CN112863198A - Signal lamp green signal ratio intelligent adjustment method for expressway entrance ramp - Google Patents

Signal lamp green signal ratio intelligent adjustment method for expressway entrance ramp Download PDF

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CN112863198A
CN112863198A CN202011609535.0A CN202011609535A CN112863198A CN 112863198 A CN112863198 A CN 112863198A CN 202011609535 A CN202011609535 A CN 202011609535A CN 112863198 A CN112863198 A CN 112863198A
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congestion level
entrance ramp
congestion
jam
expressway
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CN112863198B (en
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曾晓强
王金鑫
王东乐
丁海龙
王龙
朱梁
孙景国
钟瑜
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Shanghai Jieruizhao New Information Technology Co ltd
Lianyungang Jierui Electronics Co Ltd
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Shanghai Jieruizhao New Information Technology Co ltd
Lianyungang Jierui Electronics Co Ltd
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    • 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
    • G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/065—Traffic control systems for road vehicles by counting the vehicles in a section of the road or in a parking area, i.e. comparing incoming count with outgoing count
    • 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 an intelligent adjusting method for the signal lamp split green ratio of an expressway entrance ramp, which comprises the steps of firstly establishing an expressway congestion grade division model according to the number and the running speed of vehicles in a rear area of an entrance ramp junction point of an expressway, then calculating the expressway congestion grade based on the expressway congestion grade, and adjusting the signal lamp split green ratio of the entrance ramp in real time by using an incremental PID algorithm so as to maintain the smooth and continuous running of the vehicles on the expressway. The method can automatically identify the congestion level on the express way, and can feed back and adjust the green signal ratio of the signal lamp of the entrance ramp in real time based on the incremental PID algorithm, so that the high-efficiency operation of the express way can be effectively maintained, the serious congestion phenomenon that vehicles can not go up and down caused by the fact that a large number of vehicles are imported in the same time period can be avoided, and the traveling efficiency of the vehicles on the express way can be ensured.

Description

Signal lamp green signal ratio intelligent adjustment method for expressway entrance ramp
Technical Field
The invention relates to the field of urban traffic signal control, and designs an intelligent signal-to-green ratio adjusting method for a signal lamp of an expressway entrance ramp based on incremental PID.
Background
The urban expressway is used as an urban road with the highest grade, and mainly has the functions of ensuring the continuous and smooth running of vehicles and relieving urban traffic pressure. But express ways are limited in their capacity. At intervals of a section of the expressway, an entrance ramp for vehicles to enter the expressway is built. In the peak period of vehicle traveling, the vehicles can simultaneously and massively merge into the expressway through the entrance ramp, traffic jam can occur on the expressway, the phenomenon that the vehicles do not go up and down occurs, and the expressway is not beneficial to the rapid passing of the vehicles. How to relieve the congestion of the express way and improve the vehicle passing efficiency becomes a social concern.
Therefore, it is very important to find an effective method for relieving the expressway congestion.
Disclosure of Invention
The invention provides an intelligent signal-to-green ratio adjusting method of an expressway entrance ramp based on incremental PID (proportion integration differentiation), aiming at relieving the problem of expressway congestion, which can effectively maintain the efficient operation of the expressway and avoid the serious congestion phenomenon that vehicles can not get on the expressway because a large number of vehicles are imported in the same time period.
An intelligent regulation method for the signal lamp green signal ratio of the entrance ramp of the express way is characterized in that firstly, a grade division model of the jam of the express way is established according to the number of vehicles and the running speed of the express way in the rear area of the junction point of the entrance ramp, then, the jam grade of the express way is calculated based on the grade division model, and the signal lamp green signal ratio of the entrance ramp is regulated in real time by using an incremental PID algorithm so as to maintain the smooth and continuous running of the vehicles on the express way.
