CN113763726A - Intersection signal optimization method for network-connected automatic driving mixed-driving environment - Google Patents
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Abstract
The invention discloses an intersection signal optimization method facing an internet automatic driving mixed environment, and aims to fully mine data sources and provide a more flexible and effective signal timing scheme. The method mainly comprises the following steps: firstly, acquiring speed information of a vehicle entering an intersection control area based on a fixed point detector, and preliminarily estimating the time of the vehicle reaching a stop line; secondly, updating vehicle information in the control area in real time based on the internet automatic driving vehicle movement detection technology, and updating the expected time of the vehicle reaching a stop line; then, all possible signal timing schemes are obtained based on a release phase conflict-free principle; and finally, traversing all the schemes, calculating delay, and selecting the scheme with the minimum delay as the optimal signal timing scheme of the intersection at the current moment.
Description
Technical Field
The application relates to the field of traffic information, in particular to an intersection signal optimization method facing an internet automatic driving mixed environment.
Background
The optimization and adjustment of the intersection signal control system are of great significance to the improvement of urban traffic operation efficiency and the improvement of urban traffic problems. According to different control strategies, the traditional traffic signal control methods can be divided into timing control, induction control and self-adaptive control. The acquisition of traffic information is the key to traffic signal control, and different control methods have different information acquisition modes. The timing control is based on historical traffic data, and a series of control parameters such as cycle duration, phase sequence, green signal ratio and the like are set in advance; the induction control and the self-adaptive control utilize a series of fixed point detectors such as a coil detector, a video detector, a radar detector and the like to acquire real-time traffic data, and dynamically adjust traffic signals according to real-time traffic demands. However, the above traffic information acquisition methods all have certain limitations. The historical data cannot reflect the dynamic change of traffic demands, so that the signal timing scheme has short applicable time, needs to be adjusted repeatedly for many times, and increases the workload of signal control; while real-time data based on a fixed point detector can only reflect fixed point or local road information, and the lack of the road information causes difficulty in obtaining an optimal control scheme.
With the development of the intelligent internet technology, the automatic driving technology is mature day by day, and more accurate and rich traffic information can be acquired based on automatic driving mobile detection. A Connected and Automatic Vehicle (CAV) is provided with various detectors such as a laser radar, a millimeter wave radar, a video detector and the like, so that the information of other vehicles in a detection range can be accurately identified, and a new data source is provided for traffic signal control. Compared with the detection data of the fixed point detector, the detection data of the networked automatic driving vehicle has higher precision, faster updating frequency, stronger mobility and wider application range. Therefore, the method fully utilizes the movement detection data of the networked automatic driving vehicle, optimizes the traffic signal control, is an important research direction in the future traffic control field, and has strong theoretical significance and application value.
Disclosure of Invention
1. Objects of the invention
The invention provides an intersection signal optimization method facing an internet automatic driving mixed-driving environment, aiming at the defects of the existing traffic signal control information acquisition mode and based on the principle that the simultaneous release flow direction is conflict-free. The method has the advantages of wide application range, flexible timing scheme and the like, can effectively improve the running efficiency of the intersection, and reduces the vehicle delay.
2. The technical scheme adopted by the invention
The intersection signal optimization method for the internet-connected automatic driving mixed-driving environment can be realized by the following steps:
(1) for a vehicle entering the intersection control area, a vehicle arrival sequence is first recorded, and the time at which the vehicle is expected to arrive at the stop line is estimated based on the vehicle speed information obtained by the fixed point detector.
(2) When the situation that the networked automatic driving vehicle enters the intersection control area is detected, vehicle information in the control area is updated based on the movement detection of the networked automatic driving vehicle, and the time when the vehicle is expected to reach the stop line is further updated.
(3) And (3) obtaining all possible vehicle release sequences based on a simultaneous release flow conflict-free principle according to the vehicle arrival sequence recorded in the step (1) and the estimated vehicle expected arrival time in the steps (1) and (2).
