CN113345230B - Optimization method and optimization system for researching and judging coordination trunk management and control problem - Google Patents
Optimization method and optimization system for researching and judging coordination trunk management and control problem Download PDFInfo
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Abstract
The invention discloses an optimization method and an optimization system for researching and judging a coordinated trunk line control problem, which are used for analyzing the rationality of a coordinated control scheme such as trunk line green waves, trunk line red waves and the like which are configured or executed by a signal control system and intelligently identifying problems possibly existing in a basic link of configuration of the trunk line control scheme, wherein the problems include selection of a coordinated control intersection, a coordinated direction and a control time interval; through the difference analysis of the configuration scheme and the optimal scheme, a mutual feedback mechanism of data driving and manual configuration is formed, the possible problems of the intersection entrance lane organization channelization scheme are researched and judged from the angles of straight-going and left-turning traffic flow interference, the problem research and judgment of the data-driven intersection organization channelization scheme is realized, and a basis is provided for the improvement and upgrading of the intersection organization channelization; the method can realize automatic coordinated trunk line configuration, identify intersections capable of being subjected to coordinated control in the road network based on traffic flow operation data of the intersections, determine a coordinated control direction and a control time period, and improve the configuration convenience of a trunk line coordinated control scheme.
Description
Technical Field
The invention relates to the technical field of traffic signal control research, in particular to an optimization method and an optimization system for researching and judging a coordination trunk management and control problem.
Background
The main line green wave coordination control is a common traffic signal control means at present, and the premise of implementing a signal coordination control scheme is to select a coordination control intersection and configure the main line coordination direction. The traditional coordinated trunk configuration is mainly based on manual experience; on the basis, a trunk line subsection green wave equal trunk line subsection division method is formed, and the patent number CN106297334B discloses a trunk line subsection division method under green wave coordination control, so as to solve the problems that the green wave bandwidth is too narrow and the like easily occurs when the overall green wave control is implemented on a longer trunk line, but the implementation of the method is still on the premise that the overall coordination control intersection range needs to be determined autonomously, so that the subsection is further refined. The current trunk line coordination optimization control mainly optimizes signal timing parameters, analyzes the rationality of timing parameters such as cycle length, phase difference, green time length and the like of a coordination scheme by analyzing and extracting parameters such as travel time between intersections, queuing length of intersections, traffic flow and the like, or directly generates an optimal scheme according to traffic flow parameters to carry out time interval division scheme and optimization adjustment of the timing parameters. At present, a method for researching, judging, reasonably analyzing and optimizing the problem of the coordinated trunk configuration is lacked.
Disclosure of Invention
In order to solve the problems, the invention provides an intelligent problem studying, judging and optimizing method and system aiming at a trunk line coordination control scheme, so that the reasonability analysis of the trunk line green wave, red wave and other coordination control schemes configured or executed by a signal control system is realized, and the problems possibly existing in the basic links of the trunk line control scheme configuration are intelligently identified, wherein the problems comprise coordination control intersection selection, coordination direction and control time interval; furthermore, a mutual feedback mechanism of data driving and manual configuration is formed through difference analysis of the configuration scheme and the optimal scheme, problems possibly existing in the intersection entrance lane organization channelization scheme are researched and judged from the angle of straight-going and left-turning traffic flow interference, and an optimization suggestion is provided, so that a basis is provided for all-round optimization of trunk line management and control.
In order to achieve the technical purpose and achieve the technical effect, the invention is realized by the following technical scheme: an optimization method and an optimization system for researching and judging a coordination trunk management and control problem comprise the following steps:
s1, building a road network topological structure, link i Characterizing road sections, i being the road section number, link i The contained field information includes: link ID, link length L i Urban road grade R of route to which road section belongs i Speed limit V of road section i Road section downstream intersection node i Road section upstream intersection node i-1 Also comprises a downstream junction node i Road segment number connected to exit road in other direction, and slave link i By means of a node i Steering for driving into the road section with the corresponding number; wherein the road segment node i Characterizing an intersection, comprising fields including: intersection ID, intersection type (includingCross, T-shaped, annular), whether to lay the signal lamp, type of the entrance lane, ID of the entrance lane;
wherein, the city road grade R i The value condition is the trunk R i =1, minor trunk R i =2, branch R i ＝3；
S2, establishing an initial set S of coordinatable control road sections 0 ；
S3, determining S according to short-time-interval traffic flow operation detection data in historical stage 0 Main flow direction of the downstream crossing inlet passage of each middle section in each short time interval of the whole day; merging continuous short time intervals with consistent main flow directions into a time interval, wherein the time interval length is determined by the number of the short time intervals and the unit time length of the short time intervals;
detecting whether the length of the converged time period T (T) is lower than a threshold value, wherein T is a time period number; marking a time period T' (T) below a threshold; if the previous adjacent time period T (T-1) and the next adjacent time period T (T + 1) of the T' (T) are not marked, turning to S3-1; otherwise, switching to S3-2;
s4, outputting S 0 According to the time period collection scheme of each road section and the corresponding main flow direction, reliability analysis is carried out by overlapping actual vehicle passing tracks of the road sections;
s5, according to the topological structure data of the road network S1, connecting the road sections with the adjacent road sections at the downstream to form a coordination route through the matching condition of the main flow direction and the downstream steering of the road sections, and detecting the contact ratio of the two road sections in a coordination time period;
s6, extracting the initial intersection, the coordination direction and the control time period of each coordination route determined in the S5, and retrieving historical vehicle passing records which are consistent with the control time period and the passing flow direction of the initial intersection is consistent with the coordination direction from the historical vehicle passing detection data of the road network;
reconstructing the track of the passing route of the retrieved historical passing vehicle record, namely tracking the passing vehicle from the passing vehicle detection records of other subsequent intersections of the vehicle according to the number plate matching to form the historical passing route;
the coincidence degree of the historical passing route and the coordination route generated in the S5 is counted, namely the ratio of the completely consistent route quantity to the total quantity of the historical passing route is calculated, and the route with the coincidence degree exceeding a set threshold value is determined as the coordination route;
outputting an optimal route scheme L capable of carrying out coordination control in the route network, and corresponding coordination control direction and coordination control time period;
s7, acquiring the configuration condition of a trunk line coordination control scheme including a trunk line intersection, a coordination direction and a control time period from the signal control system for the coordination trunk line l needing problem analysis;
retrieving lines containing all intersections configured in the step L from the step L, and carrying out consistency comparison on the lines and the coordination route output by the step S6;
and S8, counting the number of the road sections with inconsistent coordination directions marked in the step I, if the proportion of the marked road sections to the total quantity of the configured route road sections exceeds a set threshold value, carrying out deep study and judgment on the trunk configuration problem, and otherwise, providing optimization suggestions for a trunk configuration scheme, the coordination directions and a control time interval.
