CN112735153A - Intelligent traffic self-adaptive releasing method based on microwave radar - Google Patents

Intelligent traffic self-adaptive releasing method based on microwave radar Download PDF

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CN112735153A
CN112735153A CN202011145190.8A CN202011145190A CN112735153A CN 112735153 A CN112735153 A CN 112735153A CN 202011145190 A CN202011145190 A CN 202011145190A CN 112735153 A CN112735153 A CN 112735153A
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release
vehicle
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length
lane
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徐甜甜
李洪涛
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Nanjing University of Science and 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
    • G08G1/08—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
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125—Traffic data processing
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/042—Detecting movement of traffic to be counted or controlled using inductive or magnetic detectors

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Abstract

The invention discloses an intelligent traffic self-adaptive method based on a microwave radar, which comprises the following specific algorithms: the method comprises the following steps of setting a crossing moving direction and releasing mode, setting a vehicle periodic releasing rule and eliminating the releasing principle in real time based on traffic flow. The invention adopts a microwave radar detection system to collect traffic information, including data such as vehicle length, vehicle flow, queuing length, dynamic traffic density, detection distance and the like, sets intersection static parameters, and utilizes the harmony and autonomy of algorithm design to formulate a traffic signal control scheme, thereby obtaining an intelligent method of a traffic trunk vehicle passing scheme. The invention is used for dealing with the influence of real-time traffic flow change at the intersection on vehicle passing selection.

