CN112396847A

CN112396847A - Traffic network signal linkage guiding method based on 5G

Info

Publication number: CN112396847A
Application number: CN202011276056.1A
Authority: CN
Inventors: 张鹏
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-11-16
Filing date: 2020-11-16
Publication date: 2021-02-23

Abstract

The invention relates to a traffic network signal lamp linkage guiding method based on 5G, which is applied to the field of intelligent control of road network signal lamps, solves the problems that the existing traffic network signal guiding mechanism and method is low in efficiency and the emotion of a driver is influenced due to the fact that the existing signal guiding method lacks a humanized fairness mechanism.

Description

Traffic network signal linkage guiding method based on 5G

Technical Field

The invention discloses a traffic network signal linkage guiding method based on 5G, relates to a traffic network signal lamp linkage guiding method, and is applied to the field of intelligent control of road network signal lamps.

Background

The existing mechanism and method for controlling traffic signal lamps based on traffic flow realize the rotation of signal lamps at a single intersection based on traffic flow data of a single point or a single intersection, and the influence analysis and specific algorithm of the traffic flow data of adjacent intersections on the intersection are lacked, and the waiting time of vehicles passing through the intersection at other intersections is not considered, so that some vehicles continuously wait for red lights (stay in a red light state) at a plurality of intersections for a long time.

Disclosure of Invention

The invention designs a traffic network signal guiding method based on 5G, which is a method for acquiring vehicle position, speed and time data based on 5G signals and improving the linkage efficiency of traffic network signal lamps based on traffic flow data of adjacent intersections. The invention firstly starts a multi-intersection signal lamp linkage algorithm:

end of time C_iCurrent rotation mechanism (e.g. semaphore timing mechanism), C_iReference heading C for the upcoming signal light replacement mechanism_iVehicle V at intersection_ijAt the position close to the adjacent crossing C_i-1The dwell time (or red light waiting time) T of the road section_ij，C_i+1Reference heading C for the upcoming turn signal mechanism_i+1Vehicle V at intersection_(i+1)jIn the vicinity of C_iStay time (red light waiting time) T of road section_(i+1)jBy analogy, the rings are buckled, if there is a driving direction C_iOf two or more adjacent junctions C_i+j(j ═ 1, 2, 3, 4, …), then C_iThe signal lamp alternation mechanism to be started will refer to the driving direction C_iThe sum of the residence time (or red light waiting time) of a vehicle at an intersection approaching a plurality of adjacent intersection segments.

C_i(i ═ 1, 2, 3, 4, …) is a road intersection, C₁、C₂、C₃、C₄、...、C_iAre connected in sequence, and C_iIs C_i-1The front driving intersection of (1);

V_ij(i 1, 2, 3, 4, …, i being the road segment number currently being traveled and j 1, 2, 3, 4, …, j being the road junction number ahead of travel) are vehicles from multiple phases, e.g., V₉₁Is a running vehicle of the section 9, V₈₂Is the vehicle on road segment 2, and so on. V_ijIs a cluster of vehicles, all vehicles traveling on the road segment.

T_ijIs a vehicle V_ijAt the intersection C_i-1The sum of the dwell times, i.e. heading C_iVehicle at intersection C_i-1The sum of the residence times, T_ijIs V_ijEach vehicle of the vehicle cluster is at C_i-1Crossing (C)_i-1Is a reaction of with C_iLinking adjacent one or more intersections) and, T_ijBelow a certain set speed. As shown in fig. 1.

First, phase-combining mold

The phase combination is divided into: go straight at the same time S_aS_bAnd simultaneously turn left L_aL_bAnd simultaneously go straight S_cS_dAnd simultaneously turn left L_aL_bAnd simultaneously go straight and go left turn S_aL_aAnd simultaneously go straight and go left turn S_bL_bAnd simultaneously go straight and go left turn S_cL_cAnd simultaneously go straight and go left turn S_dL_d(remarks that the right turn signal indicates according to the straight signal lamp or can turn right at any time, specifically determined by actual road conditions, and a, b, c and d are road section numbers);

selecting a signal lamp combination model of the intersection, judging whether to start a phase combination of ' simultaneously going straight and left turning ' according to the number of vehicles on road sections at two sides, and if so, judging whether to start the phase combination of ' simultaneously going straight and left turning_a＞кS_bOr S_b＞кS_aThen start the straight left turn S_aL_a、S_bL_bPhase combinations, otherwise simultaneous column phase combinations S are enabled_aS_b；S_c＞кS_dOr S_d＞кS_cThen start the straight left turn S_cL_c、S_dL_dPhase combining, otherwise enabling simultaneous inline phase combining S_cS_d。S_a、S_b、S_c、S_dIs the number of vehicles in the current driving section, including the number of vehicles ready for straight-going and left-turning, where k is a coefficient, and the value of k is determined by regression.

