CN113299088B - Regional multi-directional green wave design and driving speed guiding method based on Internet of vehicles - Google Patents

Regional multi-directional green wave design and driving speed guiding method based on Internet of vehicles Download PDF

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CN113299088B
CN113299088B CN202110490332.2A CN202110490332A CN113299088B CN 113299088 B CN113299088 B CN 113299088B CN 202110490332 A CN202110490332 A CN 202110490332A CN 113299088 B CN113299088 B CN 113299088B
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green wave
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green
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CN113299088A (en
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王昊
李昌泽
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Southeast University
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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
    • G08G1/081—Plural intersections under common control
    • 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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Abstract

The invention discloses a regional multidirectional green wave design and driving speed guiding method based on an internet of vehicles, which comprises the steps of obtaining geometric parameters and traffic parameters of a road section with multidirectional green wave design requirements; constructing an optimization model taking multidirectional green wave bandwidth weighted sum as a target, adjusting a signal phase structure, determining green wave weight, solving the optimization model, and optimizing traffic flow with multidirectional cycle and phase difference to form green waves; and adjusting signal control parameters of the real road network according to an optimization result of the optimization model, calculating the driving speed according to the optimized travel time, and issuing corresponding speed induction information to traffic flows with different driving directions of a certain road section through road side equipment. The method takes the intersection pair with the green wave requirement as a basic modeling object, can perform green wave optimization design on any intersection pair in any shape road network, and the green wave created by the optimization model can provide green waves for traffic flow in any direction of the intersection pair.

Description

Regional multi-directional green wave design and driving speed guiding method based on Internet of vehicles
Technical Field
The invention relates to the field of intelligent traffic safety control, in particular to a regional multidirectional green wave design and driving speed guiding method based on the Internet of vehicles.
Background
With the rapid development of social economy, the demand of people on transportation is remarkably improved. The operational efficiency and load-bearing capacity of such urban transportation systems pose significant challenges. The vehicle networking technology based on the wireless communication technology provides a strong technical support for the development of an urban intelligent traffic system and plays an important role in the daily operation of the traffic system. By utilizing the vehicle networking technology based on the vehicle-mounted equipment and the road side equipment (V2I), efficient and reliable data exchange between vehicles and infrastructure can be realized, more accurate and detailed traffic guidance control is realized, and the operating efficiency of an urban road network is improved. The green wave signal coordination control is a signal control mode which is most widely applied at present, and the principle is as follows: by adjusting the signal control parameters, a green wave passing condition is created for the target vehicle, so that the target vehicle can pass through the intersection continuously without stopping in a green wave band, the stopping times are effectively reduced, and the overall passing efficiency of the main line traffic system is improved. The most main problem of the existing green wave design method is that green waves can be provided for traffic flows in partial directions only, and traffic flows outside the optimized directions are not considered. In practice, the directions in which the optimization can be achieved are often only a few.
Disclosure of Invention
The technical problem to be solved by the invention is to overcome the defects of the prior art and provide a regional multi-direction green wave design and driving speed guiding method based on the internet of vehicles.
The invention adopts the following technical scheme for solving the technical problems:
the invention provides a regional multidirectional green wave design and driving speed guiding method based on an internet of vehicles, which comprises the following steps:
step 1, acquiring geometric parameters and traffic parameters of a road section with multi-directional green wave design requirements;
step 2, constructing an optimization model taking the multi-direction green wave bandwidth weighted sum as a target according to the geometric parameters and traffic parameters of the road section, adjusting a signal phase structure of the intersection, determining green wave weight, and solving the optimization model to obtain the optimized intersection signal period, phase difference, signal phase sequence and vehicle running speed, wherein the optimization model forms green waves for multi-direction traffic flows;
and 3, adjusting signal control parameters of the real road network according to the intersection signal period, the signal phase sequence and the phase difference solved by the optimization model, and issuing corresponding vehicle running speeds to traffic flows with different running directions on the green wave optimized road section through road side equipment.