Description

Intelligent traffic self-adaptive releasing method based on microwave radar
Technical Field
The invention relates to the field of intelligent traffic, in particular to an intelligent traffic self-adaption method based on a microwave radar.
Background
With the continuous improvement of the domestic intelligent process, the technology based on traffic flow detection is mature day by day, and the existing detection technology mainly comprises camera detection, loop coil detection, infrared detection and geomagnetic detection. These detection techniques can to some extent satisfy the traffic information required by the signaling system. Along with the continuous and deep intelligent research, the requirements on traffic flow data are more and more precise, and higher requirements on the real-time performance, accuracy and high efficiency of a detection system are also provided. The application of the microwave radar technology gradually goes into the field of vision of researchers, and how to widely apply the acquired information is urgent to the research and development of a multi-target radar algorithm and the self-adaptive control of traffic flow.
The microwave radar technology is applied to road traffic at present, comprehensive and reliable dynamic traffic data can be provided in real time, a traffic control system is linked, and an intelligent optimization algorithm is used for adjusting a signal control strategy. The traffic control systems which are common abroad comprise TRANSYT, SCART, SCOOT and the like, all acquire traffic flow information in real time, and perform signal lamp combined operation of a plurality of intersections by using green wave control, so that the traffic control system is suitable for the characteristic of lane dispersion of different intersections. Among them, the american intelligent vehicle road system (IVHS), the japanese road traffic information communication system (VICS), and the like are representative intelligent traffic systems. The department of science and technology in China makes a fifteen national science and technology attack and customs plan, and establishes ten exemplary cities to start to implement ITS planning and implementation schemes. The Nie construction strength and the like provide a distributed traffic coordination control algorithm based on fuzzy Q learning, and solve the problem of complex traffic conditions which cannot be solved by using a traditional mathematical model. Zhang Bao et al use the concept of a predicted time window to reduce vehicle delay time and parking times based on a single-point signal control method of vehicle-road cooperation. Guo 31054, and the like, an adaptive system model for the complex intersection is created, and a Swarm tool is used for simulating the relationship between lane traffic and the road, so that the problem of traffic jam is better relieved. The traffic intelligent control system is the key point of the current stage development of China, the traffic mode discrimination and the application processing are the great tendency of the future development, the traffic information acquisition, the traffic mode discrimination and the traffic control selection have certain innovative significance, and the traffic intelligent control system realizes the effective control of dynamic traffic flow through the interconnection and the intercommunication with the signal control machine, thereby promoting the safe and effective operation of road traffic.
Disclosure of Invention
The invention aims to provide an intelligent traffic self-adaption method based on a microwave radar.
The technical solution for realizing the purpose of the invention is as follows: an intelligent traffic self-adaptive releasing method based on microwave radar comprises the following steps: obtaining the number M of each dynamic lane, the channelized length Z, the real-time dynamic inter-vehicle distance L in the channelized length and the vehicle according to the detection of the microwave radarThe total length P, the traffic flow A, the dynamic distance C between the tail end of the last vehicle and the tail end in the channelized length, the phase execution duration t is counted, and the minimum green time Tmin, the maximum green time Tmax, the maximum inter-vehicle distance Lmax, the distance Cmax between the tail end of the last vehicle and the channelized tail end and the lane occupancy Q of the static parameters are set according to the actual situation of the intersectionmin(ii) a And processing and analyzing the received radar detection data, performing dynamic definition, recombining phases, and providing a release scheme matched with the traffic flow at the intersection according to the static release mode selection and the dynamic elimination release rule.