The technical problem to be solved by the invention can also be realized by the following technical scheme, comprising the following steps,
firstly, determining control parameters according to field research, wherein the control parameters comprise congestion level division quantity of an express way, a lane unblocked vehicle quantity threshold value, a vehicle speed demarcation threshold value between congestion levels, a lane quantity threshold value of each congestion level, continuous duration of congestion judgment basis and an express way congestion level target controlled by an entrance ramp signal;
secondly, acquiring and storing vehicle data of each lane second level in a rear area of an entrance ramp junction of the express way in real time by using a detector, wherein the vehicle data comprises the number of vehicles in the lanes and the running speed of the vehicles;
thirdly, at the starting moment of the signal cycle of the entrance ramp, calculating the congestion level of each lane based on vehicle detection data of an express way in the area behind the junction point of the entrance ramp;
fourthly, calculating the congestion level of the express way by integrating the congestion levels of all lanes;
and fifthly, adjusting the entrance ramp signal lamp split ratio based on the incremental PID according to the congestion level of the express way, and executing.
The technical problem to be solved by the invention can also be realized by the following technical scheme that the method comprises the following specific steps,
(1) setting respective control parameters
Determining the congestion level jam of the express way division according to the field research1,jam2,…,jammThreshold value of number of vehicles in smooth lane
Figure BDA0002869293070000021
Vehicle speed demarcation threshold between congestion grades
Figure BDA0002869293070000022
Threshold number of lanes for each congestion level
Figure BDA0002869293070000023
And a continuous time period t according to which congestion is determinedref(ii) a Selecting jamg(1 < g < m) is used as a expressway congestion level target controlled by the entrance ramp signal;
(2) vehicle data acquisition
And (3) acquiring and storing vehicle data of each lane second level in an area behind an entrance ramp junction of the express way in real time by using a detector, wherein the vehicle data comprises the number of vehicles in the lanes and the running speed of the vehicles.
If the current time is at the starting time of the signal cycle of the entrance ramp, executing the step (3), otherwise, executing the step (6);
(3) expressway lane congestion level calculation
Firstly, determining the number of congestion levels of the divided express way lanes as m, and respectively recording the congestion levels as jam from low to high1，jam2，...，jamm。
When the lane congestion level is calculated, a plurality of continuous time lengths t are comprehensively usedrefThe data of the number of vehicles in the lane and the driving speed needs to be processed by taking a median or other statistical methods which can eliminate the interference of the sudden change detection abnormal data. The invention is described herein by taking the median as an example.
The number of lanes of the express way in the area behind the convergence point of the entrance ramp B is n, and each lane is respectively represented as C1，C2，...，CnAs shown in fig. 2. Wherein, the lane Ci(1. ltoreq. i. ltoreq.n) at the most recent continuous time trefThe median number of vehicles in seconds is denoted NiAnd the median of the vehicle speed is recorded as Vi。
Express way vehicleWay CiThe congestion level calculation model of (a) is given as follows:
Figure BDA0002869293070000031
wherein j is more than or equal to 1 and less than or equal to m;
Figure BDA0002869293070000032
the threshold value of the number of vehicles for the smooth lane means that when the number of vehicles in the lane is less than the threshold value, jam level of the lane is directly judged to be jam level with lowest jam level1Otherwise, determining the congestion level of the lane further according to the vehicle speed;
Figure BDA0002869293070000033
to congestion level jamj-1And jamjThe vehicle speed demarcation threshold value of (1);
Figure BDA0002869293070000034
indicating the minimum value of vehicle speed 0, V0 1The vehicle speed limit of the express way design is shown.
The specific calculation method is as follows:
step 1: calculating lane Ci(1. ltoreq. i. ltoreq.n) at the most recent continuous time trefMedian number N of vehicles in secondsiMedian vehicle speed Vi；
Step 2: comparison of NiAnd
Figure BDA0002869293070000035
is large or small, if
Figure BDA0002869293070000036
Output CiCongestion level of jam1Executing Step 6; otherwise, Step3 is executed;
step 3: all vehicle speed boundary threshold values between congestion grades form an ordered set
Figure BDA0002869293070000037
Step 4: selecting a first vehicle speed threshold from a set phi
Figure BDA0002869293070000038
Compare it with ViIs large or small, if
Figure BDA0002869293070000041
Output CiCongestion level of jamjExecuting Step 6; otherwise, delete from set Φ
Figure BDA0002869293070000042
Executing Step 5;
step 5: if it is not
Figure BDA0002869293070000043
Output CiCongestion level of jam1(ii) a Otherwise, Step4 is executed;
step 6: and (6) ending.
(4) Expressway congestion level calculation
And obtaining the congestion level of the express way based on the congestion level of each lane of the express way in the area behind the entrance ramp junction point.