As a further optimization scheme of the regional multi-direction green wave design and driving speed guiding method based on the Internet of vehicles, the geometric parameters of the road section obtained in the step 1 comprise intersection intervals, and the traffic parameters comprise upper and lower limits of vehicle driving speed, upper and lower limits of intersection signal phase periods, lengths of all phases, flow in all directions and adjacent intersection pairs with green wave requirements.
As a further optimization scheme of the regional multidirectional green wave design and driving speed guiding method based on the Internet of vehicles, the constraint of the optimization model in the step 2 comprises the following steps: and the intersection pair is subjected to mutual constraint, in-period constraint, driving time constraint, green wave bandwidth upper and lower limit constraint and signal period upper and lower limit constraint.
As a further optimization scheme of the regional multi-directional green wave design and driving speed guiding method based on the Internet of vehicles, the step 2 of adjusting the intersection signal phase structure refers to the following steps: and setting all intersection phase schemes with green wave requirements as single-inlet release.
As a further optimization scheme of the regional multidirectional green wave design and driving speed guiding method based on the Internet of vehicles, the objective of the optimization model in the step 2 is represented as follows:
Figure BDA0003051761680000021
wherein, E is the optimization target of the optimization model, k and h are intersection numbers, i and j are uplink and downlink green wave numbers, bi，(k，h)And
Figure BDA0003051761680000022
respectively an upstream direction green wave and a downstream direction green wave between the crossing pair (k, h), the upstream direction in the optimization model is from west to east and from south to north, s and l respectively represent an upstream direction straight going and a straight going left turning green wave,
Figure BDA0003051761680000023
and
Figure BDA0003051761680000024
respectively representing direct-going and direct-going left-turning green waves in the downlink direction, and specifying that the direction h from k is the uplink direction;
Figure BDA0003051761680000025
the weight of the ith uplink green wave between the crossing pair (k, h),
Figure BDA0003051761680000026
the weight of the jth downlink green wave between the intersection pair (k, h) is determined according to the ith weight between the intersection pair (k, h)Determining the traffic flow of the jth downlink green wave between the green wave and the intersection pair (k, h), wherein the traffic flow is in direct proportion to the traffic flow; kpairIs a set of intersection pairs; i KpairAnd | is the size of the intersection pair set.
As a further optimization scheme of the regional multi-direction green wave design and driving speed guiding method based on the Internet of vehicles, the intersection pair mutual constraint in the step 2 is expressed as follows:
Figure BDA0003051761680000031
wherein, thetakAnd thetahThe phase difference between the kth intersection and the h intersection is obtained; w is ai，(k，h)，kAnd
Figure BDA0003051761680000032
the green light duration of the ith uplink direction green wave and the jth downlink direction green wave between the intersection pair (k, h) at the front part of the green wave at the kth intersection respectively; w is ai，(k，h)，hAnd
Figure BDA0003051761680000033
the green light duration of the ith uplink direction green wave and the jth downlink direction green wave between the intersection pair (k, h) at the front part of the green wave at the h intersection is respectively; r isi，(k，h)，kThe total red light length of the ith uplink green wave between the intersection pair (k, h) at the left side of the green light part at the kth intersection; r isi，(k，h)，hThe total red light length of the ith uplink direction green wave between the intersection pair (k, h) at the left side of the green light part at the h-th intersection;
Figure BDA0003051761680000034
the total red light length of the j downlink direction green wave between the intersection pair (k, h) on the right side of the green light part at the k intersection;
Figure BDA0003051761680000035
is the first between the crossing pair (k, h)The total red light length of j downlink green waves on the right side of the green light part at the h-th intersection; t is ti，(k，h)The travel time from the kth intersection to the h intersection for the ith uplink green wave between the pair of intersections (k, h);
Figure BDA0003051761680000036
the travel time from the kth intersection to the h intersection for the jth downlink green wave between the intersection pair (k, h); n isi，(k，h)，kAn integer variable representing an ith upstream green wave between the pair of intersections (k, h) at the kth intersection;
Figure BDA0003051761680000037
an integer variable representing a jth downlink green wave between the pair of intersections (k, h) at the kth intersection; n isi，(k，h)，hAn integer variable representing an ith upstream green wave between the pair of intersections (k, h) at the h-th intersection;
Figure BDA0003051761680000038
an integer variable representing the jth downlink green wave between the pair of intersections (k, h) at the ith intersection; tau isi，(k，h)，hThe initial queuing and emptying time of the ith uplink direction green wave between the intersection pair (k, h) at the h-th intersection is set;
Figure BDA0003051761680000039
the initial queuing and emptying time of the jth downlink direction green wave between the intersection pair (k, h) at the kth intersection is obtained; k is an intersection set.