Compared with the prior art, the invention has the following remarkable advantages: the defects of insufficient and untimely information acquisition and limitations of low data information utilization rate, single-target tracking, programmed release mode and the like are effectively avoided. On the basis of fully considering the dynamic traffic flow information of the road intersection, the advantages of the intelligent traffic self-adaptive releasing method are exerted, and the lane structure of the intersection is effectively judged, the moving direction and releasing mode of the intersection are set, the real-time traffic flow eliminating releasing principle is adopted, and the like. The lane is ensured to pass smoothly, the utilization rate of the intelligent signal control lamp is improved, and the waiting time of the vehicle is reduced. And a timely and accurate release scheme is given according to the real-time changing traffic flow state, and the detection technology information acquisition, the self-adaptive release method, the intelligent signal system and the like are efficiently matched and combined.
Drawings
FIG. 1 is a control flow diagram of the method of the present invention.
Fig. 2 is a static phase release mode selection flow diagram.
Fig. 3 is a graph showing the relationship between time T and cumulative traffic flow.
Fig. 4 is a graph showing a relationship between the lane occupancy at a certain time and the minimum value of the static parameter lane occupancy.
FIG. 5 is a flow chart of a dynamic elimination rule.
Fig. 6 is a 10-up release mode.
Detailed Description
The invention aims to solve the technical problem that the traditional vehicle flow detection technology faces elimination due to the defects of external environment influence, maintenance cost, data precision and the like. The advance of the emerging technology brings the advantage of early preparation to an intelligent signal system, and a real-time dynamic intelligent traffic self-adaptive passing method based on a microwave radar detector is developed on the basis of fully acquiring intersection traffic flow information and based on a self-adaptive algorithm. The method breaks through the regular phase releasing method, efficiently and independently selects the phase releasing sequence and time according to the real-time traffic flow condition, and improves the lane utilization rate and the green light releasing time efficiency.
The invention is further described with reference to the drawings and examples.
With reference to fig. 1, the present invention provides an intelligent traffic adaptive clearance scheme based on microwave radar, which includes: obtaining each dynamic lane number M, the channelized length Z, the real-time dynamic inter-vehicle distance L in the channelized length, the total vehicle length P, the traffic flow A, the dynamic end-to-end distance C of the last vehicle tail in the channelized length according to microwave radar detection, counting the phase execution duration t, and setting the static parameters of the minimum green time Tmin, the maximum green time Tmax, the maximum inter-vehicle distance Lmax, the channelized end-to-end distance Cmax of the last vehicle tail and the lane occupancy Q according to the actual situation of the intersectionmin. The method comprises the steps of processing and analyzing according to received radar detection data, flexibly responding to dynamic changes of traffic flow at the intersection, dynamically defining and recombining phases (such as figures 1-6 in step S5), selecting and dynamically eliminating release rules according to a static release mode, timely providing a release scheme matched with the traffic flow at the intersection, improving the utilization rate of green lights, reducing the waiting time of vehicles and realizing global optimization of traffic control.
1. Specifically, the invention adopts the following technical scheme:
step 1: setting the crossing observation and contrast time as two periods and one cycle, namely [ T ]i,Ti+1]。
Step 2: at Ti+1In the period, real-time dynamic data transmitted by microwave radar detection is obtained, and the previously released T is macroscopically contrastediAnd a periodic release mode, wherein static phase release mode selection is executed.
And step 3: and executing a dynamic elimination release rule after the static phase release mode is selected according to the real-time dynamic information of the intersection.
And 4, step 4: stopping the moving direction release command after the execution of the moving direction elimination release is finished, and jumping to the step 2, otherwise, jumping to the step 5;
and 5: the phase release is turned off.
2. The specific steps for the selection of the static phase release mode in step 2 are as follows:
step 2.1: take the east-west straight line phase as the starting release mode as an example;
step 2.2: if any two moving directions do not release in the last period in the east-west direction and a release phase mode can be formed, releasing the mode;
step 2.3: if an unreleased moving direction exists in the east-west direction in the previous period, screening out a phase composition mode matched with the moving direction, and determining a next phase releasing mode by the moving direction elimination rule in the step 3;
step 2.4: if all the release modes are released in the previous period in the east-west direction, intelligently selecting the next release mode according to the dynamic elimination rule;