Second, priority green model

Combined vehicle dwell time T with each phase_ijAs a criterion for the phase combination priority green light, that is: which phase combination of vehicles is parkedThe longer the time is, the more green the phase combination is, the duration is t_ij (i＝1，2，3，4，…；j＝1，2，3，4，…)，t_ijThe selection of (a) is determined by regression; residence time T_ijIs divided into C_iAnd C_i-1、C_i-1And C_i-2The dwell time between the two road sections.

Selecting T according to the above principle_ijPhase combination priority green light with maximum time, duration t_ij (i＝1，2，3，4，…；j＝1，2，3，4，…)，t_ijThe selection of (A) is determined by regression.

When C is present_iT when signal lamp at crossing calculates priority green phase_ijThere are two methods for calculating (C), one of which is to refer to the heading C alone_iVehicle at intersection C_i-1The residence time Ta; the other is the sum of two times, i.e. heading C_iVehicle at intersection C_iThe sum of the dwell time Tb and the time Ta.

The calculation of the time Tb is divided into two methods:

one is to adopt fuzzy evaluation mode, i.e. not to distinguish the road section A (the front driving direction is C)_iCrossing) vehicles in straight-going, left-turning and right-turning phases, and the stopping time of the straight-going, left-turning and right-turning phase vehicles is mixed and participates in the calculation of the green lights with priority for straight-going and left-turning, when the straight-going phases are combined at the same time, the phase combination of the road sections with long stopping time of the total vehicles firstly gives priority to straight-going and then gives priority to left-turning;

the other is a precise phase calculation mode, and the driving direction C_iVehicle at intersection C_iThe stopping time Tb is divided into the stopping time of the straight-going phase vehicle and the stopping time of the left-turning phase vehicle, and the stopping time of the straight-going phase vehicle and the stopping time of the left-turning phase vehicle are respectively calculated, namely: max (Ta1+ Tb)_S1，Ta2+Tb_S2，Ta1+Tb_L1，Ta2+Tb_L2，Ta3+Tb_S3， Ta4+Tb_S4，Ta3+Tb_L3，Ta4+Tb_L4) And selecting the green light with the priority of the phase with the longest waiting time, wherein the calculation and comparison of the specific maximum value are based on a phase combination mode.

In this way, when the waiting time of the vehicle in a certain length distance of the road section is acquired, the lane length of the left-turn phase is limited.

According to the first step and the second step principle, the vehicle stop time T of each road section of the intersection area can be calculated firstly_ijDetermining T_ijThe maximum road section phase takes the green light into priority, and then the phase combination mode, T, is determined based on the first step_ijMaximum phase priority green light duration t_ij，t_ijRepeating the first step to determine the period C again after finishing_yThe remaining phase combination mode of the green lamps is determined based on the second step principle until all green lamps are rotated once, C_yIt is the total time length that all phase combinations at a crossing finish green light in turn.

Drawings

Fig. 1 is a multi-intersection traffic network diagram, and the diagram numbers and diagram names are as follows:

1 intersection

2 at the intersection

(III) crossing 3

Stop line of road section 9 at intersection 1

Identification line of fifth driving-in road section 9 of driving-out crossing 2

Stop line of road section 8 at crossing 2

Seventhly, mark lines of the road sections 8 entering the intersection 3

Eight road section 8

Ninthly section 9

Road segment 10

Road section 11

Road section 12

Collecting distance D of a certain length of road section_i、D_j，

D_iIs referred to as from C_iStop line P of intersection_iIn the direction of C_i-1Crossing delayThe distance of a certain extended path section is D from the forth to the fifth as shown in figure 1_i；

D_jIs referred to as from C_i-1Stop line P of intersection_jIn the direction of C_i-2The distance of a certain path section extending from the intersection is D as shown in figure 1_j；

D_i＝k_aL_i(i＝1，2，3，4，…)，0＜k_a＜1，L_iIs C_iAnd C_i-1Length of road section between crossings, k_aIs a coefficient;

D_j＝k_bL_i-1(i＝1，2，3，4，…)，0＜k_b＜1，L_i-1is C_i-1And C_i-2Length of road section between crossings, k_bIs a coefficient.