As a further optimization scheme of the regional multidirectional green wave design and driving speed guiding method based on the Internet of vehicles, the constraint in the period in the step (2) is expressed as follows:
Figure BDA0003051761680000041
Figure BDA0003051761680000042
Figure BDA0003051761680000043
Figure BDA0003051761680000044
Figure BDA0003051761680000045
Figure BDA0003051761680000046
Figure BDA0003051761680000047
Figure BDA0003051761680000048
Figure BDA0003051761680000049
Figure BDA00030517616800000410
Figure BDA00030517616800000411
Figure BDA00030517616800000412
Figure BDA00030517616800000413
Figure BDA00030517616800000414
Figure BDA00030517616800000415
Figure BDA0003051761680000051
wherein the content of the first and second substances,
Figure BDA0003051761680000052
representing the length of the phase of the green wave which can be obtained at the kth intersection by the ith uplink green wave;
Figure BDA0003051761680000053
representing the length of the phase of the green wave which can be obtained by the ith uplink green wave at the h-th intersection;
Figure BDA0003051761680000054
representing the length of the green wave phase which can be obtained by the jth downlink green wave at the kth intersection;
Figure BDA0003051761680000055
representing the length of the green wave phase which can be obtained by the jth downlink green wave at the h-th intersection;
Figure BDA0003051761680000056
represents a certain phase in the cycle; e.g. of the typefirstRepresenting the first phase of the cycle, ebeforeThe previous phase representing the phase through which the green wave passes, eafterThe latter phase representing the green wave transit phase, elastRepresenting the end of the cycleOne of the phases is a phase-locked loop,
Figure BDA0003051761680000057
the total red light length of the ith uplink green wave between the intersection pair (k, h) at the right side of the green light part at the kth intersection,
Figure BDA0003051761680000058
the total red light length of the ith uplink green wave between the intersection pair (k, h) on the right side of the green light part at the h-th intersection; r isj，(k，h)，kThe total red light length r of the j downstream green wave between the intersection pair (k, h) at the left side of the green light part at the k intersectionj，(k，h)，hThe total red light length to the left of the green light section at the h-th intersection for the jth down direction green wave between the pair of intersections (k, h).
As a further optimization scheme of the regional multi-directional green wave design and driving speed guiding method based on the Internet of vehicles, the driving time constraint in the step 2 is expressed as follows:
Figure BDA0003051761680000059
Figure BDA00030517616800000510
wherein L is(k，h)Representing the distance between the kth intersection and the h intersection; v. of(k，h)minAnd v(k，h)，maxRepresenting the minimum driving speed and the maximum driving speed allowed between the kth intersection and the h intersection; c represents the uniform period length of all intersections, tj，(k，h)The driving time of the jth downlink green wave between the kth intersection and the h intersection is represented.