step 2.5: the release rule indicates that if a move is not released in a cycle, then release must be prioritized in the next cycle.
A static phase release mode selection flow diagram is shown in fig. 2.
3. The specific algorithm steps aiming at the dynamic elimination release rule in the step 3 are as follows:
and 3.1, counting the vehicle passing time t of the current phase, including all lanes of the moving direction. And establishing a model with the set static parameters of the minimum green time Tmin and the maximum green time Tmax, and judging whether the movement direction of the intersection is continued or eliminated, wherein a specific calculation formula is as follows:
Y＝(Tmin-t)*(Tmax-t) (1)
and judging the value of Y, and if Y is less than 0, carrying out next elimination algorithm judgment. If Y >0, the phase continues to be released when t < Tmin. When t is larger than Tmax, the motion direction is eliminated, and the next phase is executed. So as to circularly judge.
Step 3.2, detecting and counting the number and the positions of lanes by the microwave radar, and driving the vehicle according to the moving direction of each laneAnd judging the situation by a elimination algorithm. Average vehicle head interval hsThe calculation formula of the number of vehicles E (t) in the known road section at a certain moment is as follows:
hs＝1000/K (2)
in the formula hsHead space (m/vehicle)
L- - -traffic density (vehicle/km)
Setting the beginning of the canalization length A and the end of the canalization length B, then the initial vehicle in the road section is E (t)0) The number of vehicles entering from A in time t is QA(t) the number of vehicles coming out of B is QB(t), the calculation formula of the number of the existing vehicles in the road section AB at the time point t is as follows:
E(t)＝E(t0)+(QA(t)-QB(t)) (3)
a graph of the relationship between time T and accumulated traffic flow is shown in fig. 3.
From the equations (2) and (3), the lane occupancy reflects the density of vehicles on a lane, i.e. the length occupied by all vehicles in a certain instantaneous channelized length is a percentage of the length of a known road segment. The dynamic lane occupancy Q is calculated as follows:
Figure RE-RE-GDA0002989544550000041
wherein E (t) -the number of vehicles at a certain time within the channelized length
P-average vehicle length
miLength of ith vehicle (m)
hsHead space (m/vehicle)
A graphical representation of the relationship between lane occupancy at a certain time and the static parameter lane occupancy minimum is shown in fig. 4.
Step 3.3, at (0, L)Length of canalization]Within the range, the inter-vehicle distance L at a certain moment on the lane, the distance C at the tail end of the vehicle from the tail end of the channelized length B point and the dynamic lane occupancy Q are detected, and three effective parameters form the elimination condition of the lane. The calculation formula is as follows:
Figure RE-RE-GDA0002989544550000051
wherein the index part [ X ] represents the numerical value rounding, the value range of Y is judged, and when Y is more than 0, the lane is eliminated; when Y <0, the phase continues to be executed.
And 3.4, reasoning the release condition of other lanes on the dynamic direction according to the realization of the elimination rule of the single lane in the step (5), so as to judge whether the dynamic direction is eliminated, introducing a symbolic function to build an operation model, wherein the calculation formula is as follows:
Figure RE-RE-GDA0002989544550000052
wherein, the symbolic function is a piecewise function, which is beneficial to the regional division of the mathematical function.
Figure RE-RE-GDA0002989544550000053
Uj＝S1*S2*S3*.....*Si (8)
Wherein SiIs the judgment standard of the ith lane, when the lane is eliminated, S isi2; otherwise Si＝0,； UjAn elimination criterion representing the jth major movement direction, when UjWhen the motion direction is equal to 0, the phase of the motion direction is continuously executed; when U is turnedj| A When the moving direction is 0, the execution of the moving direction is terminated, and the release scheme of the next moving direction is selected.
A flow chart of the move-to-deselect rules is shown in fig. 5.
4. Crossing moving direction and release mode selection, and determining the phase selection of moving direction release. And selecting 10 large release modes in total, and automatically and effectively selecting the next release scheme (neglecting right turn) according to the dynamic elimination rule. As shown in fig. 6.
5. And setting a vehicle period release rule, wherein two periods release into one cycle. And taking east-west straight running as a starting releasing mode, judging the releasing condition of the last periodic moving direction in the releasing mode, screening out a composition mode matched with the moving direction, and determining the next releasing mode according to the static saturation monitored by the radar. In addition, the release rule specifies that a phase is not released in the same cycle, and the next cycle must be released preferentially.