Further, in S2, the road section screening is performed according to the following combination conditions:
in the formula TH L Is a threshold value of the length of the road section, N j The number of lanes corresponding to each turn at the downstream intersection of the road section, j is the turn number, the value is 1 to 12, which respectively refers to west left, west straight, west right, south left, south straight, south right, east left, east straight, east right, north left, north straight, north right, TH N Is the threshold of the number of lanes.
Further, the step S3 further includes the following steps:
s3-1, if the main flow direction of a previous adjacent time period T (T-1) of T '(T) is consistent with the main flow direction of a next adjacent time period T (T + 1), combining T (T-1), T' (T) and T (T + 1) into the same time period, wherein the starting time of the time period T (T-1) is not changed, the ending time is changed into the ending time of the original T (T + 1), and the main flow direction of the time period is unified into the main flow direction of T (T-1);
if the main flow direction of the previous adjacent time T (T-1) of T ' (T) is not consistent with the main flow direction of the next adjacent time T (T + 1), combining T ' (T) and T (T-1), wherein the starting time of the time T (T-1) is not changed, the ending time is changed into the ending time of the original T ' (T), and the main flow direction of the time T is the main flow direction of the original T (T-1);
s3-2, searching the front and back non-marking time periods closest to T' (T), combining all marking time periods between the two non-marking time periods into a new control time period, and counting main flow direction judgment indexes in the new control time period: accumulating the flow, or the maximum saturation, or the average queuing length, wherein the selection of the index is consistent with the selection of the S3 when the initial judgment of the main flow direction is carried out; and determining the counted maximum flow direction of the index as the main flow direction of the new time interval.
Further, the specific method for reliability analysis in step 4 is as follows: calculating the road section travel time of the vehicle according to the number plate identification data of the road section upstream and downstream crossings; collecting road section travel time samples of the historical stage of the flow data in the same period as that adopted in the step S3, and counting the reliability
In the formula
A 95% quantile of travel time samples for segment i,
is the sample mean; and if the reliability does not exceed the threshold value, ending the process.
Further, the step 5 of detecting the coincidence degree of the two road sections in the coordination period is represented as
T i 、T i’ The control periods determined in S3 for the two segments that have been connected as a coordinated route, respectively; if the contact ratio is lower than the set threshold value, the scheme that the two paths of sections are connected into the coordination route is cancelled, otherwise, the coordination route is established, and T is set i ∩T i' A control period as a coordinated route; repeating the above operation until the pair S can not be matched 0 The road sections in the road are connected to form a coordination route and determine a corresponding control time period, and a coordination direction is determined according to the main flow direction when the coordination route is connected;screening routes with the number of intersections not less than 3, and carrying out the next step;
further, the specific method for performing consistency comparison in step 7 is as follows:
if only one line is searched, namely the configured line is completely consistent with the generated optimal line scheme or the configured line is a sub-road section of the optimal line, whether the coordination direction and the control time interval in the step I are consistent with the step L or not is detected, if the coordination direction and the control time interval in the step I are inconsistent with the step L, an optimization suggestion is output, the coordination direction and the control time interval in the optimal line scheme L are output, and the process is ended;
if a plurality of lines exist, namely the configuration line consists of a plurality of lines in the optimal line scheme, comparing the coordination direction of the configuration line with the line coordination direction in the optimal scheme, and if the directions are consistent, outputting a trunk splitting optimization suggestion according to the L line configuration condition; detecting the consistency of the control time periods, and outputting time period optimization suggestions of each line when the control time periods are inconsistent; if the directions are inconsistent, marking the road sections with inconsistent coordination directions, and turning to S8;
further, in step 8, if the coordination direction of the configured trunk route plan and the optimal route plan output in S6 is seriously inconsistent, the running condition of the vehicle at the entrance of the downstream intersection of the marked road section is checked, and the specific method is as follows:
according to the coordination direction D in the optimal scheme o Coordinating directions D with configured trunks p For the downstream crossing node _ mark entry lane and D of the marked road section o 、D p The corresponding vehicle passing and queuing conditions of all lanes are further analyzed and researched, so that whether the condition of misjudgment of the coordination direction exists or not is detected, and the specific method comprises the following steps:
(1) According to D o 、D p Calculating the average queuing evacuation time according to the saturated headway and the queuing length; the time interval of the parameter is consistent with the queuing length, and is generally 5min or 15min;
(2) Extraction of D o 、D p Acquiring data at the original small interval of the queue lengths of all corresponding lanes, wherein the time interval is generally 5 s; from configured trunk solutionsExtracting the signal cycle length of the downstream intersection of the marked road section; forming a time sequence of the queuing length of each lane in the time window by taking the length of at least two signal cycles as the time window TW, and converting the time sequence into a time sequence Q (t) of the number of queued vehicles according to the length of the standard vehicles;
