CN113192343B - Intersection dynamic traffic signal control method considering non-motor vehicle crossing demand - Google Patents
Intersection dynamic traffic signal control method considering non-motor vehicle crossing demand Download PDFInfo
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- CN113192343B CN113192343B CN202110347516.3A CN202110347516A CN113192343B CN 113192343 B CN113192343 B CN 113192343B CN 202110347516 A CN202110347516 A CN 202110347516A CN 113192343 B CN113192343 B CN 113192343B
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- G—PHYSICS
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
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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
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
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- G08G1/085—Controlling traffic signals using a free-running cyclic timer
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Abstract
The invention discloses an intersection dynamic traffic signal control method considering a non-motor vehicle crossing demand. The invention aims at the non-motor driven street crossing to design the intersection signal canalization, optimizes the intersection signal scheme design according to the traffic flow conflict relationship, designs the dynamic signal control logic according to the signal scheme, and realizes the intersection dynamic signal control considering the street crossing requirement of the non-motor driven vehicles. The invention is suitable for large signalized intersections with special lanes for non-motor vehicles.
Description
Technical Field
The invention relates to the field of traffic management control, in particular to an intersection dynamic traffic signal control method considering the street crossing requirement of a non-motor vehicle.
Background
The special characteristic of the traffic flow crossing street in China is that the mixed traffic flow crosses the street, a large number of non-motor vehicles (electric bicycles) cross the street at the intersection, and the existing intersection timing scheme is that the non-motor vehicles cross the intersection by using the phase of the motor vehicles to cross the street. Meanwhile, the existing intersection signal control method takes the flow of motor vehicles as a signal timing design basis, when the flow of non-motor vehicles in the same driving direction is high and the flow of motor vehicles is low, the phase timing cannot meet the street crossing requirement of the non-motor vehicles, and when the waiting time for the non-motor vehicles to cross the street is too long, the red light running phenomenon can occur, so that the street crossing efficiency and the safety of the whole intersection are influenced.
In the running process of the intersection with the non-motor vehicle lane, the non-motor vehicle and the right-turning motor vehicle generate traffic conflict when passing through the intersection. The existing intersection does not perform signal control on the right-turning motor vehicle flow, the right-turning motor vehicle gives way in the street crossing process of the non-motor vehicle, and when the street crossing traffic flow of the non-motor vehicle is low, the right-turning street crossing is completed. Meanwhile, the existing non-motor vehicle left-turn traffic flow finishes street crossing by utilizing a motor vehicle left-turn signal phase, and when the intersection space distance is larger, the non-motor vehicle left-turn distance is larger, and the non-motor vehicle left-turn traffic flow has interactive safety risk with the motor vehicle.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an intersection dynamic traffic signal control method considering the street crossing requirement of non-motor vehicles, the invention considers the street crossing traffic requirement of the non-motor vehicles, reasonably controls the signal of the right-turn motor vehicles crossing the street, optimally designs the left-turn street crossing scheme of the non-motor vehicles, dynamically allocates the green light duration according to the real-time traffic flow and improves the intersection operation efficiency.