(4) Traversing all the releasing sequences obtained in the step (3), and calculating vehicle delays released according to different releasing sequences; selecting a release sequence with the minimum delay as an optimal signal timing scheme of the intersection at the current moment;
the step (1) is specifically as follows: as shown in fig. 1, the study was a standard four-entrance urban intersection, each entrance including left-turn, straight two-way lanes. The range of the intersection control area is 100 meters, namely, a fixed point detector is uniformly distributed at a position 100 meters away from a stop line before each lane enters the control area, and the vehicle speed information can be detected. When the fixed point detector detects that a vehicle enters the control area, the time and speed information of the vehicle entering the control area is recorded, and the vehicle is counted into a vehicle arrival sequence.
Assuming that n vehicles are in total in the vehicle arrival sequence at the moment, recording the vehicle arrival sequence as
Where i denotes the lane in which the vehicle is located, and i ∈ {1,2,3,4,5,6,7,8}, as indicated by the numbers in fig. 1. Note the book
For the time when these vehicles enter the control area, and
note the book
The speed at which these vehicles enter the control zone. For a vehicle
The time it is expected to reach the stop line can be calculated by the following formula:
in the formula (I), the compound is shown in the specification,
represents the time at which the vehicle c is expected to reach the stop line;
the time for the vehicle to reach the stop line in the free running state can be calculated by a kinematic formula; qsIs the saturation flow rate.
The step (2) is specifically as follows: the networked automatic driving vehicle can report the position of the vehicle and information of other vehicles in the detection range of the vehicle to the control center in real time. Therefore, when a networked autonomous vehicle enters the control area, the position and speed information of all vehicles in the detection range is updated on the basis of the step (1), and the expected arrival time is estimated again. The expected arrival time is estimated in the same manner as step (1), and the traffic flow of the lane is assumed to be unaffected by the signal lamp from the moment.
The step (3) is specifically as follows: through the step (1), a vehicle arrival sequence A in the intersection control area can be obtained. In order to guarantee traffic safety, the conflict flow direction of the intersection needs to be separated when the release sequence is determined. The NEMA Dual-Ring phase architecture (Dual-Ring) is a classical signaling scheme used to separate conflicting flow directions at intersections. As shown in fig. 2, the NEMA dual-ring phase structure is composed of ring 1 and ring 2, and in one phase group, the phases of the two rings are independently controlled and are not affected. Meanwhile, the NEMA dual-loop phase structure provides that a phase group consisting of 1,2, 5,6 flows is separated from a phase group consisting of 3,4, 7,8 flows by a dividing line. Therefore, in one signal period, the phases 1 and 5 obtain the right of way at the same time, and the phases 2 and 6 end at the same time; then, the phases 3 and 7 simultaneously obtain the right of way, and the phases 4 and 8 simultaneously end.
However, the NEMA dual-loop phase structure has poor flexibility and it is often difficult to obtain an overall optimal signal control scheme. In fact, referring to the design of NEMA dual-loop phase, based on the concept of avoiding simultaneous passing of conflicting flow directions, the single-phase bit group design can effectively separate conflicting flow directions at intersections, as shown in fig. 3. Phase position
Obtaining right of way and phase at the same time
And ending at the same time. Phase position
To arrive at the flow direction, phase, of random vehicles in sequence A
Can be determined by the equations (2) to (4):
in the formula, mod is a remainder operation symbol, and a mod b represents that a performs a remainder operation on b.
After determining the phase sequence, the start, duration and end times of the green lamps in each phase are further determined. Note G1、G2、G3、G4Are respectively phase
Green light start time of，g1、g2、g3、g4Are respectively phase
The duration of the green light. The green light start time for each phase can be determined by:
in the formula (I), the compound is shown in the specification,
for the phase in a phase group on the release sequence
And r is the crossing clearing time. The green light duration is determined on the basis of: when the predicted time difference of arriving at the stop line by adjacent vehicles in the same lane is less than a certain threshold value, the vehicles can pass in the same phase, namely the same green light duration; meanwhile, the green light duration does not exceed the maximum green light duration.