(3) Extraction of D o 、D p Data are acquired by passing vehicles on all corresponding lanes; extraction of D o 、D p The original data of the downstream road crossing pointed in two directions are acquired; the specific steering of the vehicle at the intersection node _ mark is determined through number plate matching, and is associated with a vehicle passing detection lane in the vehicle passing original collected data; collecting the time of the vehicle steering condition of each vehicle passing detection lane by taking the time interval of the original small interval data collected in the step (2) as a data collection time unit, thereby generating a lane steering flow time sequence processed by the vehicle passing collection data, wherein the time stamp of the sequence is the vehicle passing detection time of the vehicle at the intersection node _ mark;
using TW as a time window, using the average queuing and evacuating time as an offset correction amount, and moving the starting time of the time window backwards to a time axis for a corresponding time length to form a lane steering flow time sequence q (t) in the time window;
(4) Matching the same lane of Q (t) and Q (t), carrying out consistency check on the time series of the same lane, and extracting the steering D when the 95% confidence level is obviously different o Lane and steering D p If the two steered lanes are adjacent to each other, the lane-to-lane spatial positional relationship may cause erroneous judgment of the coordinated direction.
An optimization system for executing the method for studying, judging and optimizing the coordination trunk management and control problem of any one of claims 1 to 8, which comprises a road network management module, a data docking module, an automatic configuration module, a manual configuration module and a line deviation rectifying module;
the road network management module takes an electronic map as a base map, constructs a simulation road network model, namely, constructs road network unit element intersection nodes and road segment lines, wherein the nodes comprise intersection centers and the inlet and outlet end points in all directions, the lines comprise the two end points of the road segments and the line segments connecting the end points, and the nodes and the line end points are connected by constructing the connecting road segments c-lines connecting the nodes and the lines, so as to determine the incidence relation between intersections and road segments;
the data docking module acquires a system interconnection table from the road network management module, acquires dynamic control scheme data of the annunciator from a system interface, and dynamically acquires traffic flow operation data by the detector; and storing the data;
the automatic configuration module acquires a road network topological structure from the road network management module and acquires stored intersection traffic flow operation data from the data docking module; receiving the starting and ending points of a historical time period set by a user, and outputting an automatic trunk configuration scheme;
the manual configuration module selects a coordination control intersection on a road network topology network layer configured by the road network management module by taking an electronic map as a base map; the module automatically connects adjacent intersections according to the road network topological structure of the road network management module to form a continuous route with clear starting and finishing points; configuring a coordination control direction; configuring a coordination control period; generating a manual configuration scheme and storing data;
the line deviation rectifying module acquires a stored manual configuration scheme from the manual configuration module; acquiring an automatic trunk configuration scheme from an automatic configuration module; and acquiring the stored signal control scheme data from the data docking module, and acquiring a trunk scheme for coordination control from the signal control scheme data.
Further, the line deviation rectifying module outputs a coordination control problem analysis conclusion and an optimization suggestion, and specifically comprises:
(1) For the condition that the coordination direction is inconsistent and does not exceed the threshold, outputting the conclusion that the trunk configuration scheme has problems, and providing an optimal trunk configuration scheme and optimization suggestions of the coordination direction and the control time period;
(2) For the condition of misjudgment of the coordination direction, the problems of possible left-turn and straight-going vehicle interference and possible left-turn widened section over short of corresponding intersection inlets are output, and the optimization suggestion of re-checking the detection range of the intersection detector and the length of the re-checking widened section of the intersection is provided.
The beneficial effects of the invention are:
1. the mode that the traditional trunk coordination control only optimizes the timing parameters is changed, and problem study, judgment and optimization suggestions are carried out from a trunk basic configuration link;
2. the invention realizes the study and judgment of the problem of the intersection organization canalization scheme driven by data, identifies the possible problems of short widening length and interference of left-turn and straight traffic flow, and provides a basis for the improvement and upgrading of the intersection organization canalization.
3. The system can realize automatic coordinated trunk line configuration, identify intersections capable of being coordinated and controlled in the road network based on traffic flow operation data of the intersections, determine a coordinated control direction and a control time period, and improve the configuration convenience of a trunk line coordinated control scheme.
Drawings
FIG. 1 is a flow chart of an optimization method for coordinating the study and judgment of trunk management and control problems.
Fig. 2 is a schematic view of a topology of links and nodes.
Fig. 3 is a schematic diagram of road network unit elements of the road network management module.
Detailed Description
Preferred embodiments of the present invention will be described in detail below with reference to fig. 1-3, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, and the scope of the present invention will be more clearly and clearly defined.