As a further optimization scheme of the regional multi-directional green wave design and driving speed guiding method based on the Internet of vehicles, in the step 2, the upper and lower limits of green wave band width and the upper and lower limits of signal period are as follows:
bi，(k，h)，min≤bi，(k，h)≤bi，(k，h)，max，i∈{s，l}，(k，h)∈Kpair
Figure BDA0003051761680000061
Cmin≤C≤Cmax
wherein, bi，(k，h)，minAnd bi，(k，h)，maxThe minimum value and the maximum value allowed by the ith uplink green wave between the intersection pair (k, h) are respectively;
Figure BDA0003051761680000062
and
Figure BDA0003051761680000063
the minimum value and the maximum value allowed by the jth downlink green wave between the intersection pair (k, h) are respectively; cminAnd CmaxRepresenting all allowed period minima and maxima.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
the method takes the intersection pair with the green wave requirement as a basic modeling object, can perform green wave optimization design on any intersection pair in any shape road network, and the green wave created by the optimization model can provide green waves for traffic flow in any direction of the intersection pair; compared with the traditional green wave optimization technology which can only provide green waves for traffic flows of specific optimized paths, the method realizes the establishment of multi-direction green waves by resetting the phase structure, has stronger adaptability and can provide green waves for the traffic flows of any paths in a regional road network.
Drawings
FIG. 1 is a flow chart of a method according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of an exemplary regional network in an embodiment of the present invention.
Fig. 3 is a schematic diagram of a signal phase structure according to an embodiment of the present invention.
Fig. 4 is an exemplary green wave space-time diagram in an embodiment of the present invention.
Detailed Description
The invention is explained in detail below with reference to fig. 1, 2, 3 and 4. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
As shown in fig. 1, a regional multidirectional green wave design and driving speed guidance method based on internet of vehicles is characterized by comprising the following steps:
step 1, acquiring geometric parameters and traffic parameters of a road section with multi-direction green wave design requirements.
Step 2, constructing an optimization model taking the multi-direction green wave bandwidth weighted sum as a target according to the geometric parameters and traffic parameters of the road section, adjusting a signal phase structure of the intersection, determining green wave weight, and solving the optimization model to obtain the optimized intersection signal period, phase difference, signal phase sequence and vehicle running speed, wherein the optimization model forms green waves for multi-direction traffic flows;
specifically, the multidirectional green bandwidth weighted sum is represented as:
Figure BDA0003051761680000071
wherein, bi，(k，h)And
Figure BDA0003051761680000072
respectively an upstream green wave and a downstream green wave between the crossing pair (k, h), s and l respectively represent an upstream straight-going and a straight-going left-turning green wave,
Figure BDA0003051761680000073
and
Figure BDA0003051761680000074
respectively indicate the direct-running through and the left turn in the downlink directionA green wave, which defines that the direction h from k is the uplink direction;
Figure BDA0003051761680000075
and
Figure BDA0003051761680000076
the weights of the corresponding green waves are respectively determined according to the traffic flow of the corresponding green wave service, and are in direct proportion to the traffic flow; kpairIs a set of intersection pairs; i KpairAnd | is the size of the intersection pair set.