The invention adopts the following technical scheme for solving the technical problems:
the invention provides an intersection dynamic traffic signal control method considering a non-motor vehicle crossing demand, which comprises the following steps:
step A, designing an intersection canalization scheme: designing a left-turn waiting area of a non-motor vehicle at the intersection according to the space size of the intersection, and designing right-turn canalization and isolation facilities of the motor vehicle and the non-motor vehicle;
b, designing an intersection signal scheme considering the non-motor vehicles to cross the street according to an intersection canalization scheme and the traffic flow conflict relationship between the motor vehicles and the non-motor vehicles;
step C, designing a dynamic induction control method; the method comprises the following specific steps:
defining variables: i is the phase sequence number, I is the phase number of the intersection, j is the sequence number of the non-motor vehicle left-turn waiting area, j ^ is the sequence number of the non-motor vehicle left-turn waiting area with the driving sequence number j, CijHigh capacity, g, for a phase i operating a non-motor vehicle left turn standby zone with sequence number jiFor phase i the green time, g, at which the current time of the cycle has been runningiminMinimum green time for phase i, gimaxMaximum green time, Δ t, for phase iiThe unit green light extension time of the phase i is A, whether a straight or left-turn street traffic flow exists in the phase i is marked, when A is 1, the straight or left-turn street traffic flow exists in the phase i, when A is 0, no straight or left-turn street traffic flow passes in the phase i, B isjIf the non-motorized left-turn waiting area with the sequence number of j reaches the Cij mark for the phase i operation, when B j1 represents that the non-motorized left-turn waiting area with the sequence number j under the operation of the phase i reaches Cij when B j0 indicates that the non-motorized left-turn waiting area with the sequence number j under the operation of the phase i does not reach the maximum storage capacity Cij, CjFor phase i running a flag, C, of whether a non-motor vehicle continues to arrive in the non-motor vehicle entrance lane with sequence number j ^j1 represents that a non-motor vehicle continues to arrive in the non-motor vehicle entrance lane with the sequence number of j ^ under the phase i operation, and CjWhen D is 1, the non-motor vehicle entrance lane continues to be reached and the corresponding non-motor vehicle waiting area does not reach the storage capacity, and when D is 0, the non-motor vehicle entrance lane does not continue to be reached or the corresponding non-motor vehicle waiting area reaches the storage capacity;
step (C1), initialization, A, B1、B2、C1、C2Setting D to be 0, then initially setting j to be 1, and starting a phase I, wherein I is more than or equal to 1 and less than or equal to I;
step (C2), judging whether the phase i has a direct left-crossing non-motor vehicle flow, if so, setting A to be 1 and executing the step (C3), otherwise, directly executing the step (C3);
step (C3), judging the green light time g when the phase i has runiWhether or not it is equal to or longer than the minimum green time giminIf so, performing step (C4), otherwise performing step (C5);
step (C4), judging whether a is equal to 1, if yes, executing step (C6), otherwise executing step (C12);
step (C5), the phase i vehicle signal lamp continues to display green light;
step (C6), judging whether the non-motor vehicle left-turning standby area with the sequence number of j under the phase i operation reaches the maximum storage capacity CijIf so, performing step (C7), otherwise performing step (C9);
step (C7), under the phase i operation, the non-motorized left-turn waiting area with the serial number j corresponds to the non-motorized entrance road straight signal lamp with the serial number j ^ and the yellow lamp operation interval is switched into the red lamp, and the step (C8) is executed;
step (C8), switching the signal lamp of the right-turn motor vehicle which conflicts with the entrance lane of the non-motor vehicle with the serial number j ^ under the phase i operation from the red lamp to the green lamp, and setting B j1 and performing step (C10);
step (C9), judging whether the non-motor vehicles arrive at the non-motor vehicle entrance road with the sequence number of j ^ under the phase i operation, if so, executing step (C10), otherwise, setting C j1 and performing step (C10);
step (C10), judging whether the phase i runs under Cj＝BjIf yes, performing step (C11), otherwise performing step (C12);
a step (C11), setting D to 1, and performing a step (C12);
step (C12), judging whether j is 2, if so, executing step (C13), otherwise, setting j to j +1 and then executing step (C6);
a step (C13) of judging whether D is equal to 1, if so, executing the step (C15), otherwise, executing the step (C14);
step (C14), judging whether the phase i continues to arrive by the motor vehicle, if so, executing step (C15), otherwise, executing step (C17);
step (C15), judging the green light time g when the phase i has been operated currentlyiAnd unit green light extension time DeltatiAnd whether the sum is greater than the maximum green time gimaxIf yes, executing the step (C17), otherwise executing the step (C16);
step (C16) of prolonging the green time of phase i by delta tiThen, step (C4) is performed;
step (C17), green light interval time g of operating phase iiy；
Step (C18), determining whether an end condition is reached, the end condition being: the time to reach other control modes specified in advance; if the ending condition is reached, switching to other control modes, otherwise, entering the execution step (C19);
step (C19), I ═ mod (I/I) +1, and the process proceeds to step (C1).