An optimization method and an optimization system for researching and judging a coordinated trunk management and control problem specifically comprise the following steps:
s1, building a road network topological structure, link i Characterizing road sections, i being the road section number, link i The contained field information includes: link ID, link length L i Urban road grade R of route to which road section belongs i Speed limit V of road section i Road section downstream intersection node i Road section upstream intersection node i-1 Also comprises a downstream intersection node i Road segment numbers connected to exit roads in other directions, and slave links i By means of a node i Steering for driving into the road section with the corresponding number; wherein the road segment node i Characterizing intersections, including fieldsThe method comprises the following steps: intersection ID, intersection type (including cross, T-shaped and annular), whether signal lamps are arranged, type of an entrance lane and ID of the entrance lane;
as shown in fig. 2, wherein the grade of the urban road is R i The value condition is the trunk R i =1, secondary trunk R i =2, branch R i ＝3；
S2, constructing an initial set S of coordinatable control road sections 0 The link screening is performed according to the following combination conditions:
in the formula TH L The method is characterized in that the method is a road section length threshold value which can be set independently, and the reference value is 1km; n is a radical of hydrogen j The number of lanes corresponding to each turn at the downstream intersection of the road section is shown, wherein j is a turn number, takes a value of 1-12 and respectively refers to west left, west straight, west right, south left, south straight, south right, east left, east straight, east right, north left, north straight and north right; the method comprises the following steps that a plurality of mixed lanes in the flowing direction need to be converted in proportion according to the turning quantity in the lanes, namely a left straight lane is formed, the left turning flowing direction and the straight traveling flowing direction are respectively 0.5, and the three turning quantities of the left straight lane and the right straight lane are all 0.33; TH N The threshold value is a threshold value of the number of lanes, the threshold value can be set independently, and the reference value is 1.5;
s3, determining S according to short-time-interval traffic flow operation detection data in historical stage 0 Main flow direction of the downstream crossing inlet passage of each road section in each short time interval all day; in the implementation, the main flow direction can be determined according to the flow direction with the maximum flow, the maximum saturation or the maximum queuing length; generating a main flow direction time sequence of each intersection;
merging continuous short time intervals with consistent main flow directions into a time interval, wherein the length of the time interval is determined by the number of the short time intervals and the unit time length of the short time intervals;
detecting whether the length of the converged time period T (T) is lower than a threshold value, wherein T is a time period number; marking a time period T' (T) below a threshold;
if the previous adjacent time period T (T-1) and the next adjacent time period T (T + 1) of the T' (T) are not marked, turning to S3-1; otherwise, turning to S3-2;
(S3-1) if the main flow direction of a previous adjacent time period T (T-1) of T '(T) is consistent with that of a next adjacent time period T (T + 1), combining T (T-1), T' (T) and T (T + 1) into the same time period, wherein the starting time of the time period T (T-1) is unchanged, the ending time is changed into the ending time of the original T (T + 1), and the main flow direction of the time period is unified into the main flow direction of T (T-1);
if the main flow direction of the previous adjacent time T (T-1) of T ' (T) is not consistent with the main flow direction of the next adjacent time T (T + 1), combining T ' (T) and T (T-1), wherein the starting time of the time T (T-1) is not changed, the ending time is changed into the ending time of the original T ' (T), and the main flow direction of the time T is the main flow direction of the original T (T-1);
(S3-2) retrieving the front and back non-mark time periods nearest to T' (T), combining all mark time periods between the two non-mark time periods into a new control time period, and counting main flow direction judgment indexes in the new control time period: accumulating the flow, or the maximum saturation, or the average queuing length, wherein the selection of the index is consistent with that of the step S3 when the initial judgment of the main flow direction is carried out; determining the counted maximum flow direction of the index as the main flow direction of a new time interval;
s4, outputting S 0 According to the time period collection scheme of each road section and the corresponding main flow direction, reliability analysis is carried out by superposing actual vehicle passing tracks of the road sections; the specific method comprises the following steps: calculating the road section travel time of the vehicle according to the number plate identification data of the road section upstream and downstream crossings; collecting road section travel time samples in the historical stage of the flow data synchronization with the flow data adopted in the S3, and counting the reliability
In the formula
A 95% quantile of travel time samples for segment i,
is the sample mean; if the reliability does not exceed the threshold value, ending the process;
s5, according to the topological structure data of the S1 road network, the road sections are connected with the adjacent road sections at the downstream to form cooperation through the matching situation of the main flow direction and the downstream steering of the road sectionsAdjusting the route, and detecting the coincidence degree of the two road sections in the coordination time period
T i 、T i’ The control periods determined in S3 for the two segments that have been connected as a coordinated route, respectively; if the contact ratio is lower than the set threshold value, the scheme that the two paths of sections are connected into the coordination route is cancelled, otherwise, the coordination route is established, and T is set i ∩T i' A control period as a coordinated route; repeating the above operations until the S can not be treated any more 0 The road sections in the road are connected to form a coordination route and determine a corresponding control time period, and the coordination direction is determined according to the main flow direction when the coordination route is connected; screening routes with the number of intersections not less than 3, and carrying out the next step;