The intersection pair mutual constraint is expressed as:
Figure BDA0003051761680000077
wherein, thetakAnd thetahThe phase difference between the kth intersection and the h intersection is obtained; w is ai，(k，h)，kAnd
Figure BDA0003051761680000078
the green light duration of the ith uplink direction green wave and the jth downlink direction green wave between the intersection pair (k, h) at the front part of the green wave at the kth intersection respectively; w is ai，(k，h)，hAnd
Figure BDA0003051761680000079
the green light duration of the ith uplink direction green wave and the jth downlink direction green wave between the intersection pair (k, h) at the front part of the green wave at the h intersection is respectively; r isi，(k，h)，kThe total red light length of the ith uplink green wave between the intersection pair (k, h) at the left side of the green light part at the kth intersection; r isi，(k，h)，hThe total red light length of the ith uplink direction green wave between the intersection pair (k, h) at the left side of the green light part at the h-th intersection;
Figure BDA00030517616800000710
the total red light length of the j downlink direction green wave between the intersection pair (k, h) on the right side of the green light part at the k intersection;
Figure BDA00030517616800000711
the total red light length of the j downlink direction green wave between the intersection pair (k, h) on the right side of the green light part at the h intersection; t is ti，(k，h)The travel time from the kth intersection to the h intersection for the ith uplink green wave between the pair of intersections (k, h);
Figure BDA0003051761680000081
the travel time from the kth intersection to the h intersection for the jth downlink green wave between the intersection pair (k, h); n isi，(k，h)，kAn integer variable representing an ith upstream green wave between the pair of intersections (k, h) at the kth intersection;
Figure BDA0003051761680000082
an integer variable representing a jth downlink green wave between the pair of intersections (k, h) at the kth intersection; n isi，(k，h)，hAn integer variable representing an ith upstream green wave between the pair of intersections (k, h) at the h-th intersection;
Figure BDA0003051761680000083
an integer variable representing the jth downlink green wave between the pair of intersections (k, h) at the ith intersection; tau isi，(k，h)，hThe initial queuing and emptying time of the ith uplink direction green wave between the intersection pair (k, h) at the h-th intersection is set;
Figure BDA0003051761680000084
the initial queuing and emptying time of the jth downlink direction green wave between the intersection pair (k, h) at the kth intersection is obtained; k is an intersection set.
The intra-cycle constraint is expressed as:
Figure BDA0003051761680000085
Figure BDA0003051761680000086
Figure BDA0003051761680000087
Figure BDA00030517616800000814
Figure BDA0003051761680000088
Figure BDA0003051761680000089
Figure BDA00030517616800000810
Figure BDA00030517616800000811
Figure BDA00030517616800000812
Figure BDA00030517616800000813
Figure BDA0003051761680000091
Figure BDA0003051761680000092
Figure BDA0003051761680000093
Figure BDA0003051761680000094
Figure BDA0003051761680000095
Figure BDA0003051761680000096
wherein the content of the first and second substances,
Figure BDA0003051761680000097
representing the length of the phase of the green wave which can be obtained at the kth intersection by the ith uplink green wave;
Figure BDA0003051761680000098
representing the length of the phase of the green wave which can be obtained by the ith uplink green wave at the h-th intersection;
Figure BDA0003051761680000099
representing the length of the green wave phase which can be obtained by the jth downlink green wave at the kth intersection;
Figure BDA00030517616800000910
representing the length of the green wave phase which can be obtained by the jth downlink green wave at the h-th intersection;
Figure BDA00030517616800000911
represents a certain phase in the cycle; e.g. of the typefirstRepresenting the first phase of the cycle, ebeforeThe previous phase representing the phase through which the green wave passes, eafterThe latter phase representing the green wave transit phase, elastRepresenting the last phase in the cycle,
Figure BDA00030517616800000912
the total red light length of the ith uplink green wave between the intersection pair (k, h) at the right side of the green light part at the kth intersection,
Figure BDA00030517616800000913
the total red light length of the ith uplink green wave between the intersection pair (k, h) on the right side of the green light part at the h-th intersection; r isj，(k，h)，kThe total red light length r of the j downstream green wave between the intersection pair (k, h) at the left side of the green light part at the k intersectionj，(k，h)，hThe total red light length to the left of the green light section at the h-th intersection for the jth down direction green wave between the pair of intersections (k, h).
The travel time constraint is expressed as:
Figure BDA00030517616800000914
Figure BDA0003051761680000101
wherein L is(k，h)Representing the distance between the kth intersection and the h intersection; v. of(k，h)，minAnd v(k，h)，maxRepresenting the minimum driving speed and the maximum driving speed allowed between the kth intersection and the h intersection; c represents the uniform period length of all intersections, tj，(k，h)The driving time of the jth downlink green wave between the kth intersection and the h intersection is represented.