Recording the congestion level of the expressway A in a lane in a rear area of a junction point of the entrance ramp B as jam level jamj(j is more than or equal to 1 and less than or equal to m) the number of lanes is
Figure BDA0002869293070000044
The expressway congestion level calculation model is given as follows:
Figure BDA0002869293070000045
wherein ,
Figure BDA0002869293070000046
the threshold value of the traffic lane is the congestion level, which means that the congestion level of the expressway A in the traffic lane in the area behind the junction point of the entrance ramp B is greater than or equal to jamqTraffic laneWhen the number reaches the value, the congestion level of the express way is judged to be jamq。
The specific calculation method is as follows:
step 1: all congestion levels forming a set
Figure BDA0002869293070000047
Step 2: from the collection
Figure BDA0002869293070000048
Jam with highest medium selection gradeiCalculating congestion level greater than or equal to jamiNumber of lanes
Figure BDA0002869293070000049
And is related to congestion level lane threshold
Figure BDA00028692930700000410
Compare if, if
Figure BDA00028692930700000411
The congestion level of the output express way is jamiExecuting Step 4; otherwise, Step3 is executed;
step 3: from the collection
Figure BDA00028692930700000412
Deletion in jamiExecuting Step 2;
step 4: and (6) ending.
(5) Entrance ramp signal light split adjustment
The congestion level is effective embodiment of the congestion condition of the express way. In order to maintain the efficient operation of the expressway, the congestion level of the expressway is not suitable to be too high or too low; selecting one of the divided congestion levels as a signal control target, wherein the congestion level target is marked as jamg(1 < g < m). When the congestion level of the express way is higher than the target level, the green signal ratio of a signal lamp of an entrance ramp is properly reduced, and the number of vehicles driving into the express way at the entrance ramp is limited; when the congestion level of the express way is lower than the target level, the entrance turns should be properly increasedThe green-to-letter ratio of the signal lights increases the number of vehicles driving into the express way at the entrance ramp.
And recording the signal period of the expressway congestion level judgment as T, and the green signal ratio of the entrance ramp signal lamp in the kth period as lambda (k). In order to achieve the control goal, the invention adopts an incremental PID control algorithm.
The PID control algorithm is a control algorithm integrating three links of proportion, integral and differential, and the PID control algorithm is essentially operated according to the input deviation value and the functional relation of proportion, integral and differential, and the operation result is used for controlling output.
The discretized PID formula is
Figure BDA0002869293070000051
wherein ,KpIs a proportionality coefficient, TiTo integrate the time constant, TdIs the differential time constant, u (k) is the output signal of the PID controller, and e (k) is the difference between the set value and the measured value.
Control increments of
Figure BDA0002869293070000052
Further, the control increment may be expressed as
Δu＝Kp(e(k)-e(k-1))+Kie(k)+Kd(e(k)-2e(k-1)+e(k-2))
wherein ,
Figure BDA0002869293070000061
the invention takes the green signal ratio of the entrance ramp signal lamp in the kth period as the output signal of the PID controller, so
λ(k)＝λ(k-1)+Δλ
Namely, it is
λ(k)＝λ(k-1)+Kp(e(k)-e(k-1))+Kie(k)+Kd(e(k)-2e(k-1)+e(k-2))
Wherein e (k) is the difference between the target congestion level and the measured congestion level of the kth cycle; kp、Ki、KdThe road congestion control method can be used for automatically adjusting the green signal ratio of the signal lamp of the entrance ramp according to the congestion level change condition of the express way in three continuous signal periods so as to control the express way to continuously get close or maintain the operation on the target congestion level;
(6) implementing a current split scheme
The on-ramp signal control implements the current split ratio scheme.
Compared with the prior art, the method can automatically identify the congestion level on the express way, and can adjust the entrance ramp signal lamp split ratio in real time based on the incremental PID algorithm so as to ensure the traveling efficiency of vehicles on the express way.
Drawings
FIG. 1 is a general flow diagram of the process of the present invention;
FIG. 2 is a diagram illustrating an example of the control of the on-ramp signal of the express way;
fig. 3 is a vehicle data table of the expressway in each lane of the detection area.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
The invention is used for signal control of the expressway entrance ramp, and aims to automatically identify the congestion level of the expressway in the area behind the entrance ramp junction point and adjust the signal lamp split green ratio of the entrance ramp in real time based on the incremental PID so as to ensure the traveling efficiency of vehicles on the expressway.