s6, extracting the initial intersection, the coordination direction and the control time period of each coordination route determined in the S5, and retrieving historical vehicle passing records which are consistent with the control time period and the passing flow direction of the initial intersection is consistent with the coordination direction from the historical vehicle passing detection data of the road network;
reconstructing the track of the passing route of the retrieved historical passing vehicle record, namely tracking the passing vehicle from the passing vehicle detection records of other subsequent intersections of the vehicle according to the number plate matching to form the historical passing route;
counting the coincidence degree of the historical passing route and the coordination route generated in the step S5, namely the ratio of the completely consistent route quantity to the total quantity of the historical passing route, and determining the route with the coincidence degree exceeding a set threshold value as the coordination route;
outputting an optimal route scheme L capable of carrying out coordination control in the route network, and corresponding coordination control direction and coordination control time period;
s7, acquiring the configuration conditions of a trunk line coordination control scheme including a trunk line intersection, a coordination direction and a control time period from the signal control system for the coordination trunk line l needing problem analysis;
and (4) retrieving lines including all intersections configured in the step (L) from the step (L), and performing consistency comparison on the lines and the coordination lines output by the step (S6):
(1) Only one line is searched, namely the configured line is completely consistent with the generated optimal line scheme or the configured line is a sub-road section of the optimal line, whether the coordination direction and the control time period in the step I are consistent with the step L or not is detected, if the coordination direction and the control time period in the step I are inconsistent with the step L, an optimization suggestion is output, the coordination direction and the control time period in the optimal line scheme L are output, and the process is ended;
(2) If a plurality of lines exist, namely the configuration line consists of a plurality of lines in the optimal line scheme, comparing the coordination direction of the configuration line with the line coordination direction in the optimal scheme, and if the directions are consistent, outputting a trunk splitting optimization suggestion according to the L line configuration condition; detecting the consistency of the control time periods, and outputting time period optimization suggestions of each line when the control time periods are inconsistent; if the directions are inconsistent, marking the road sections with inconsistent coordination directions, and turning to S8;
s8, counting the number of road sections with inconsistent coordination directions marked in the step I, if the proportion of the marked road sections to the total amount of the road sections of the configured route exceeds a set threshold value, carrying out deep research and judgment on the trunk configuration problem, and otherwise, providing optimization suggestions for a trunk configuration scheme, the coordination directions and a control time interval;
and (3) checking the running condition of vehicles at the entrance road of the downstream intersection of the marked road section because the coordination direction of the configured trunk scheme is seriously inconsistent with the optimal route scheme output by the S6, wherein the specific method comprises the following steps:
according to the coordination direction D in the optimal scheme o Coordinating directions D with configured trunks p For the downstream crossing node _ mark entry lane and D of the marked road section o 、D p The vehicle passing and queuing conditions of all corresponding lanes are further analyzed and judged, so that whether the condition of misjudgment of the coordination direction exists or not is detected;
the specific method comprises the following steps:
(1) According to D o 、D p Calculating the average queuing and evacuating time according to the saturated headway and the queuing length; the time interval of the parameter is consistent with the queuing length, and is generally 5min or 15min;
(2) Extraction of D o 、D p Corresponding original booth of queuing lengths of all lanesData are collected at intervals, generally 5s time intervals; extracting the signal cycle length of the downstream crossing of the marked road section from the configured trunk scheme; taking at least two signal cycle lengths as a time window TW, forming a time sequence of the queuing length of each lane in the time window, and converting the time sequence into a time sequence Q (t) of the number of queued vehicles according to the standard vehicle length;
(3) Extraction of D o 、D p Data are acquired by passing vehicles on all corresponding lanes; extraction of D o 、D p The original data of the downstream road crossing pointed in two directions are acquired; the specific steering of the vehicle at the intersection node _ mark is determined through number plate matching, and is associated with a vehicle passing detection lane in the vehicle passing original collected data; collecting the time of the vehicle steering condition of each vehicle passing detection lane by taking the time interval of the original small interval data collected in the step (2) as a data collection time unit, thereby generating a lane steering flow time sequence processed by the vehicle passing collection data, wherein the time stamp of the sequence is the vehicle passing detection time of the vehicle at the intersection node _ mark;
using TW as a time window, using the average queuing and evacuating time as an offset correction amount, and moving the starting time of the time window backwards to a time axis for a corresponding time length to form a lane steering flow time sequence q (t) in the time window;
(4) Matching the same lane of Q (t) and Q (t), carrying out consistency check on the time series of the same lane, and extracting the steering D when the 95% confidence level is obviously different o Lane and steering D p If the two steered lanes are adjacent to each other, the lane-to-lane spatial positional relationship may cause erroneous judgment of the coordinated direction. In the implementation, because the right-turn direction of the signal intersection is not usually controlled by the lamp, the inconsistent coordination direction is mainly expressed by the difference between the left-turn and the straight-going, and therefore, the influence of intersection canalization on the data acquisition of lane flow, queuing and the like of the left-turn and the straight-going is considered in the link.