As a further optimization scheme of the intersection dynamic traffic signal control method considering the street crossing requirement of the non-motor vehicles, in the step B, the principle of designing the intersection signal scheme considering the street crossing of the non-motor vehicles is as follows: the non-motor vehicle straight traffic flow and the motor vehicle straight traffic flow cross the street in the same direction phase, the non-motor vehicle left-turning traffic flow reaches the waiting area by using the straight phase to wait for crossing the street, the equal-phase crossing road straight phase passes to finish crossing the street, the crossing track is L-shaped, the right-turning non-motor vehicle is not controlled by a signal, the right-turning motor vehicle crosses the street by using the non-motor vehicle non-conflict phase, and the pedestrian crosses the street by using the same-direction straight phase.
As a further optimization scheme of the intersection dynamic traffic signal control method considering the street crossing requirement of the non-motor vehicle, the step B further comprises the following steps:
distance L between each motor vehicle inlet lane and stop line at intersection1A vehicle flow detector is arranged and used for detecting whether each entrance lane continues to be reached by a motor vehicle or not;
distance L between each non-motor straight-going inlet lane and stop line at intersection4A non-motor vehicle flow detector is arranged and used for detecting whether a non-motor vehicle arrives continuously in each entrance lane;
and arranging a video detector at the road side of the waiting area, wherein the video detector is used for detecting whether the non-motor vehicles in the waiting area overflow or not.
As a further optimization scheme of the intersection dynamic traffic signal control method considering the street crossing requirement of the non-motor vehicle, in the step (C3),
wherein L is1Distance between vehicle flow detector of the entrance lane and stop line, LqFor average headway of motor vehicles in a queue, SiFor the saturation flow rate of the phase i inlet lane,
for phase i the longest distance of pedestrian crossing crosswalk, vpThe average speed of the pedestrians crossing the street is obtained,
the crossing distance of the non-motor vehicle crossing the intersection is the phase i,
is the average speed of the non-motor vehicle crossing the intersection for phase i.
As a further optimization scheme of the intersection dynamic traffic signal control method considering the street crossing requirement of the non-motor vehicle, in the step (C6),
wherein D isijThe area of the non-motor vehicle left-turn waiting area with the sequence number j under the operation of the phase i, and d is the safety space area occupied by the non-motor vehicle waiting for left-turn.
As a further optimization scheme of the intersection dynamic traffic signal control method considering the street crossing requirement of the non-motor vehicle, in the step (C15),
wherein, Δ tiThe unit green lamp extension time for phase i,
the time from the vehicle flow detector to the passage of the stop line in phase i,
the shortest time, L, is required for the phase i pedestrian to cross the street1The distance between the vehicle flow detector of the entrance lane and the stop line,
the maximum distance for the pedestrian crossing the pedestrian crosswalk in the phase i,
the vehicle speed is averaged for the distance between the vehicle passing the vehicle flow detector and the stop line in phase i,
the average speed of the pedestrian crossing the street is the phase i,
the shortest time for the non-motor vehicle to cross the intersection is phase i,
the crossing distance of the non-motor vehicle crossing the intersection is the phase i,
is the average speed, L, of a non-motor vehicle crossing the intersection in phase i3Is the width of the vehicle flow detector, L5Is the length of the non-motor vehicle flow detector.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
the invention is suitable for large signalized intersections with special lanes for non-motor vehicles, gives consideration to the street crossing requirement of the non-motor vehicles by detecting the flow of the vehicles and the non-motor vehicles in real time, dynamically adjusts the signalized timing scheme of the intersections and improves the traffic capacity of the intersections.
Drawings
FIG. 1 is a flow chart of the control logic of the present invention.