Referring to fig. 1 and 2, in embodiment 1, an intelligent signal lamp to split ratio adjustment method for an entrance ramp of an express way is disclosed, which includes the steps of firstly establishing an express way congestion grade division model according to the number of vehicles and the driving speed in the area behind the merging point of the entrance ramp of the express way, then calculating the congestion grade of the express way based on the model, and adjusting the signal lamp to split ratio of the entrance ramp in real time by using an incremental PID algorithm to maintain the smooth and continuous driving of the vehicles on the express way.
Embodiment 2, the method for intelligently adjusting the signal-to-green ratio of a signal lamp of an expressway entrance ramp described in embodiment 1, comprising the following steps,
firstly, determining congestion level division quantity of an express way, a lane unblocked vehicle quantity threshold value, a vehicle speed demarcation threshold value between congestion levels, a lane quantity threshold value of each congestion level and an express way congestion level target controlled by continuous duration and an entrance ramp signal according to congestion judgment;
secondly, acquiring and storing vehicle data of each lane second level in a rear area of an entrance ramp junction of the express way in real time by using a detector, wherein the vehicle data comprises the number of vehicles in the lanes and the running speed of the vehicles;
thirdly, at the starting moment of the signal cycle of the entrance ramp, calculating the congestion level of each lane based on vehicle detection data of an express way in the area behind the junction point of the entrance ramp;
fourthly, calculating the congestion level of the express way by integrating the congestion levels of all lanes;
and fifthly, adjusting the entrance ramp signal lamp split ratio based on the incremental PID according to the congestion level of the express way, and executing.
Embodiment 3, embodiments 1 and 2. a method for intelligently adjusting the signal-to-green ratio of a signal lamp of an expressway entrance ramp comprises the following specific steps,
(1) setting respective control parameters
Determining congestion level jam of expressway division according to field research1，jam2，...，jammThreshold value of number of vehicles in smooth lane
Figure BDA0002869293070000081
Vehicle speed demarcation threshold between congestion grades
Figure BDA0002869293070000082
Congestion level lane threshold for each congestion level
Figure BDA0002869293070000083
And a continuous time period t according to which congestion is determinedref(ii) a Selecting jamg(1 < g < m) is used as a fast road congestion level target controlled by the entrance ramp signal.
(2) Vehicle data acquisition
And (3) acquiring and storing vehicle data of each lane second level in an area behind an entrance ramp junction of the express way in real time by using a detector, wherein the vehicle data comprises the number of vehicles in the lanes and the running speed of the vehicles.
And (4) if the current time is at the signal period starting time of the entrance ramp, executing the step (3), otherwise, executing the step (6).
(3) Calculating congestion levels of each lane
Each lane of the express way in the area behind the entry ramp merging point is respectively represented as C1，C2，...，Cn。
Expressway lane C as shown belowiAnd (i is more than or equal to 1 and less than or equal to n), and calculating the congestion level of each lane by using the congestion level calculation model.
Figure BDA0002869293070000084
Wherein j is more than or equal to 1 and less than or equal to m; n is a radical ofiIs a lane CiAt the most recent successive time trefMedian number of vehicles in seconds, ViIs a lane CiAt the most recent successive time trefMedian vehicle speed in seconds. (ii) a
Figure BDA0002869293070000085
Indicating the minimum value of vehicle speed 0, V0 1The vehicle speed limit of the express way design is shown.
The specific calculation method is as follows:
step 3-1: calculating lane Ci(1. ltoreq. i. ltoreq.n) at the most recent continuous time trefMedian number N of vehicles in secondsiMedian vehicle speed Vi；
Step 3-2: comparison of NiAnd
Figure BDA0002869293070000091
is large or small, if
Figure BDA0002869293070000092
Output CiCongestion level of jam1Executing Step 3-6; otherwise, executing Step 3-3;
step 3-3: all vehicle speed boundary threshold values between congestion grades form an ordered set
Figure BDA0002869293070000093
Step 3-4: selecting a first vehicle speed threshold from a set phi
Figure BDA0002869293070000094
Compare it with ViIs large or small, if
Figure BDA0002869293070000095
Output CiCongestion level of jamjExecuting Step 3-6; otherwise, delete from set Φ
Figure BDA0002869293070000096
Executing Step 3-5;
step 3-5: if it is not
Figure BDA0002869293070000097
Output CiCongestion level of jam1(ii) a Otherwise, executing Step 3-4;
step 3-6: and (6) ending.