In step 2, the green band width upper and lower limit constraints and the signal period upper and lower limit constraints are:
bi，(k，h)，min≤bi，(k，h)≤bi，(k，h)，max，i∈{s，l}，(k，h)∈Kpair
Figure BDA0003051761680000102
Cmin≤C≤Cmax
wherein, bi，(k，h)，minAnd bi，(k，h)，maxThe minimum value and the maximum value allowed by the ith uplink green wave between the intersection pair (k, h) are respectively;
Figure BDA0003051761680000103
and
Figure BDA0003051761680000104
the minimum value and the maximum value allowed by the jth downlink green wave between the intersection pair (k, h) are respectively; cminAnd CmaxRepresenting all allowed period minima and maxima.
The solution of the mathematical optimization model can utilize the mature commercial libraries and software of Gurobi and Lingo, etc.
And 3, adjusting signal control parameters of the real road network according to an optimization result of the optimization model, calculating the driving speed according to the optimized travel time, and issuing corresponding speed induction information to traffic flows with different driving directions of a certain road section through road side equipment. The parameter adjustment comprises the following contents: signal period, signal phase length and signal phase difference of each intersection.
The embodiments of the present invention are further described below with reference to a specific road network design:
(1) design road network selection
Performing green wave design by taking the following typical road networks at four intersections in sunshine city in Shandong province as objects;
(2) road network geometric parameter survey
The geometric parameters of the road section are shown in figure 2;
(3) road network traffic volume survey
The traffic parameters of the designed road network are investigated in 2019, 9, 25 and the specific collection time interval from 30 minutes at 5 pm to 30 minutes at 6 pm, as shown in the following table 1
TABLE 1 road traffic volume
Figure BDA0003051761680000111
(4) Phase adjusting structure
Adjusting the phases of all the intersections into single-inlet wheel placement according to the figure 3;
(5) determining green wave weights
Considering that the traffic distribution of a road network is relatively uniform, setting the weight average of green wave weights of all sections to be 1, and setting the minimum width of green wave to be 10 s;
(6) determining upper and lower limits for travel speed and period
According to relevant regulations, determining the upper limit and the lower limit of the travel speed of the road section as 30km/h and 60km/h respectively, and determining the upper limit and the lower limit of the period as 150s and 90s respectively;
(7) solving green wave optimization model
The green wave design is performed by using the original optimization model to obtain the optimized green wave bandwidth, which is shown in the following table 2:
TABLE 2 Green wave Bandwidth optimization results
Figure BDA0003051761680000112
The signal period and phase difference at each intersection are shown in table 3 below:
TABLE 3 optimization of signal period and phase difference
Figure BDA0003051761680000121
And the travel speed for each green wave, as shown in table 4 below:
TABLE 4 travel speed optimization results
Figure BDA0003051761680000122
(8) Green wave parameter adjustment
And (4) adjusting the signal control parameters of the actual road section according to the optimization result in the step (7), and sending the optimized green wave traveling speed to the internet traffic flows in different directions through the road side device. In order to more intuitively show the effect of the green wave band, a space-time green wave map of the road network is drawn, as shown in fig. 4.