Detailed Description

As shown in figure 1 of the drawings, in which,

example 1:

first, assume D at a time (t') on a ninu-th road segment as shown in FIG. 1_iVehicle cluster V driving to intersection within distance range (a certain distance between fourth and fifth)₉₁All come from the section of the road and are respectively at the intersection of the road and the section of the road D_jDwell time of distance and T₈₁{ t1, t2, t3, t4, t5, t6, t7 … }, at which time t' is D at the nine road segments_iThe sum of the residence times of the distances is T₉₁，TotalG＝keT₈₁+kfT₉₁Ke, kf are coefficients; similarly, the sum of waiting time of vehicles at the road (r) section at the adjacent intersection is TotalH,

the sum of the waiting times of the vehicles of the road segment at the adjacent intersection is TotalX,

the sum of waiting time of vehicles of the road section at the adjacent intersection is TotalY;

at this moment t' is at D of the ninthly road section_iThe number of vehicles in the distance is S₉(ii) a D in road section (r)_iOf a distanceThe number of vehicles is S₁₀(ii) a In that

D of the road section_iThe number of vehicles in the distance is S₁₁(ii) a In that

D of the road section_iThe number of vehicles in the distance is S₁₂；

If S is₉＞Кs₁₀Or S₁₀＞кS₉Then start the straight left turn S₉L₉、S₁₀L₁₀Phase combinations of, if S₁₁＞ кS₁₂Or S₁₂＞кS₁₁Starting the left crutch S running straight at the same time₁₁L₁₁、S₁₂L₁₂Phase combination, at this time, Max (TotalG, TotalH, TotalX, TotalY) is executed, the phase straight line and the left turn green light which are the maximum value in TotalG, TotalH, TotalX, TotalY are selected, and assuming that TotalG is the maximum at this time, ninthly the straight line and the left turn S in front of the road section₉L₉Green light at the same time, duration t_ij。

Second, the above-mentioned continuous green time t_ijThen, C_yContinuously repeating the first step to determine the phase combination mode for the remaining phases in the period, assuming the S of the remaining phases₁₁＞кS₁₂Or S₁₂＞кS₁₁If the result is still true, the left crutch is started continuously and is moved straight at the same time₁₁L₁₁、S₁₂L₁₂、S₁₀L₁₀Phase combinations, and continue comparing t₁TotalH, TotalX, TotalY at time (time before the start of the green lamp in the second group), Max (TotalH, TotalX, TotalY) is executed, assuming that TotalX is maximum, then

Front S₁₁L₁₁Phase green light, for the same reason up to period C_yAll phases are rotated once by one green lamp.

Example 2:

divide the intersection in fig. 1 into eight phase groupsLet us assume that the totality of the ninthly segments come from the eight segment at D_i (i＝1，2，3，4，…)、D_j(j-1, 2, 3, 4, …) wait for a-keT₈₁+kfT₉₁(ii) a In the same way, the waiting time of eight phase combinations of the first phase combination of the intersection can be divided into a, b, c, D, e, f, g and h, the green light is preferentially combined by the phase combination with the maximum waiting time, the rest phase combinations are analogized by the same principle until a period is completed, and D_iThe method is divided into the sum of road sections with definite classification and road sections with indefinite classification of left turn and straight lane.

Example 3:

like the first step in example 1, the second step would become: "the above-mentioned continuous green light time t_ijThen, C_yContinuously repeating the first step to judge the phase combination mode for the residual phases in the period, and assuming the S of the residual phases₁₁＞кS₁₂Or S₁₂＞ кS₁₁If not, then start the simultaneous column S₁₁S₁₂And simultaneously turn left L₁₁L₁₂Straight left crutch S₁₀L₁₀Phase combinations, comparing the waiting or dwell time of each phase combination with T_ijSelecting the phase combination with the maximum residence time to give priority to the green light, and adopting the mode of going straight first and then turning left (S first) under the condition that the phases of going straight and turning left are not easy to distinguish₁₁S₁₂Rear L₁₁L₁₂)。S₁₁S₁₂And S₁₀L₁₀Residence time T of_ijStill participate in the comparison until the full phase combination completes one cycle.

Example 4:

if a T-shaped road junction exists between the intersection I and the intersection II in the figure 1, vehicles flow into the road section from the T-shaped road junction, vehicles from the T-shaped road junction are driven to the intersection I at a certain moment, and vehicles driven to the intersection I at a certain moment have V1 from the T-shaped road junction and V2 from the intersection II, then V1 and V2 respectively participate in a rotation mechanism of combining the green light priority and the green light duration time of the phase combination of the intersection I at the staying time T1 of the road section driven to the T-shaped road junction and the staying time T2 of the road section driven to the intersection II at the same time.