(4) Calculating congestion level of express way
Counting the number of lanes belonging to each congestion level
Figure BDA0002869293070000098
And calculating the congestion level of the express way according to the congestion level calculation model of the express way.
Figure BDA0002869293070000099
The specific calculation method is as follows:
step 4-1: all congestion levels forming a set
Figure BDA00028692930700000910
Step 4-2: from the collection
Figure BDA00028692930700000911
Jam with highest medium selection gradeiCalculating congestion level greater than or equal to jamiNumber of lanes
Figure BDA00028692930700000912
And is related to congestion level lane threshold
Figure BDA00028692930700000913
Compare if, if
Figure BDA00028692930700000914
The congestion level of the output express way is jamiExecuting Step 4-4; otherwise, executing Step 4-3;
step 4-3: from the collection
Figure BDA00028692930700000915
Deletion in jamiExecuting Step 4-2;
step 4-4: and (6) ending.
(5) Adjusting entrance ramp signal light split
And recording the signal period of the expressway congestion level judgment as T, and the green signal ratio of the entrance ramp signal lamp in the kth period as lambda (k). λ (k) is calculated as an output signal of the PID controller by the following equation.
λ(k)＝λ(k-1)+Kp(e(k)-e(k-1))+Kie(k)+Kd(e(k)-2e(k-1)+e(k-2))
Wherein e (k) is the difference between the target congestion level and the measured congestion level of the kth cycle; kp、Ki、KdAll can be regarded asCoefficient constants, determined experimentally.
After λ (k) is calculated, it can be further obtained that the green time length of the entry ramp signal lamp in the k-th period thereafter is:
g＝Tλ(k)
(6) implementing a current split scheme
The on-ramp signal control implements the current split ratio scheme.
Embodiment 4, referring to fig. 3, an expressway scenario in the drawing is selected as an example, 3 consecutive control periods T of an entrance ramp signal acquired by a detector are 60s starting time, vehicle data of each lane of a previous consecutive 5-second detection area is shown in fig. 3, and a split ratio of the entrance ramp signal in a k-1 th period is 75%.
Dividing the congestion level of the express way into 5 jam levels according to field research1，jam2，jam3，jam4，jam5(ii) a Threshold value of number of vehicles with unblocked lanes
Figure BDA0002869293070000101
Vehicle speed demarcation threshold between congestion grades
Figure BDA0002869293070000102
Figure BDA0002869293070000103
Congestion level lane threshold for each congestion level
Figure BDA0002869293070000104
Continuous time t of congestion determination basisref5 s; selecting jam3The method is used as a fast path congestion level target controlled by the signal of the entrance ramp.
For the k-th cycle, the congestion level of each lane is calculated.
For lane C1As can be seen, the median number N of vehicles in 5 consecutive seconds before the start of the k-th cycle 16, vehicle speed median V 124 km/h; due to the fact that
Figure BDA0002869293070000105
And is
Figure BDA0002869293070000106
Lane C1Congestion level L1＝jam4(ii) a In the same way, can obtain2＝jam3，L3＝jam3，L4＝jam2。
Further, it is possible to obtain the number of lanes corresponding to each congestion level as
Figure BDA0002869293070000111
Figure BDA0002869293070000112
And calculating the congestion level of the expressway in the k-th period.
First, for the top ranked jam5，
Figure BDA0002869293070000113
Then, for jam4，
Figure BDA0002869293070000114
For jam3，
Figure BDA0002869293070000115
Therefore, the congestion level L of the expressway in the k-th period is jam3。
Since the target of the congestion level of the express way controlled by the entrance ramp signal is the same as the congestion level of the express way in the k-th cycle, e (k) is 0.
Repeating the above method can calculate e (k-1) ═ 1 and e (k-2) ═ 1.
