emergency vehicle to obtain an optimal path under the known environment map information for the vehicle. The traditional path selection method is based on the current road network state, and the characteristic of high priority of emergency vehicles is not considered. In the project, before the emergency vehicle goes out, the traffic information acquisition subsystem analyzes the road traffic running condition and monitors traffic flow data, and the shortest running time of the emergency vehicle on a section of road is obtained by utilizing the corresponding relation between the running time and the traffic flow in the Davidson function. And then representing the road section as an arc in a graph theory network, representing the intersection as a node in the network, taking the shortest driving time as a weight, and carrying out shortest time path optimization by using a Dijkstra algorithm.
The relationship between travel time and traffic flow in the Davidson function is as follows:
Figure BDA0002561954350000041
λ is lane green ratio; x is vehicle saturation; c is the signal period duration; t is taIs the actual transit time on the road segment; z is a service level parameter; eta1The interference coefficient of the bicycle to the motor vehicle; q. q.saIs the road section motor vehicle flow; caThe practical traffic capacity of the road section is achieved.
A2, determining nodes of the intersection in the path according to the obtained shortest path, calculating an optimization strategy of the intersection, and adjusting traffic signals of the intersection according to the optimization strategy.
The steps of the optimization strategy are as follows:
1. evaluating a traffic signal instruction at the intersection;
2. training by adopting a Q learning algorithm according to the evaluation value;
3. and calculating the split ratio of the intersection.
The traffic signal instruction evaluation algorithm is as follows:
Figure BDA0002561954350000051
wherein a is the action instruction z in the d-th cycleiWhen i is 0 or 1, it indicates that the traffic signal is in the original state, and when i is 1, it indicates that the traffic signal is in the transition state;
Figure BDA0002561954350000052
is shown at intersection CkAnd (4) processing the traffic flow value on the path at the d-th period of the signal lamp.
The Q learning algorithm comprises the following calculation steps:
if sgn (a) is 0, Hj(tk)→Hj(tk)+β(1-Hj(tk))，Hi≠j(tk)→(1-β)Hj(tk)
If sgn (a) is 1, Hj(tk)→(1-β)Hj(tk)，Hi≠j(tk)→(1-β)Hj(tk)+β
Wherein β represents a learning rate, tkIs an intersection CkAn observed state value;
Figure BDA0002561954350000053
j is intersection CkSet of adjacent intersections, pjIs an intersection CkThe state of a signal lamp at an adjacent intersection, wherein N is a state number, and N is 2; hj(tk) Is at pjTime crossing according to observed state tkSelecting action instruction ziProbability of (H)i≠j(tk) Is not at pjTime crossing according to observed state tkTime-selective action instruction ziProbability of action instruction.
When H is presentj(tk)＞Hi≠j(tk) While, the intersection CkHas a green signal ratio of
Hj(tk)/Hi≠j(tk)。
The traffic signal lamp on the optimal path is adjusted by adopting an optimization strategy, and the vehicles are dissipated to the maximum extent on the premise of ensuring the smooth traffic of the optimal path section, so that the running time of emergency vehicles is shortened, and the rapid passing of other vehicles on the optimal path is also ensured to the maximum extent.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (6)

1. A signal timing method for emergency vehicles to pass through an intersection based on a V2X technology is characterized by comprising the following steps:
a1, acquiring traffic flow and vehicle running state data of each road section on a running path through V2X road surface equipment, judging the vehicle running path, obtaining the shortest running time of an emergency vehicle on one road section by utilizing the corresponding relation between the running time and the traffic flow in a Davidson function, representing the road section as an arc in a graph theory network, representing an intersection as a node in the network, taking the shortest running time as a weight, and carrying out shortest time path optimization by using a Dijkstra algorithm;
a2, determining nodes of the intersection in the path according to the obtained shortest path, calculating an optimization strategy of the intersection, and adjusting traffic signals of the intersection according to the optimization strategy.
2. The method for signal timing of emergency vehicles passing through an intersection based on the V2X technology, as claimed in claim 1, wherein the relationship between travel time and traffic flow in the Davidson function is as follows:
Figure FDA0002561954340000011
λ is lane green ratio; x is vehicle saturation; c is the signal period duration; t is taIs the actual transit time on the road segment; z is a service level parameter; eta1The interference coefficient of the bicycle to the motor vehicle; q. q.saIs the road section motor vehicle flow; caThe practical traffic capacity of the road section is achieved.
3. The method for signal timing of emergency vehicles passing through an intersection based on the V2X technology according to claim 1, wherein the optimization strategy comprises the following steps:
1. evaluating a traffic signal instruction at the intersection;
2. training by adopting a Q learning algorithm according to the evaluation value;
3. and calculating the split ratio of the intersection.
4. The signal timing method for emergency vehicles to pass through an intersection based on the V2X technology, according to claim 3, wherein the traffic signal command evaluation algorithm is as follows:
Figure FDA0002561954340000021
wherein a is the action instruction z in the d-th cycleiWhen i is 0 or 1, it indicates that the traffic signal is in the original state, and when i is 1, it indicates that the traffic signal is in the transition state;
Figure FDA0002561954340000022
is shown at intersection CkAnd (4) processing the traffic flow value on the path at the d-th period of the signal lamp.
5. The signal timing method for emergency vehicles to pass through an intersection based on the V2X technology as claimed in claim 4, wherein the Q learning algorithm is calculated by the following steps:
if sgn (a) is 0, Hj(tk)→Hj(tk)+β(1-Hj(tk))，Hi≠j(tk)→(1-β)Hj(tk)
If sgn (a) is 1, Hj(tk)→(1-β)Hj(tk)，Hi≠j(tk)→(1-β)Hj(tk)+β
Wherein β represents a learning rate, tkIs an intersection CkAn observed state value;
Figure FDA0002561954340000023
j is intersection CkSet of adjacent intersections, pjIs an intersection CkThe state of a signal lamp at an adjacent intersection, wherein N is a state number, and N is 2; hj(tk) Is at pjTime crossing according to observed state tkSelecting action instruction ziProbability of (H)i≠j(tk) Is not at pjTime crossing according to observed state tkTime-selective action instruction ziProbability of action instruction.
6. The method for signal timing of emergency vehicle passing through intersection based on V2X technology according to claim 5, wherein when H isj(tk)＞Hi≠j(tk) While, the intersection CkHas a green signal ratio of
Hj(tk)/Hi≠j(tk)。
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