In the above example, the green light duration is based entirely on the vehicle waiting time of the phase combination,assuming the vehicle waiting or stopping time T at the moment of phase combination A_aIs the waiting or dwell time T of the phase combination B_bN times of, the green duration t of phase combination a_a＝K_nNt_b，t_bIs the duration of the green light of phase combination B, K_nIs a coefficient, and phase combination B is the phase combination of the whole phase combinations of an intersection, in which the waiting or staying time of the vehicle is second to a.

Claims

1. The traffic network signal linkage guiding method based on 5G is characterized in that the priority and the duration of green lights of a certain phase combination at the next intersection are distributed based on the waiting and staying time of vehicles at the adjacent intersections.

2. The method of claim 1, including the intersection C_iReference heading C for the upcoming turn signal mechanism_iVehicle V at intersection_ijAt the position close to the adjacent crossing C_i-1Stopping time T of road section_ij，C_i+1Reference heading C for the upcoming turn signal mechanism_i+1Vehicles at the crossing approaching C_iThe staying time of the road section is analogized by the analogy, the rings are buckled, and the vehicle drives to the direction C_iWill participate in C_iThe signal lamp rotation mechanism is about to start.

3. The method according to claim 1, characterized by comprising: first, the phase combination model, the phase combination is divided into simultaneous straight lines S_aS_bAnd simultaneously turn left L_aL_bAnd simultaneously go straight S_cS_dAnd simultaneously turn left L_aL_bAnd simultaneously go straight and go left turn S_aL_aAnd simultaneously go straight and go left turn S_bL_bAnd simultaneously go straight and go left turn S_cL_cAnd simultaneously go straight and go left turn S_dL_d(ii) a Selecting a signal lamp combination model of the intersection, judging whether to start simultaneous straight left turn phase combination according to the number of vehicles on two side road sections, and if so, judging whether to start simultaneous straight left turn phase combination_a＞κS_bOr S_b＞κS_aThen start the straight left turn S_aL_a、S_bL_bPhase combining, otherwise enabling simultaneous inline phase combining S_aS_b；S_c＞κS_dOr S_d＞κS_cThen start the straight left turn S_cL_c、S_dL_dPhase combining, otherwise enabling simultaneous inline phase combining S_cS_d(ii) a Second, the green light model is prioritized, and the vehicle stay time T is combined for each phase_ijAs a criterion for the phase combination priority green light, that is: which phase combination has priority green light for longer vehicle dwell time, and duration t_ijResidence time T_ijIs divided into C_iAnd C_i-1、C_i-1And C_i-2The dwell time between two road sections; selecting T according to the above principle_ijPhase combination priority green light with maximum time, duration t_ijWhen C is present_iT when signal lamp at crossing calculates priority green phase_ijThere are two methods for calculating (C), one of which is to refer to the heading C alone_iVehicle at intersection C_i-1The dwell time Ta, which is the sum of two times, i.e. heading C_iVehicle at intersection C_iThe sum of the residence time Tb and the time Ta; the calculation of the time b is divided into two methods, one method is a fuzzy evaluation mode, namely, the vehicles on the road section A are not distinguished in the straight-going phase, the left-turning phase and the right-turning phase, the staying time of the vehicles on the straight-going phase, the left-turning phase and the right-turning phase is mixed and participates in the calculation of the straight-going green light and the left-turning green light, and when the straight-going phase is combined at the same time, the road section phase combination with long staying time of the total vehicles firstly gives priority to the straight-going green light and then gives priority to the; the other is a precise phase calculation mode, and the driving direction C_iVehicle at intersection C_iThe stopping time Tb is divided into stopping times of straight-going phase vehicles and left-turning phase vehicles, and the stopping times of the straight-going phase vehicles and the stopping times of the left-turning phase vehicles are respectively calculated; according to the first step and the second step principle, the vehicle staying time T of each road section of the intersection area can be calculated firstly_ijDetermining T_ijThe maximum road section phase takes the green light into priority, and then the phase combination mode, T, is determined based on the first step_ijLargest sizePhase-first green light and duration t_ij，t_ijRepeating the first step to determine the period C again after the end_yThe remaining phase combination mode of the green lamps is determined based on the second step principle until all green lamps are rotated once, C_yIt is the total time length that all phase combinations at a crossing finish green light in turn.

4. The method of claims 1, 2 and 3 further comprising the step of setting the duration of the green light to be based entirely on the vehicle waiting time of the phase combination assuming the vehicle waiting or dwell time T of phase combination A at that moment_aIs the waiting or dwell time T of the phase combination B_bN times of, the green duration t of phase combination a_a＝K_nNt_b。