Phase position
The green light end time of (c) is:
according to the expressions (2) to (6), all vehicles released in the duration of four phase green lights of one phase group can be determined. These vehicles are deleted from the arrival sequence a, and the process of equations (2) to (6) is repeated for the remaining vehicles, whereby a clearance sequence can be obtained. And (4) carrying out permutation and combination on the basis that the releasing flow directions are not conflicted, so that all possible releasing sequences of the vehicles in the control area can be obtained.
The step (4) is specifically as follows: for the release sequence obtained in step (3), the total delay for release according to this sequence is calculated. The total delay is calculated by the formula:
wherein J is a release sequence; TDJIndicating the total delay for release by release sequence J. DTcRepresenting the release time of vehicle c when released in this sequence, can be calculated by the following formula:
DTc＝max(VTc,Gc+1.5+h2+h3+…+hc) (8)
in the formula, GcA green light start time indicating a phase to which the vehicle c belongs when released in the current sequence; and 1.5s is the starting loss time of the head car, and h is the safe head time distance in the parking state.
And traversing all possible releasing sequences, selecting the releasing sequence with the minimum total delay, and releasing according to the sequence to obtain the optimal signal timing scheme of the intersection at the current moment.
3. The technical effects produced by the invention
The invention optimizes the intersection signal control under the mixed network automatic driving environment by utilizing the movement detection data of the network automatic driving vehicles and based on the principle that the simultaneous release flow direction has no conflict, and has the following advantages:
(1) the invention overcomes the defects of the existing traffic signal control information acquisition mode, and the network connection automatic driving vehicle movement detection data has the advantages of high precision, high frequency and the like;
(2) the signal control optimization method provided by the invention separates the conflict flow direction by adopting a single-phase bit group design, is more flexible compared with the traditional method, can effectively improve the traffic efficiency of the intersection and reduce the vehicle delay.
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The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a schematic view of an exemplary four-lane intersection according to an embodiment of the present disclosure;
fig. 2 is a diagram of a NEMA dual loop phase structure according to an embodiment of the present disclosure;
FIG. 3 is a phase diagram of a single-phase bit group for avoiding flow direction collision according to an embodiment of the present disclosure;
FIG. 4 is a diagram illustrating vehicle delay results at an intersection according to an embodiment of the present disclosure;
FIG. 5 is a graph of the number of vehicles passing through an intersection within 10 minutes according to an embodiment of the present disclosure;
fig. 6 is a flowchart of an optimization method according to an embodiment of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
The invention provides an intersection signal optimization method facing an internet automatic driving environment, which can be realized through the following steps:
(1) for a vehicle entering the intersection control area, a vehicle arrival sequence is first recorded, and the time at which the vehicle is expected to arrive at the stop line is estimated based on the vehicle speed information obtained by the fixed point detector.
(2) When the situation that the networked automatic driving vehicle enters the intersection control area is detected, vehicle information in the control area is updated based on the networked automatic driving vehicle movement detection data, and the time when the vehicle is expected to reach the stop line is further updated.
(3) And (3) obtaining all possible vehicle release sequences based on a release flow conflict-free principle according to the vehicle arrival sequence recorded in the step (1) and the estimated vehicle expected arrival stop line time in the steps (1) and (2).
(4) Traversing all the releasing sequences obtained in the step (3), and calculating vehicle delays released according to different releasing sequences; selecting a release sequence with the minimum delay as an optimal signal timing scheme of the intersection at the current moment;
each step of the method is described in detail below.
The step (1): the study intersection is shown in figure 1. The control range of the intersection is 100 meters, namely a fixed point detector is arranged at a position 100 meters away from a stop line before each lane enters a control area. The permeability of the networked autonomous vehicle is set to 20%; the left-turn and straight-going flow rates of the inlet channels are the same and are set to be different from 200 and 1000 veh/hr. Based on the detection data acquired by the fixed point detector, the arrival sequence of the vehicles in the intersection control area can be obtained. Meanwhile, according to the formula (1), the time when the vehicle is expected to reach the stop line can be calculated.