Figure 2 is a diagram of a trenching design of the present invention.
FIG. 3 is a phase-phase sequence diagram of the present invention.
FIG. 4 is a diagram of a detector layout of the present invention.
Detailed Description
The invention is further described with reference to the following figures and detailed description.
As shown in figure 1, the invention discloses an intersection dynamic traffic signal control method considering the street crossing requirement of a non-motor vehicle, which dynamically adjusts an intersection signal timing scheme and improves the traffic capacity of an intersection by detecting the flow of vehicles and the flow of the non-motor vehicle in real time and considering the street crossing requirement of the non-motor vehicle.
The method comprises the following steps:
(A) intersection canalization design;
(B) designing the phase sequence of the signal phase at the intersection;
arranging detectors;
(C) designing a dynamic sensing control logic;
the step (A) comprises the following steps:
according to the space size of the intersection, a left-turn waiting area of the non-motor vehicle at the intersection is designed, and right-turn canalization and isolation facilities of the motor vehicle and the non-motor vehicle are designed. The canalization scheme is as shown in a schematic diagram 2, a waiting area 1/2/3/4 is respectively arranged for a left-turning non-motor vehicle waiting area, and a physical isolation belt is arranged to isolate the left-turning waiting non-motor vehicle from a right-turning non-motor vehicle; setting up straight and right-turn isolation zones such as lane 1 and lane 2, lane 9 and lane 10, lane 22 and lane 23, and lanes 30 and 31 for the non-motor vehicle lane, and setting up physical isolation zones such as the belts in FIG. 2; the non-motor lane isolation belt separates two lane canalized right-turn and straight-going sign lines.
The step (B) comprises the following steps:
and designing an intersection signal scheme considering the non-motor vehicles to cross the street according to the intersection canalization design scheme and the traffic flow conflict relationship between the motor vehicles and the non-motor vehicles. This patent considers non-motor cross street intersection signal scheme design principle to be: the non-motor vehicle straight traffic flow and the motor vehicle straight traffic flow cross the street in the same direction phase, the non-motor vehicle left-turning traffic flow reaches the waiting area by using the straight phase to wait for crossing the street, the equal-phase cross road straight phase passes to complete crossing the street, the crossing track is similar to an L shape, the non-motor vehicle turning right is not controlled by a signal, the motor vehicle turning right crosses the street by using the non-motor vehicle non-conflict phase, the pedestrian crosses the street by using the straight phase in the same direction, and the phase design diagram is not reflected any more. The specific phase sequence design is shown in FIG. 3, where
Representing phase 1 middle east entry left and right turn traffic passage,
representing the left-turn and right-turn traffic flow passing through the west entrance in phase 1, and so on.
And (3) laying a vehicle flow detector: arranging a vehicle flow detector (the detector is 4m long and 3m wide) at the position of each motor vehicle entrance lane at the intersection, which is 40m away from the stop line, and detecting whether each entrance lane continues to be reached by a motor vehicle or not, such as lane 3/4/5/11/12/13/14/15/24/25/26/32/33/34/35/36 in fig. 4, wherein in order to reduce the cost, a geomagnetic coil detector is used in the example of fig. 4, and other types of detectors such as a video detector are still suitable;
and (3) laying a non-motor vehicle flow detector: a non-motorized flow detector (the detector is 2m long and the width of the detector is 1m from the stop line) is arranged at each non-motorized straight-going entrance lane of the intersection, whether a non-motorized vehicle arrives at each entrance lane is detected, a geomagnetic coil detector is used in an example shown in fig. 4, and other types of detectors such as a video detector are still suitable;
and (3) arranging overflow detectors of the waiting area: as shown in the schematic diagram 4, video detectors are arranged at the road sides of the waiting area 1 and the waiting area 4, the detector at the waiting area 1 detects whether non-motor vehicles overflow from the waiting area 1 and the waiting area 3, and the detector at the waiting area 4 detects whether non-motor vehicles overflow from the waiting area 2 and the waiting area 4.