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 (7)

1. A regional multidirectional green wave design and driving speed guiding method based on the Internet of vehicles is characterized by comprising the following steps:
step 1, acquiring geometric parameters and traffic parameters of a road section with multi-directional green wave design requirements;
step 2, constructing an optimization model taking the multi-direction green wave bandwidth weighted sum as a target according to the geometric parameters and traffic parameters of the road section, adjusting a signal phase structure of the intersection, determining green wave weight, and solving the optimization model to obtain the optimized intersection signal period, phase difference, signal phase sequence and vehicle running speed, wherein the optimization model forms green waves for multi-direction traffic flows;
step 3, adjusting signal control parameters of a real road network according to the intersection signal period, the signal phase sequence and the phase difference solved by the optimization model, and issuing corresponding vehicle driving speeds to traffic flows with different driving directions of the green wave optimized road section through road side equipment;
the constraints of the optimization model in the step 2 comprise: the intersection pair is mutually constrained, is internally constrained, is constrained in a period, is constrained in running time, is constrained in upper and lower limits of green wave bandwidth and is constrained in upper and lower limits of a signal period;
the goal of the optimization model in step 2 is represented as:
Figure FDA0003475369830000011
wherein E is an optimization target of the optimization model, k and h are intersection numbers, i and j are uplink and downlink green wave numbers, bi,(k,h)And
Figure FDA0003475369830000012
respectively an upstream direction green wave and a downstream direction green wave between the crossing pair (k, h), the upstream direction in the optimization model is from west to east and from south to north, s and l respectively represent an upstream direction straight going and a straight going left turning green wave,
Figure FDA0003475369830000013
and
Figure FDA0003475369830000014
respectively representing direct-going and direct-going left-turning green waves in the downlink direction, and specifying that the direction h from k is the uplink direction;
Figure FDA0003475369830000015
the weight of the ith uplink green wave between the crossing pair (k, h),
Figure FDA0003475369830000016
the weight of the jth downlink green wave between the intersection pair (k, h) is determined according to the traffic flow of the ith uplink green wave between the intersection pair (k, h) and the jth downlink green wave between the intersection pair (k, h), and is in direct proportion to the traffic flow; kpairIs a set of intersection pairs; i KpairAnd | is the size of the intersection pair set.
2. The method for regional multi-directional green wave design and driving speed guidance based on the internet of vehicles according to claim 1, wherein the geometric parameters of the road section obtained in the step 1 comprise intersection distance, and the traffic parameters comprise upper and lower limits of vehicle driving speed, upper and lower limits of intersection signal phase period, lengths and flow rates of each phase and adjacent intersection pairs with green wave requirements.
3. The area multidirectional green wave design and driving speed guiding method based on the internet of vehicles according to claim 1, wherein the step 2 of adjusting the intersection signal phase structure is that: and setting all intersection phase schemes with green wave requirements as single-inlet release.
4. The method for regional multidirectional green wave design and driving speed guidance based on the internet of vehicles according to claim 1, wherein the intersection pair mutual constraint in the step 2 is expressed as:
Figure FDA0003475369830000021
wherein, thetakAnd thetahThe phase difference between the kth intersection and the h intersection is obtained; w is ai,(k,h),kAnd
Figure FDA0003475369830000022
the green light duration of the ith uplink direction green wave and the jth downlink direction green wave between the intersection pair (k, h) at the front part of the green wave at the kth intersection respectively; w is ai,(k,h),hAnd
Figure FDA0003475369830000023
the green light duration of the ith uplink direction green wave and the jth downlink direction green wave between the intersection pair (k, h) at the front part of the green wave at the h intersection is respectively; r isi,(k,h),kThe total red light length of the ith uplink green wave between the intersection pair (k, h) at the left side of the green light part at the kth intersection; r isi,(k,h),hThe total red light length of the ith uplink direction green wave between the intersection pair (k, h) at the left side of the green light part at the h-th intersection;
Figure FDA0003475369830000024
the total red light length of the j downlink direction green wave between the intersection pair (k, h) on the right side of the green light part at the k intersection;
Figure FDA0003475369830000025
the total red light length of the j downlink direction green wave between the intersection pair (k, h) on the right side of the green light part at the h intersection; t is ti,(k,h)The travel time from the kth intersection to the h intersection for the ith uplink green wave between the pair of intersections (k, h);
Figure FDA0003475369830000026
the travel time from the kth intersection to the h intersection for the jth downlink green wave between the intersection pair (k, h); n isi,(k,h),kAn integer variable representing an ith upstream green wave between the pair of intersections (k, h) at the kth intersection;
Figure FDA0003475369830000027
an integer variable representing a jth downlink green wave between the pair of intersections (k, h) at the kth intersection; n isi,(k,h),hAn integer variable representing an ith upstream green wave between the pair of intersections (k, h) at the h-th intersection;
Figure FDA0003475369830000031
an integer variable representing the jth downlink green wave between the pair of intersections (k, h) at the ith intersection; tau isi,(k,h),hThe initial queuing and emptying time of the ith uplink direction green wave between the intersection pair (k, h) at the h-th intersection is set;
Figure FDA0003475369830000032
the initial queuing and emptying time of the jth downlink direction green wave between the intersection pair (k, h) at the kth intersection is obtained; k is an intersection set.