Step (2): the detection range of the networked automatic driving vehicle is 100 meters, and the length of the networked automatic driving vehicle is the same as that of the control area. Therefore, when one internet-connected automatic driving vehicle enters the control area, the speed and position information of all the other vehicles in front of the internet-connected automatic driving vehicle and in the control area can be detected. Based on this information, the time at which the vehicle is expected to arrive at the stop line is updated.
Step (3): and obtaining a vehicle arrival sequence and the expected arrival time of the vehicle at the stop line based on the first two steps, and obtaining all possible vehicle passing sequences under the current vehicle arrival sequence according to the collision avoidance single-phase bit group phase design diagram shown in the figure 3 and the equations (2) to (6) through permutation and combination. In this step, the arrival time threshold of the adjacent vehicle in the same lane is set to 5s, and the maximum green duration is 40 s.
Step (4): and traversing all the vehicle releasing sequences obtained in the last step, respectively calculating the releasing delays according to the sequences according to formulas (7) to (8), and selecting the releasing sequence with the minimum delay as the optimal signal control scheme of the intersection at the current moment. Compared with a webster signal timing scheme of a classical signal optimization method, the optimized intersection vehicle delay results are shown in fig. 4, and the intersection vehicle passing number within 10 minutes is shown in fig. 5.
In the embodiment, by using the intersection signal optimization method facing the network connection automatic driving mixed running environment, the result shows that no matter the intersection flow is high or low, compared with the classical webster signal timing method, the intersection signal optimization method can effectively reduce the delay of vehicles at the intersection and improve the passing efficiency.
Claims (5)
1. A city intersection signal optimization method under an online automatic driving mixed-driving environment is characterized by comprising the following steps:
the method comprises the following steps: an arrival sequence of the vehicle entering the intersection control area is recorded, and the time when the vehicle is expected to arrive at the stop line is estimated by combining the speed information when the vehicle enters the control area.
Step two: when the networked automatic driving vehicle enters the intersection control area, the information of the vehicle in the control area is updated based on the movement detection of the networked automatic driving vehicle, and the time when the vehicle is expected to reach the stop line is further updated.
Step three: and obtaining all possible vehicle release sequences based on the principle that the simultaneous release flow direction does not conflict according to the arrival sequences of the first step and the second step and the expected arrival time of the vehicle at the stop line.
Step four: and traversing all the releasing sequences obtained in the third step, calculating the vehicle delays released according to different sequences, and selecting the releasing sequence with the minimum delay as the optimal signal timing scheme of the intersection at the current moment.
2. The method according to claim 1, wherein the first step is to obtain a vehicle arrival sequence according to vehicle arrival information detected by fixed point detectors at each lane entrance control area of the intersection; based on the detected vehicle speed information, a time at which the vehicle is expected to arrive at the stop line is estimated.
3. The method of claim 1, wherein step two utilizes networked autonomous vehicle movement detection to update speed and position information of vehicles within the intersection control area and further update the time at which the vehicle is expected to reach the stop line.
4. The method of claim 1, wherein step three determines all possible vehicle clearance sequences based on a simultaneous clearance flow conflict-free basis based on the time of arrival of the vehicle in the sequence and the expected arrival of the vehicle at the stop line.
5. The method of claim 1, wherein step four traverses all possible vehicle clearance sequences, calculates the delay for clearance according to different clearance sequences, and selects the clearance sequence with the minimum delay as the optimal signal timing scheme at the intersection at the current time.
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| CN115631639A (en) * | 2022-12-20 | 2023-01-20 | 银江技术股份有限公司 | Mixed intersection signal timing method and system based on improved NEMA phase structure |
| CN116092310A (en) * | 2023-01-28 | 2023-05-09 | 西南交通大学 | Intersection collaborative ecological driving control method and system for mixed traffic environment |
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Application publication date: 20211207 |