Substituting e (k), e (k-1) and e (k-2) into the formula
λ(k)＝λ(k-1)+Kp(e(k)-e(k-1))+Kie(k)+Kd(e(k)-2e(k-1)+e(k-2))
Available lambda (K) ═ 75% -Kp-Kd(ii) a In this example, take Kp＝0.05，Ki＝0.1，Kd0.03, λ (k) is 67%.
Therefore, the signal of the entrance ramp drives the green light 60 × 67% to 40s in the k-th period.

Claims (6)

1. A signal lamp green signal ratio intelligent adjustment method for an express way entrance ramp is characterized by comprising the following steps: the method comprises the steps of firstly establishing an express way congestion grade division model according to the number of vehicles and the running speed in the area behind the merging point of the entrance ramp of the express way, then calculating the express way congestion grade based on the model, and adjusting the signal light green ratio of the entrance ramp in real time by using an incremental PID algorithm so as to maintain the smooth and continuous running of the vehicles on the express way.
2. The intelligent signal lamp split-signal ratio adjusting method for the expressway entrance ramp according to claim 1, wherein: comprises the following steps of (a) carrying out,
firstly, determining control parameters according to field research, wherein the control parameters comprise congestion level division quantity of an express way, a lane unblocked vehicle quantity threshold value, a vehicle speed demarcation threshold value between congestion levels, a lane quantity threshold value of each congestion level, continuous duration of congestion judgment basis and an express way congestion level target controlled by an entrance ramp signal;
secondly, acquiring and storing vehicle data of each lane second level in a rear area of an entrance ramp junction of the express way in real time by using a detector, wherein the vehicle data comprises the number of vehicles in the lanes and the running speed of the vehicles;
thirdly, at the starting moment of the signal cycle of the entrance ramp, calculating the congestion level of each lane based on vehicle detection data of an express way in the area behind the junction point of the entrance ramp;
fourthly, calculating the congestion level of the express way by integrating the congestion levels of all lanes;
and fifthly, adjusting the entrance ramp signal lamp split ratio based on the incremental PID according to the congestion level of the express way, and executing.
3. The intelligent signal-to-green ratio adjusting method for the expressway entrance ramp according to claim 1 or 2, wherein: the method comprises the following specific steps of,
(1) setting respective control parameters
Determining the congestion level jam of the express way division according to the field research1，jam2，...，jammThreshold value of number of vehicles in smooth lane
Figure FDA0002869293060000011
Vehicle speed demarcation threshold between congestion grades
Figure FDA0002869293060000012
Threshold number of lanes for each congestion level
Figure FDA0002869293060000013
And a continuous time period t according to which congestion is determinedref(ii) a Selecting jamg(1 < g < m) is used as a expressway congestion level target controlled by the entrance ramp signal;
(2) vehicle data acquisition
The method comprises the steps that a detector is utilized to obtain and store vehicle data of each lane second level in an area, behind an entrance ramp junction point, of an express way in real time, wherein the vehicle data comprises the number of vehicles in lanes and the running speed of the vehicles;
if the current time is at the starting time of the signal cycle of the entrance ramp, executing the step (3), otherwise, executing the step (6);
(3) calculating congestion levels of each lane
The number of lanes of the express way in the area behind the convergence point of the entrance ramp B is n, and each lane is respectively represented as C1，C2，...，CnWherein, the lane Ci(1. ltoreq. i. ltoreq.n) at the most recent continuous time trefThe median number of vehicles in seconds is denoted NiAnd the median of the vehicle speed is recorded as Vi；
Expressway lane CiThe congestion level calculation model of (a) is given as follows:
Figure FDA0002869293060000021
wherein j is more than or equal to 1 and less than or equal to m;
Figure FDA0002869293060000022
the threshold value of the number of vehicles for the smooth lane means that when the number of vehicles in the lane is less than the threshold value, jam level of the lane is directly judged to be jam level with lowest jam level1Otherwise, determining the congestion level of the lane further according to the vehicle speed;
Figure FDA0002869293060000023
to congestion level jamj-1And jamjThe vehicle speed demarcation threshold value of (1);
Figure FDA0002869293060000024
indicating the minimum value of vehicle speed 0, V0 1The speed limit of the vehicle is designed according to the express way;