5. The method for regional multidirectional green wave design and driving speed guidance based on Internet of vehicles according to claim 4, wherein the in-cycle constraint in step (2) is expressed as:
Figure FDA0003475369830000033
Figure FDA0003475369830000034
Figure FDA0003475369830000035
Figure FDA0003475369830000036
Figure FDA0003475369830000037
Figure FDA0003475369830000038
Figure FDA0003475369830000039
Figure FDA00034753698300000310
Figure FDA00034753698300000311
Figure FDA00034753698300000312
Figure FDA00034753698300000313
Figure FDA00034753698300000314
Figure FDA00034753698300000315
Figure FDA0003475369830000041
Figure FDA0003475369830000042
Figure FDA0003475369830000043
wherein the content of the first and second substances,
Figure FDA0003475369830000044
representing the length of the phase of the green wave which can be obtained at the kth intersection by the ith uplink green wave;
Figure FDA0003475369830000045
representing the length of the phase of the green wave which can be obtained by the ith uplink green wave at the h-th intersection;
Figure FDA0003475369830000046
represents the jth lowerThe length of the phase of the green wave can be obtained at the k-th intersection by the green wave in the row direction;
Figure FDA0003475369830000047
representing the length of the green wave phase which can be obtained by the jth downlink green wave at the h-th intersection;
Figure FDA0003475369830000048
represents a certain phase in the cycle; e.g. of the typefirstRepresenting the first phase of the cycle, ebeforeThe previous phase representing the phase through which the green wave passes, eafterThe latter phase representing the green wave transit phase, elastRepresenting the last phase in the cycle,
Figure FDA0003475369830000049
the total red light length of the ith uplink green wave between the intersection pair (k, h) at the right side of the green light part at the kth intersection,
Figure FDA00034753698300000410
the total red light length of the ith uplink green wave between the intersection pair (k, h) on the right side of the green light part at the h-th intersection; r isj,(k,h),kThe total red light length r of the j downstream green wave between the intersection pair (k, h) at the left side of the green light part at the k intersectionj,(k,h),hThe total red light length to the left of the green light section at the h-th intersection for the jth down direction green wave between the pair of intersections (k, h).
6. The method for regional multi-directional green wave design and driving speed guidance based on Internet of vehicles according to claim 5, wherein the driving time constraint in step 2 is expressed as:
Figure FDA00034753698300000411
Figure FDA00034753698300000412
wherein L is(k,h)Representing the distance between the kth intersection and the h intersection; v. of(k,h),minAnd v(k,h),maxRepresenting the minimum driving speed and the maximum driving speed allowed between the kth intersection and the h intersection; c represents the uniform period length of all intersections, tj,(k,h)The driving time of the jth downlink green wave between the kth intersection and the h intersection is represented.
7. The area multidirectional green wave design and driving speed guiding method based on the Internet of vehicles according to claim 6, wherein the green wave band width upper and lower limit constraints and the signal period upper and lower limit constraints in step 2 are as follows:
bi,(k,h),min≤bi,(k,h)≤bi,(k,h),max,i∈{s,l},(k,h)∈Kpair
Figure FDA0003475369830000051
Cmin≤C≤Cmax
wherein, bi,(k,h)，minAnd bi,(k,h)，maxThe minimum value and the maximum value allowed by the ith uplink green wave between the intersection pair (k, h) are respectively;
Figure FDA0003475369830000052
and
Figure FDA0003475369830000053
the minimum value and the maximum value allowed by the jth downlink green wave between the intersection pair (k, h) are respectively; cminAnd CmaxRepresenting all allowed period minima and maxima.
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