The invention relates to an optimization system for researching and judging a coordinated trunk line control problem, which comprises a road network management module, a data docking module, an automatic configuration module, a manual configuration module and a line deviation rectifying module, wherein the road network management module is used for managing a trunk line control problem;
(1) A road network management module: establishing a simulation road network model by taking an electronic map as a base map, namely establishing road network unit element intersection nodes and road section lines, wherein the nodes consist of intersection centers and the inlet and outlet end points in all directions, the lines consist of two end points of the road sections and line sections connecting the end points, and the nodes and the line end points are connected by establishing a connecting road section c-line connecting the nodes and the lines so as to determine the incidence relation between the intersections and the road sections;
configuring refined organization information on the basis of the simulation road network model, wherein the intersection needs to be configured with the conditions of an entrance direction, an exit direction and lane composition, and the road section needs to be configured with the conditions of road section length and lane composition; the connection road section needs to be configured with the connection relation between the starting point and the outlet of the node and the connection relation between the ending point and the lane of the line end point;
road network management and control information is configured on the basis of refined organization information, and the corresponding relation between an entrance lane and intersection detection equipment and a signal machine control system is required to be configured at an intersection;
through the configuration, the road network management module generates a road network topological structure, and the system superimposes a road network topological network layer on a base map of the electronic map through model rendering; as shown in fig. 3.
The system forms a road network information base containing basic static information such as intersection ID, road section ID, intersection-road section incidence relation, intersection type, entrance lane ID, entrance lane type, exit lane ID, exit lane type, road section length, road section lane ID, road section lane type and road section speed limit value;
the system forms a system interconnection table which comprises intersection IDs (identity) and signal machine IDs (identity) correlation, entrance lane IDs and signal machine lamp group correlation, entrance lane IDs and detector IDs correlation and road section lane IDs and detector IDs correlation;
(2) The data docking module acquires a system interconnection table from the road network management module, acquires dynamic control scheme data of the annunciator from a system interface and dynamically acquires traffic flow operation data from the detector; and storing the data;
(3) The automatic configuration module acquires a road network topological structure from the road network management module and acquires stored intersection traffic flow operation data from the data docking module; receiving the starting and ending points of the historical time periods set by the user, determining historical data samples according to the starting and ending points, and outputting an automatic trunk configuration scheme according to the processes S1 to S6;
(4) The manual configuration module selects a coordination control intersection on a road network topological network layer configured by the road network management module by taking an electronic map as a base map; the module automatically connects adjacent intersections according to the road network topological structure of the road network management module to form a continuous route with clear starting and finishing points; configuring a coordination control direction; configuring a coordination control period; generating a manual configuration scheme and storing data;
(5) The line deviation rectifying module is used for acquiring the stored manual configuration scheme from the manual configuration module; obtaining an automatic trunk configuration scheme from an automatic configuration module; the method comprises the steps that stored signal control scheme data are obtained from a data docking module, and a trunk scheme for coordination control is obtained from the signal control scheme data; according to the procedures S7-S8, outputting a coordination control problem analysis conclusion and an optimization suggestion:
firstly, for the condition that the coordination directions in S7 and S8 are inconsistent and do not exceed the threshold, outputting the conclusion that the trunk configuration scheme has problems, and providing an optimal trunk configuration scheme and optimization suggestions of the coordination directions and the control time period;
secondly, for the condition of misjudgment of the coordination direction in S8, the problems of possible left-turn and straight-going vehicle interference and possible left-turn widening section too short of corresponding intersection inlets are output, and optimization suggestions of rechecking the detection range of the intersection detector and rechecking the length of the crossing widening section are provided.
The invention realizes the study and judgment of the problem of the intersection organization canalization scheme driven by data, identifies the possible problems of short widening length and interference of left-turn and straight traffic flow, and provides a basis for the improvement and upgrading of the intersection organization canalization. The system can realize automatic coordinated trunk line configuration, identify intersections capable of being coordinated and controlled in the road network based on traffic flow operation data of the intersections, determine a coordinated control direction and a control time period, and improve the configuration convenience of a trunk line coordinated control scheme.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (8)
1. An optimization method for researching and judging a coordination trunk management and control problem is characterized by comprising the following steps:
s1, building a road network topological structure, link i Characterizing road sections, i being the road section number, link i The contained field information includes: link ID, link length L i Urban road grade R of route to which road section belongs i Speed limit V of road section i Road section downstream intersection node i Road section upstream intersection node i-1 Also comprises a downstream intersection node i Road segment numbers connected to exit roads in other directions, and slave links i By node i Steering for driving into the corresponding numbered road section; wherein the road segment node i Characterizing an intersection, comprising fields including: the method comprises the following steps of (1) crossing ID, crossing type, whether signal lamps are arranged or not, type of an entrance lane and ID of the entrance lane, wherein the crossing type comprises a cross shape, a T shape and a ring shape;
wherein, the city road grade R i The value condition is the trunk R i =1, secondary trunk R i =2, branch R i ＝3；
S2, establishing an initial set S of coordinatable control road sections 0 ；
In the step S2, road section screening is carried out according to the following combination conditions:
in the formula TH L Is a threshold of the length of the road section, N j The number of lanes corresponding to each turn at the downstream intersection of the road section, j is the turn number, the value is 1 to 12, which respectively refers to west left, west straight, west right, south left, south straight, south right, east left, east straight, east right, north left, north straight, north right, TH N Is a lane number threshold;