The step (C) comprises the following steps
Defining variables: i is the phase sequence number, I is the phase number of the intersection, j is the sequence number of the non-motor vehicle left-turn waiting area, j ^ is the sequence number of the non-motor vehicle left-turn waiting area with the driving sequence number j, CijHigh capacity, g, for a phase i operating a non-motor vehicle left turn standby zone with sequence number jiFor phase i the green time, g, at which the current time of the cycle has been runningiminMinimum green time for phase i, gimaxMaximum green time, Δ t, for phase iiThe unit green light extension time of the phase i is A, whether a straight or left-turn street traffic flow exists in the phase i is marked, when A is 1, the straight or left-turn street traffic flow exists in the phase i, when A is 0, no straight or left-turn street traffic flow passes in the phase i, B isjIf the non-motorized left-turn waiting area with the sequence number of j reaches the Cij mark for the phase i operation, when Bj1 represents that the non-motorized left-turn waiting area with the sequence number j under the operation of the phase i reaches Cij when Bj0 indicates that the non-motorized left-turn waiting area with the sequence number j under the operation of the phase i does not reach the maximum storage capacity Cij, CjFor phase i running a flag, C, of whether a non-motor vehicle continues to arrive in the non-motor vehicle entrance lane with sequence number j ^j1 represents that a non-motor vehicle continues to arrive in the non-motor vehicle entrance lane with the sequence number of j ^ under the phase i operation, and CjWhen D is 1, the non-motor vehicle entrance lane continues to be reached and the corresponding non-motor vehicle waiting area does not reach the storage capacity, and when D is 0, the non-motor vehicle entrance lane does not continue to be reached or the corresponding non-motor vehicle waiting area reaches the storage capacity;
step (C1), initialization, A, B1、B2、C1、C2D is providedSetting j as 1 initially, and starting a phase I, wherein I is more than or equal to 1 and less than or equal to I;
step (C2), judging whether the phase i has a direct left-crossing non-motor vehicle flow, if so, setting A to be 1 and executing the step (C3), otherwise, directly executing the step (C3);
step (C3), judging the green light time g when the phase i has runiWhether or not it is equal to or longer than the minimum green time giminIf so, performing step (C4), otherwise performing step (C5);
wherein L is1The distance between the vehicle flow detector of the entrance lane and the stop line is suggested to be 6.5 m; l isqThe value of the average head space of the motor vehicles is suggested to be 6.5m under the queuing condition; siThe saturation flow rate of the inlet lane for phase i, pcu/s;
the phase i is the longest distance, m, of the pedestrian crossing the pedestrian crosswalk; v. ofpThe value of 1.5m/s is suggested for the average pedestrian crossing speed;
the crossing distance m of the non-motor vehicle crossing the intersection is the phase i;
the average speed of the non-motor vehicle passing through the intersection is the phase i, and the average speed is m/s;
step (C4), judging whether a is equal to 1, if yes, executing step (C6), otherwise executing step (C12);
step (C5), the phase i vehicle signal lamp continues to display green light;
step (C6), judging whether the non-motor vehicle left-turning standby area with the sequence number of j under the phase i operation reaches the maximum storage capacity CijIf so, performing step (C7), otherwise performing step (C9);
wherein D isijFor phase i operation, the area of the waiting zone for left turn of the non-motor vehicle with serial number j, unit m2(ii) a d is the safety space area occupied by the non-motor vehicle waiting for left turn, unit m2；
Step (C7), under the phase i operation, the non-motorized left-turn waiting area with the serial number j corresponds to the non-motorized entrance road straight signal lamp with the serial number j ^ and the yellow lamp operation interval is switched into the red lamp, and the step (C8) is executed;
step (C8), switching the signal lamp of the right-turn motor vehicle which conflicts with the entrance lane of the non-motor vehicle with the serial number j ^ under the phase i operation from the red lamp to the green lamp, and setting B j1 and performing step (C10);
step (C9), judging whether the non-motor vehicles arrive at the non-motor vehicle entrance road with the sequence number of j ^ under the phase i operation, if so, executing step (C10), otherwise, setting C j1 and performing step (C10);