(4) calculating congestion level of express way
Counting the number of lanes belonging to each congestion level
Figure FDA0002869293060000025
Calculating the congestion level of the express way according to the congestion level calculation model of the express way,
Figure FDA0002869293060000026
wherein ,
Figure FDA0002869293060000027
the threshold value of the traffic lane is the congestion level, which means that the congestion level of the expressway A in the traffic lane in the area behind the junction point of the entrance ramp B is greater than or equal to jamqWhen the number of lanes reaches the value, the congestion level of the express way is judged to be jamq；
(5) Adjusting entrance ramp signal light split
Selecting one among the divided congestion levelsAs a signal control target, the congestion level target is marked as jamg(1 < g < m); when the congestion level of the express way is higher than the target level, the green signal ratio of the signal lamp of the entrance ramp is reduced, and the number of vehicles driving into the express way at the entrance ramp is limited; when the congestion level of the expressway is lower than the target level, increasing the green signal ratio of the signal lamp of the entrance ramp and increasing the number of vehicles driving into the expressway at the entrance ramp;
recording a signal period of expressway congestion level judgment, namely a control period of an entrance ramp signal lamp, wherein the signal period is T, the green ratio of the entrance ramp signal lamp in the kth period is lambda (k), and automatically adjusting the green ratio of the entrance ramp signal lamp according to congestion level change conditions of the expressway in three continuous signal periods according to an incremental PID control algorithm so as to control the expressway to continuously get close to or maintain the expressway to operate at a target congestion level;
(6) implementing a current split scheme
The on-ramp signal control implements the current split ratio scheme.
4. The intelligent signal lamp split-signal ratio adjusting method for the expressway entrance ramp according to claim 3, wherein: expressway lane C in step (3)iThe calculation method of the congestion level of (1) is as follows:
step 1: calculating lane Ci(1. ltoreq. i. ltoreq.n) at the most recent continuous time trefMedian number N of vehicles in secondsiMedian vehicle speed Vi；
Step 2: comparing Ni with
Figure FDA0002869293060000031
Is large or small, if
Figure FDA0002869293060000032
Output CiCongestion level of jam1Executing Step 6; otherwise, Step3 is executed;
step 3: all vehicle speed boundary threshold values between congestion grades form an ordered set
Figure FDA0002869293060000033
Step 4: selecting a first vehicle speed cut-off threshold from the set phi
Figure FDA0002869293060000034
Compare it with ViIs large or small, if
Figure FDA0002869293060000041
Output CiCongestion level of jamjExecuting Step 6; otherwise, remove from the set phi
Figure FDA0002869293060000042
Executing Step 5;
step 5: if it is not
Figure FDA0002869293060000043
Output CiCongestion level of jam1(ii) a Otherwise, Step4 is executed;
step 6: and (6) ending.
5. The intelligent signal-to-green ratio adjusting method for the expressway entrance ramp according to claim 3, wherein: the calculation method of the congestion level of the express way in the step (4) is as follows:
recording the congestion level of the expressway A in a lane in a rear area of a junction point of the entrance ramp B as jam level jamj(j is more than or equal to 1 and less than or equal to m) the number of lanes is
Figure FDA0002869293060000044
Step 1: all congestion levels forming a set
Figure FDA0002869293060000049
Step 2: from the collection
Figure FDA00028692930600000410
Jam with highest medium selection gradeiCalculating congestion level greater than or equal to jamiNumber of lanes
Figure FDA0002869293060000045
And is related to congestion level lane threshold
Figure FDA0002869293060000046
Compare if, if
Figure FDA0002869293060000047
The congestion level of the output express way is jamiExecuting Step 4; otherwise, Step3 is executed;
step 3: from the collection
Figure FDA0002869293060000048
Deletion in jamiExecuting Step 2;
step 4: and (6) ending.
6. The intelligent signal-to-green ratio adjusting method for the expressway entrance ramp according to claim 3, wherein: the incremental PID control algorithm in the step (5) is that,
the green signal ratio of the entrance ramp signal lamp in the k period is lambda (k) as the output signal of the PID controller, then
λ(k)＝λ(k-1)+Δλ
Namely, it is
λ(k)＝λ(k-1)+Kp(e(k)-e(k-1))+Kie(k)+Kd(e(k)-2e(k-1)+e(k-2))
Wherein e (k) is the difference between the target congestion level and the measured congestion level of the kth cycle; kp、Ki、KdCan be regarded as a coefficient constant and is determined by experiments.
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