s3, short time interval according to historical stageDetecting data of traffic flow operation, determining S 0 Main flow direction of the downstream crossing inlet passage of each middle section in each short time interval of the whole day; merging continuous short time intervals with consistent main flow directions into a time interval, wherein the length of the time interval is determined by the number of the short time intervals and the unit time length of the short time intervals; detecting whether the length of the time period T (T) after the convergence is lower than a threshold value, wherein T is a time period number; marking a time period T' (T) below a threshold; if the previous adjacent time period T (T-1) and the next adjacent time period T (T + 1) of the T' (T) are not marked, turning to S3-1; otherwise, turning to S3-2;
s4, outputting S 0 According to the time period collection scheme of each road section and the corresponding main flow direction, reliability analysis is carried out by overlapping actual vehicle passing tracks of the road sections;
s5, according to the topological structure data of the road network S1, connecting the road sections with the adjacent road sections at the downstream to form a coordination route through the matching condition of the main flow direction and the downstream steering of the road sections, and detecting the contact ratio of the two road sections in a coordination time period; coordinating the route and the corresponding control time interval scheme according to the contact ratio;
s6, extracting the initial intersection, the coordination direction and the control time period of each coordination route determined in the S5, and retrieving historical vehicle passing records which are consistent with the control time period and the passing flow direction of the initial intersection is consistent with the coordination direction from the historical vehicle passing detection data of the road network;
reconstructing the track of the passing route of the retrieved historical passing vehicle record, namely tracking the passing vehicle from the passing vehicle detection records of other subsequent intersections of the vehicle according to the number plate matching to form a historical passing route;
counting the coincidence degree of the historical passing route and the coordination route generated in the step S5, namely the ratio of the completely consistent route quantity to the total quantity of the historical passing route, and determining the route with the coincidence degree exceeding a set threshold value as the coordination route;
outputting an optimal route scheme L capable of carrying out coordination control in the route network, and corresponding coordination control direction and coordination control time period;
s7, acquiring the configuration condition of a trunk line coordination control scheme including a trunk line intersection, a coordination direction and a control time period from the signal control system for the coordination trunk line l needing problem analysis;
retrieving lines containing all intersections configured in the step L from the step L, and carrying out consistency comparison on the lines and the coordination route output by the step S6;
and S8, counting the number of the road sections with inconsistent coordination directions marked in the step I, if the proportion of the marked road sections to the total amount of the road sections of the configured route exceeds a set threshold value, carrying out deep research and judgment on the trunk configuration problem, and otherwise, providing optimization suggestions for a trunk configuration scheme, the coordination directions and a control time interval.
2. The optimization method for coordinating research and judgment of trunk management and control problems according to claim 1, wherein the step S3 further comprises the following steps:
s3-1, if the main flow direction of a previous adjacent time period T (T-1) of T '(T) is consistent with the main flow direction of a next adjacent time period T (T + 1), combining T (T-1), T' (T) and T (T + 1) into the same time period, wherein the starting time of the time period T (T-1) is not changed, the ending time is changed into the ending time of the original T (T + 1), and the main flow direction of the time period is unified into the main flow direction of T (T-1);
if the main flow direction of the previous adjacent time period T (T-1) of T ' (T) is not consistent with the main flow direction of the next adjacent time period T (T + 1), combining T ' (T) and T (T-1), keeping the starting time of the time period T (T-1) unchanged, and changing the ending time into the ending time of the original T ' (T), wherein the main flow direction of the time period is the main flow direction of the original T (T-1);
s3-2, searching the front and back non-marking time periods closest to T' (T), combining all marking time periods between the two non-marking time periods into a new control time period, and counting main flow direction judgment indexes in the new control time period: accumulating the flow, or the maximum saturation, or the average queuing length, wherein the selection of the index is consistent with that of the step S3 when the initial judgment of the main flow direction is carried out; and determining the counted maximum flow direction of the index as the main flow direction of the new time interval.
3. The optimization method for research and judgment of the coordination trunk management and control problem according to claim 1, wherein the specific method for reliability analysis in the step 4 is as follows: calculating the road section travel time of the vehicle according to the number plate identification data of the road section upstream and downstream crossings; converge the traffic used in S3Data synchronization historical stage road section travel time sample, statistical reliability
Formula (II) TT i 95 Is a road section i travel time sample 95% quantile, TT i mean Is the sample mean; and if the reliability does not exceed the threshold value, ending the process.
4. The optimization method for research and judgment of coordination trunk management and control problems according to claim 1, wherein the detection of the coincidence degree of the two-road-section coordination period in the step 5 is represented as
T i 、T i’ The control periods determined in S3 for the two segments that have been connected as a coordinated route, respectively; if the contact ratio is lower than a set threshold value, canceling the scheme of connecting the two sections into a coordination route, otherwise, establishing the coordination route, and setting T i ∩T i' A control period as a coordinated route; repeating the above operations until the S can not be treated any more 0 The road sections in the road are connected to form a coordination route and determine a corresponding control time period, and the coordination direction is determined according to the main flow direction when the coordination route is connected; and screening the routes with the number of intersections not less than 3, and carrying out the next step.
5. The optimization method for studying and judging the coordination trunk management and control problem according to claim 1, wherein the specific method for performing consistency comparison in the step 7 is as follows:
if only one line is searched, namely the configured line is completely consistent with the generated optimal line scheme or the configured line is a sub-road section of the optimal line, whether the coordination direction and the control time interval in the step I are consistent with the step L or not is detected, if the coordination direction and the control time interval in the step I are inconsistent with the step L, an optimization suggestion is output, the coordination direction and the control time interval in the optimal line scheme L are output, and the process is ended;
if a plurality of lines exist, namely the configuration line consists of a plurality of lines in the optimal line scheme, comparing the coordination direction of the configuration line with the line coordination direction in the optimal scheme, and if the directions are consistent, outputting a trunk splitting optimization suggestion according to the line configuration condition of L; detecting the consistency of the control time periods, and outputting time period optimization suggestions of each line when the control time periods are inconsistent; if the direction is inconsistent, the road sections with inconsistent coordination direction are marked and the process goes to S8.