step (C10), judging whether the phase i runs under Cj＝BjIf yes, performing step (C11), otherwise performing step (C12);
a step (C11), setting D to 1, and performing a step (C12);
step (C12), judging whether j is 2, if so, executing step (C13), otherwise, setting j to j +1 and then executing step (C6);
a step (C13) of judging whether D is equal to 1, if so, executing the step (C15), otherwise, executing the step (C14);
step (C14), judging whether the phase i continues to arrive by the motor vehicle, if so, executing step (C15), otherwise, executing step (C17);
step (C15), judging the green light time g when the phase i has been operated currentlyiAnd unit green light extension time DeltatiAnd whether the sum is greater than the maximum green time gimaxIf yes, executing the step (C17), otherwise executing the step (C16);
wherein, Δ tiUnit green light extension time of phase i, unit second;
time in seconds of the vehicle from the vehicle flow detector to crossing the stop line in phase i;
the shortest time, unit second, is needed for the phase i pedestrian to cross the street; l is1The distance between the vehicle flow detector of the entrance lane and the stop line is 40 m;
the maximum distance of crossing the pedestrian crosswalk by the pedestrian in the phase i is unit m;
the average speed of the vehicle passing through the distance between the vehicle flow detector and the stop line in the phase i is unit m/s;
the value of 2m/s is suggested for the pedestrian crossing average speed of the phase i;
the shortest time of the non-motor vehicle passing through the intersection is the phase i, and the unit is second;
the crossing distance m of the non-motor vehicle crossing the intersection is the phase i;
the average speed of the non-motor vehicle passing through the intersection is the phase i, and the average speed is m/s; l is3Is the width of the vehicle flow detector, L5Is the length of the non-motor vehicle flow detector;
step (C16) of prolonging the green time of phase i by delta tiThen, step (C4) is performed;
step (C17), green light interval time g of operating phase iiy；
Step (C18), determining whether an end condition is reached, the end condition being: the time to reach other control modes specified in advance; if the ending condition is reached, switching to other control modes, otherwise, entering the execution step (C19);
step (C19), I ═ mod (I/I) +1, and the process proceeds to step (C1).
The invention aims to dynamically adjust the intersection signal timing scheme by detecting the street crossing flow of the non-motor vehicles and the street crossing flow of the vehicles in real time, thereby improving the street crossing efficiency of the whole intersection. Aiming at the traffic conflict between the non-motor vehicles and the motor vehicles crossing the street, the invention designs a non-motor vehicle left-turn street crossing channelizing scheme and an intersection signal phase scheme, designs dynamic signal control logic according to the signal scheme, and realizes the intersection dynamic signal control considering the non-motor vehicles crossing the street. The invention is suitable for the dynamic control of the large signalized intersection with the special lane for the non-motor vehicle.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (6)
1. An intersection dynamic traffic signal control method considering non-motor vehicle crossing requirements is characterized by comprising the following steps:
step A, designing an intersection canalization scheme: designing a left-turn waiting area of a non-motor vehicle at the intersection according to the space size of the intersection, and designing right-turn canalization and isolation facilities of the motor vehicle and the non-motor vehicle;
b, designing an intersection signal scheme considering the non-motor vehicles to cross the street according to an intersection canalization scheme and the traffic flow conflict relationship between the motor vehicles and the non-motor vehicles;
step C, designing a dynamic induction control method; the method comprises the following specific steps:
defining variables: i is the phase sequence number, I is the phase number of the intersection, j is the sequence number of the non-motor vehicle left-turn waiting area, j ^ is the sequence number of the non-motor vehicle left-turn waiting area with the driving sequence number j, CijHigh capacity, g, for a phase i operating a non-motor vehicle left turn standby zone with sequence number jiFor phase i the green time, g, at which the current time of the cycle has been runningiminMinimum green time for phase i, gimaxMaximum green time, Δ t, for phase iiThe unit green light extension time of the phase i is A, whether a straight or left-turn street traffic flow exists in the phase i is marked, when A is 1, the straight or left-turn street traffic flow exists in the phase i, when A is 0, no straight or left-turn street traffic flow passes in the phase i, B isjIf the non-motorized left-turn waiting area with the sequence number of j reaches C for the phase i to runijIs marked with a symbol ofj1 is the non-motorized left-turn waiting area with serial number j under the operation of phase i reaches CijWhen B is presentj0 represents that the non-motorized left-turn waiting area with the sequence number of j under the operation of the phase i does not reach the maximum storage capacity Cij，CjFor phase i running a flag, C, of whether a non-motor vehicle continues to arrive in the non-motor vehicle entrance lane with sequence number j ^j1 represents that a non-motor vehicle continues to arrive in the non-motor vehicle entrance lane with the sequence number of j ^ under the phase i operation, and Cj0 represents that the non-motor vehicle exists in the non-motor vehicle entrance lane with the sequence number of j ^ under the phase i operationD is a mark for judging whether a vehicle arrives continuously in the non-motor vehicle entrance lane and the corresponding non-motor vehicle waiting area does not reach the capacity, when D is 1, the vehicle arrives continuously in the non-motor vehicle entrance lane and the corresponding non-motor vehicle waiting area does not reach the storage capacity, and when D is 0, the vehicle does not arrive continuously in the non-motor vehicle entrance lane or the corresponding non-motor vehicle waiting area reaches the storage capacity;
step (C1), initialization, A, B1、B2、C1、C2Setting D to be 0, then initially setting j to be 1, and starting a phase I, wherein I is more than or equal to 1 and less than or equal to I;
step (C2), judging whether the phase i has a direct left-crossing non-motor vehicle flow, if so, setting A to be 1 and executing the step (C3), otherwise, directly executing the step (C3);
step (C3), judging the green light time g when the phase i has runiWhether or not it is equal to or longer than the minimum green time giminIf so, performing step (C4), otherwise performing step (C5);
step (C4), judging whether a is equal to 1, if yes, executing step (C6), otherwise executing step (C12);
step (C5), the phase i vehicle signal lamp continues to display green light;
step (C6), judging whether the non-motor vehicle left-turning standby area with the sequence number of j under the phase i operation reaches the maximum storage capacity CijIf so, performing step (C7), otherwise performing step (C9);
step (C7), under the phase i operation, the non-motorized left-turn waiting area with the serial number j corresponds to the non-motorized entrance road straight signal lamp with the serial number j ^ and the yellow lamp operation interval is switched into the red lamp, and the step (C8) is executed;
step (C8), switching the signal lamp of the right-turn motor vehicle which conflicts with the entrance lane of the non-motor vehicle with the serial number j ^ under the phase i operation from the red lamp to the green lamp, and setting Bj1 and performing step (C10);
step (C9), judging whether the non-motor vehicles arrive at the non-motor vehicle entrance road with the sequence number of j ^ under the phase i operation, if so, executing step (C10), otherwise, setting Cj1 and performing step (C10);
step (C10), judging whether the phase i runs under Cj＝BjIf yes, performing step (C11), otherwise performing step (C12);
a step (C11), setting D to 1, and performing a step (C12);
step (C12), judging whether j is 2, if so, executing step (C13), otherwise, setting j to j +1 and then executing step (C6);
a step (C13) of judging whether D is equal to 1, if so, executing the step (C15), otherwise, executing the step (C14);
step (C14), judging whether the phase i continues to arrive by the motor vehicle, if so, executing step (C15), otherwise, executing step (C17);
step (C15), judging the green light time g when the phase i has been operated currentlyiAnd unit green light extension time DeltatiAnd whether the sum is greater than the maximum green time gimaxIf yes, executing the step (C17), otherwise executing the step (C16);
step (C16) of prolonging the green time of phase i by delta tiThen, step (C4) is performed;
step (C17), green light interval time g of operating phase iiy；
Step (C18), determining whether an end condition is reached, the end condition being: the time to reach other control modes specified in advance; if the ending condition is reached, switching to other control modes, otherwise, entering the execution step (C19);
step (C19), I ═ mod (I/I) +1, and the process proceeds to step (C1).