Claims (4)

1. An intelligent traffic self-adaptive releasing method based on microwave radar is characterized by comprising the following steps: obtaining each dynamic lane number M, the channelized length Z, the real-time dynamic inter-vehicle distance L in the channelized length, the total vehicle length P, the traffic flow A, the dynamic end-to-end distance C of the last vehicle tail in the channelized length according to microwave radar detection, counting the phase execution duration t, and setting the static parameters of the minimum green time Tmin, the maximum green time Tmax, the maximum inter-vehicle distance Lmax, the channelized end-to-end distance Cmax of the last vehicle tail and the lane occupancy Q according to the actual situation of the intersectionmin(ii) a And processing and analyzing the received radar detection data, performing dynamic definition, recombining phases, and providing a release scheme matched with the traffic flow at the intersection according to the static release mode selection and the dynamic elimination release rule.
2. The microwave radar intelligent traffic adaptive release method according to claim 1, characterized by comprising the following specific steps:
step 1: setting the crossing observation and contrast time as two periods and one cycle, namely [ T ]i,Ti+1]；
Step 2: at Ti+1In the period, real-time dynamic data transmitted by microwave radar detection is obtained, and the previously released T is macroscopically contrastediA periodic release mode, which performs static phase release mode selection;
and step 3: executing a dynamic elimination release rule after the static phase release mode is selected according to the real-time dynamic information of the intersection;
and 4, step 4: stopping the moving direction release command after the execution of the moving direction elimination release is finished, and jumping to the step 2, otherwise, jumping to the step 5;
and 5: the phase release is turned off.
3. The microwave radar intelligent traffic adaptive release method according to claim 2, characterized in that: the specific implementation method for selecting the static phase release mode in the step 2 is as follows:
step 2.1: taking the east-west straight line phase as a release starting mode;
step 2.2: if any two moving directions do not release in the last period in the east-west direction and a release phase mode can be formed, releasing the mode;
step 2.3: if an unreleased moving direction exists in the east-west direction in the previous period, screening out a phase composition mode matched with the moving direction, and determining a next phase releasing mode by the moving direction elimination rule in the step 3;
step 2.4: if all the release modes are released in the previous period in the east-west direction, intelligently selecting the next release mode according to the dynamic elimination rule;
step 2.5: the release rule indicates that if a move is not released in a cycle, then release must be prioritized in the next cycle.
4. The microwave radar intelligent traffic adaptive release method according to claim 2, characterized in that: the method for specifically implementing the dynamic elimination release rule in the step 3 comprises the following steps:
step 3.1, counting the vehicle passing time t of the current phase, including all lanes in the moving direction, building a model with the set static parameters of the minimum green time Tmin and the maximum green time Tmax, and judging whether the moving direction of the intersection continues or is eliminated, wherein the specific calculation formula is as follows:
Y＝(Tmin-t)*(Tmax-t) (1)
judging the value of Y, if Y is less than 0, carrying out next elimination algorithm judgment; if Y >0, when t < Tmin, the phase continues to be released; when t is greater than Tmax, the motion direction is eliminated, and the next phase is executed; judging in a circulating way;
step 3.2, detecting and counting the number and the positions of lanes by the microwave radar, and performing an elimination algorithm according to the driving condition of each lane on the moving directionJudging; average vehicle head interval hsThe calculation formula of the number of vehicles E (t) in the known road section at a certain moment is as follows:
hs＝1000/K (2)
in the formula hsHead space (m/vehicle)
K- - -traffic density (vehicle/km)
Setting the beginning of the canalization length A and the end of the canalization length B, then the initial vehicle in the road section is E (t)0) The number of vehicles entering from A in time t is QA(t) the number of vehicles coming out of B is QB(t), the calculation formula of the number of the existing vehicles in the road section AB at the time point t is as follows:
E(t)＝E(t0)+(QA(t)-QB(t)) (3)
the lane occupancy rate is obtained by the formulas (2) and (3), and the lane occupancy rate reflects the density of vehicles on a lane, namely the occupied length of all vehicles in a certain instant channelized length accounts for the percentage of the length of a known road section; the dynamic lane occupancy Q is calculated as follows:
Figure FDA0002739501860000021
wherein E (t) -the number of vehicles at a certain time within the channelized length
P-average vehicle length
miLength of ith vehicle (m)
hsHead space (m/vehicle)
Step 3.3, at (0, L)Length of canalization]In the range, detecting the inter-vehicle distance L at a certain moment on the lane, the distance C from the tail end of the vehicle to the tail end of the channelized length B point and the dynamic lane occupancy Q, wherein three effective parameters form the elimination condition of the lane; the calculation formula is as follows:
Figure FDA0002739501860000031
wherein the index part [ X ] represents the value rounding, the value range of Y is judged, and when Y is larger than 0, the lane is eliminated; when Y <0, continue to execute the phase;
and 3.4, reasoning the release condition of other lanes on the dynamic direction according to the realization of the elimination rule of the single lane in the step (5), so as to judge whether the dynamic direction is eliminated, introducing a symbolic function to build an operation model, wherein the calculation formula is as follows:
Figure FDA0002739501860000032
wherein the sign function is a piecewise function;
Figure FDA0002739501860000033
Uj＝S1*S2*S3*.....*Si (8)
wherein S isiIs the judgment standard of the ith lane, when the lane is eliminated, S isi2; otherwise Si＝0；UjAn elimination criterion representing the jth major movement direction, when UjWhen the motion direction is equal to 0, the phase of the motion direction is continuously executed; when U is turnedj| A When the moving direction is 0, the execution of the moving direction is terminated, and the release scheme of the next moving direction is selected.
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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101493992A (en) * 2008-12-19 2009-07-29 浙江工业大学 Control method for single-point self-organizing traffic signal based on wireless sensor network
CN104778845A (en) * 2014-12-29 2015-07-15 河南科技学院 Multi-phase-jump and vehicle full-dynamic induction traffic control method
CN109003444A (en) * 2018-07-02 2018-12-14 北方工业大学 Urban intersection overflow control method based on wide area radar microwave detector
CN110738861A (en) * 2019-10-16 2020-01-31 江苏航天大为科技股份有限公司 Real-time dynamic intelligent traffic self-adaption method based on microwave radar detection
CN111028519A (en) * 2019-12-28 2020-04-17 江苏航天大为科技股份有限公司 Self-adaptive control method based on video flow detector

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101493992A (en) * 2008-12-19 2009-07-29 浙江工业大学 Control method for single-point self-organizing traffic signal based on wireless sensor network
CN104778845A (en) * 2014-12-29 2015-07-15 河南科技学院 Multi-phase-jump and vehicle full-dynamic induction traffic control method
CN109003444A (en) * 2018-07-02 2018-12-14 北方工业大学 Urban intersection overflow control method based on wide area radar microwave detector
CN110738861A (en) * 2019-10-16 2020-01-31 江苏航天大为科技股份有限公司 Real-time dynamic intelligent traffic self-adaption method based on microwave radar detection
CN111028519A (en) * 2019-12-28 2020-04-17 江苏航天大为科技股份有限公司 Self-adaptive control method based on video flow detector

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