6. The optimization method for coordinating research and judgment of trunk line management and control problems according to claim 1, wherein in the step 8, if the coordination direction of the configured trunk line scheme and the optimal route scheme output by the step S6 is seriously inconsistent, the running condition of vehicles at the entrance road of the downstream intersection of the marked road section is checked, and the specific method is as follows:
according to the coordination direction D in the optimal scheme o Coordinating direction D with configured trunk lines p For the downstream intersection node _ mark entry lane and D of the marked road section o 、D p The vehicle passing and queuing conditions of all corresponding lanes are further analyzed and judged, so that whether the condition of misjudgment of the coordination direction exists or not is detected, and the specific method comprises the following steps:
(1) According to D o 、D p Calculating the average queuing and evacuating time according to the saturated headway and the queuing length; the time interval of the parameter is consistent with the queuing length, and is generally 5min or 15min;
(2) Extraction of D o 、D p Acquiring data at original small intervals of the queuing lengths of all corresponding lanes, wherein the time intervals are generally 5 s; extracting signal cycle lengths of downstream intersections of the marked road section from the configured trunk scheme; forming a time sequence of the queuing length of each lane in the time window by taking the length of at least two signal cycles as the time window TW, and converting the time sequence into a time sequence Q (t) of the number of queued vehicles according to the length of the standard vehicles;
(3) Extraction of D o 、D p Data of vehicle passing collection of all corresponding lanes are acquired; extraction of D o 、D p The two directional downstream road crossing vehicle original acquisition data; determining vehicle at intersection nod by number plate matchinge _ mark specific steering and correlation with a vehicle passing detection lane in vehicle passing original collected data; collecting the time of the vehicle steering condition of each vehicle passing detection lane by taking the time interval of the original small interval data collected in the step (2) as a data collection time unit, thereby generating a lane steering flow time sequence processed by the vehicle passing collection data, wherein the time stamp of the sequence is the vehicle passing detection time of the vehicle at the intersection node _ mark;
using TW as a time window, using the average queuing and evacuating time as an offset correction amount, and moving the starting time of the time window backwards to a time axis for a corresponding time length to form a lane steering flow time sequence q (t) in the time window;
(4) Matching the same lane for Q (t) and Q (t), carrying out consistency check on the time series of the same lane, and extracting a steering D under the condition that a significant difference exists on the 95% confidence level o Lane and steering D p If the two turning lanes are adjacent to each other, the spatial positional relationship of the lanes (a) may make a misjudgment of the coordination direction.
7. An optimization system for executing the method for studying, judging and optimizing the coordination trunk management and control problem of any one of claims 1 to 6, which is characterized by comprising a road network management module, a data docking module, an automatic configuration module, a manual configuration module and a line deviation rectifying module;
the road network management module takes an electronic map as a base map, constructs a simulation road network model, namely, constructs road network unit element intersection nodes and road segment lines, wherein the nodes comprise intersection centers and the inlet and outlet end points in all directions, the lines comprise the two end points of the road segments and the line segments connecting the end points, and the nodes and the line end points are connected by constructing the connecting road segments c-lines connecting the nodes and the lines, so as to determine the incidence relation between intersections and road segments; forming a basic static information road network information base containing intersections, road sections and incidence relations thereof; establishing a corresponding relation between an entrance lane and intersection detection equipment and a signaler control system; forming a system interconnection table associating an entrance lane, a road section lane, a signal lamp group and a detector;
the data docking module acquires a system interconnection table from the road network management module, acquires dynamic control scheme data of a signal machine from a system interface and dynamically acquires traffic flow operation data from a detector; and storing the data;
the automatic configuration module acquires a road network topological structure from the road network management module and acquires stored intersection traffic flow operation data from the data docking module; receiving the starting and ending points of the historical time period set by the user, and outputting an automatic trunk configuration scheme;
the manual configuration module selects a coordination control intersection on a road network topological network layer configured by the road network management module by taking an electronic map as a base map; the module automatically connects adjacent intersections according to the road network topological structure of the road network management module to form a continuous route with clear starting and finishing points; configuring a coordination control direction; configuring a coordination control period; generating a manual configuration scheme and storing data;
the line deviation rectifying module acquires a stored manual configuration scheme from the manual configuration module; obtaining an automatic trunk configuration scheme from an automatic configuration module; and acquiring the stored signal control scheme data from the data docking module, acquiring a main line scheme for coordination control from the signal control scheme data, and outputting a coordination control problem analysis conclusion and an optimization suggestion.
8. The optimization system of the method for studying, judging and optimizing the coordination trunk management and control problem according to claim 7, wherein the line deviation rectification module outputs a coordination control problem analysis conclusion and an optimization suggestion, and specifically comprises:
(1) For the condition that the coordination direction is inconsistent and does not exceed the threshold, outputting the conclusion that the trunk configuration scheme has problems, and providing an optimal trunk configuration scheme and optimization suggestions of the coordination direction and the control time period;
(2) For the condition of misjudgment of the coordination direction, the problems of possible left-turn and straight-going vehicle interference and possible left-turn widened section over short of corresponding intersection inlets are output, and the optimization suggestion of re-checking the detection range of the intersection detector and the length of the re-checking widened section of the intersection is provided.
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