2. The method for controlling the dynamic traffic signals of the intersection considering the street crossing requirement of the non-motor vehicles according to claim 1, wherein in the step B, the principle of designing the intersection signal scheme considering the street crossing of the non-motor vehicles is as follows: the non-motor vehicle straight traffic flow and the motor vehicle straight traffic flow cross the street in the same direction phase, the non-motor vehicle left-turning traffic flow reaches the waiting area by using the straight phase to wait for crossing the street, the equal-phase crossing road straight phase passes to finish crossing the street, the crossing track is L-shaped, the right-turning non-motor vehicle is not controlled by a signal, the right-turning motor vehicle crosses the street by using the non-motor vehicle non-conflict phase, and the pedestrian crosses the street by using the same-direction straight phase.
3. The intersection dynamic traffic signal control method considering the non-motor vehicle street crossing requirement according to claim 1, characterized in that the step B further comprises:
distance L between each motor vehicle inlet lane and stop line at intersection1A vehicle flow detector is arranged and used for detecting whether each entrance lane continues to be reached by a motor vehicle or not;
distance L between each non-motor straight-going inlet lane and stop line at intersection4A non-motor vehicle flow detector is arranged and used for detecting whether a non-motor vehicle arrives continuously in each entrance lane;
and arranging a video detector at the road side of the waiting area, wherein the video detector is used for detecting whether the non-motor vehicles in the waiting area overflow or not.
4. The method for controlling the dynamic traffic signals at an intersection considering the street crossing requirement of the non-motor vehicles according to claim 3, wherein in the step (C3),
wherein L is1Distance between vehicle flow detector of the entrance lane and stop line, LqFor average headway of motor vehicles in a queue, SiFor the saturation flow rate of the phase i inlet lane,
for phase i the longest distance of pedestrian crossing crosswalk, vpThe average speed of the pedestrians crossing the street is obtained,
for phase i non-motor vehicle crossingThe crossing distance of the mouth is short,
is the average speed of the non-motor vehicle crossing the intersection for phase i.
5. The method for controlling the dynamic traffic signals at an intersection considering the street crossing requirement of the non-motor vehicles according to claim 1, wherein in the step (C6),
wherein D isijThe area of the non-motor vehicle left-turn waiting area with the sequence number j under the operation of the phase i, and d is the safety space area occupied by the non-motor vehicle waiting for left-turn.
6. The method for controlling the dynamic traffic signals at an intersection considering the street crossing requirement of the non-motor vehicles according to claim 3, wherein in the step (C15),
wherein, Δ tiThe unit green lamp extension time for phase i,
the time from the vehicle flow detector to the passage of the stop line in phase i,
the shortest time, L, is required for the phase i pedestrian to cross the street1The distance between the vehicle flow detector of the entrance lane and the stop line,
the maximum distance for the pedestrian crossing the pedestrian crosswalk in the phase i,
the vehicle speed is averaged for the distance between the vehicle passing the vehicle flow detector and the stop line in phase i,
the average speed of the pedestrian crossing the street is the phase i,
the shortest time for the non-motor vehicle to cross the intersection is phase i,
the crossing distance of the non-motor vehicle crossing the intersection is the phase i,
is the average speed, L, of a non-motor vehicle crossing the intersection in phase i3Is the width of the vehicle flow detector, L5Is the length of the non-motor vehicle flow detector.
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