CN113851010A - Non-linear path green wave control method, device, equipment and storage medium - Google Patents

Non-linear path green wave control method, device, equipment and storage medium Download PDF

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CN113851010A
CN113851010A CN202111183436.5A CN202111183436A CN113851010A CN 113851010 A CN113851010 A CN 113851010A CN 202111183436 A CN202111183436 A CN 202111183436A CN 113851010 A CN113851010 A CN 113851010A
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intersection
green wave
information
traffic flow
road network
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CN113851010B (en
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赵欣
徐文洁
酆磊
张赛
罗倩
肖宇舟
陈曦
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Wuhan University of Technology WUT
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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
    • G08G1/082—Controlling the time between beginning of the same phase of a cycle at adjacent intersections
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/16—Matrix or vector computation, e.g. matrix-matrix or matrix-vector multiplication, matrix factorization
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
    • G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
    • G06Q50/10—Services
    • G06Q50/26—Government or public services
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125—Traffic data processing
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications

Abstract

The invention relates to a method, a device, equipment and a storage medium for controlling green waves of a non-linear path, wherein the method comprises the following steps: acquiring road network information, wherein the road network information comprises road network structure information, road network traffic flow space-time information and intersection lane physical information; determining a green wave coordination control path according to the road network structure information and the intersection lane physical information; and controlling the green wave bandwidth of the green wave coordination control path according to the road network traffic flow space-time information and the intersection lane physical information. According to the method, the road network information is collected, the green wave coordination control path is determined according to the road network information, and the green wave bandwidth of the green wave coordination control path is controlled.

Description

Non-linear path green wave control method, device, equipment and storage medium
Technical Field
The invention relates to the technical field of traffic green wave control, in particular to a method, a device, equipment and a storage medium for controlling green waves of a non-linear path.
Background
Green wave coordination control has been an important means for urban traffic management and is also favored by traffic managers. After Morgan first proposed the concept of green wave, researchers all over the world have made a great deal of research on green wave coordination control. The maximum bidirectional green wave bandwidth of Little et al aims to provide a MAXBAND model, but the model obtains the same bandwidth on different road sections, which is not in accordance with the reality, so that the method has limitations. Gartner et al propose a variable green bandwidth MULTIBAND model for the deficiencies of the MAXBAND model.
The MAXBAND model and the MULTIBAND model are two classical models in the field of green wave coordination control, and in recent years, students carry out optimization research aiming at different traffic characteristics and application scenes on the basis of the two models. According to the technical scheme, a main line green wave signal control model suitable for double cycles is provided by Chenningning and the like in consideration of dynamic red light vehicle queuing dissipation time, an MAXBAND model is optimized, a main line green wave signal control model suitable for double cycles is provided by Viterbi and the like according to different public cycles of a main line intersection, left turn saturated traffic of an intersected road is considered by Changlilin and the like, a MULTIBAND model is improved, right turn convergence vehicle influence is considered by Changli and the like, a main line green wave coordination control model based on interference is provided, and a green wave coordination control model for accurately calculating a main line phase difference is provided by Dada and the like based on a traffic wave theory.
The optimization research is more, but the optimization problem is under different traffic situations on the basis of a classical green wave control model, and the control objects are urban arterial roads which are all straight lines. In an actual urban road network, due to strong attraction of single-channel traffic such as river-crossing sea channels, new and old urban connecting channels and the like, the main traffic flow direction is not only on a certain main road, but also in the path in the road network, and is not necessarily a straight path, and the control objects of the existing green wave coordination control research are all certain main roads in the city, and the control path is a straight line.
Disclosure of Invention
In view of the above, it is desirable to provide a method, an apparatus, a device and a storage medium for controlling green wave of non-linear path, so as to solve the problem in the prior art that the non-linear green wave control path cannot be realized.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
in a first aspect, the present invention provides a method for controlling a non-linear path green wave, comprising:
acquiring road network information, wherein the road network information comprises road network structure information, road network traffic flow space-time information and intersection lane physical information;
determining a green wave coordination control path according to the road network structure information and the intersection lane physical information;
and controlling the green wave bandwidth of the green wave coordination control path according to the road network traffic flow space-time information and the intersection lane physical information.
Preferably, the road network structure information includes interference phase information of the traffic flow at the intersection and a phase difference between adjacent intersections, and the intersection lane physical information includes a driving direction of the traffic flow at the intersection;
determining a green wave coordination control path according to the road network structure information and the intersection lane physical information, comprising the following steps of:
determining a green wave coordination control path matrix according to the driving direction of the traffic flow at the intersection, the interference phase information of the traffic flow at the intersection and the phase difference of adjacent intersections;
and determining a green wave coordination control path according to the green wave coordination control path matrix.
Preferably, when the interference phase information in the green wave coordination control path matrix indicates that an interference phase exists, the coordination phase red light time of the interference phase at the adjacent intersection is corrected, specifically:
Figure BDA0003298201290000021
wherein the content of the first and second substances,
Figure BDA0003298201290000022
the time of the upstream traffic stream red light at the intersection i,
Figure BDA0003298201290000023
for the time of the traffic stream red light at the intersection i,
Figure BDA0003298201290000031
calculating the time of red light for the correction of the upstream traffic flow at the intersection i,
Figure BDA0003298201290000032
calculating the red light time for the correction of the downstream traffic flow at the intersection i,
Figure BDA0003298201290000033
the red time correction factor is compressed at intersection i for upstream traffic,
Figure BDA0003298201290000034
the red light time correction coefficient is compressed at the intersection i for the downstream traffic flow,
Figure BDA0003298201290000035
for the interference phase of the upstream traffic at intersection i to correspond to the saturation of the traffic,
Figure BDA0003298201290000036
for the interference phase of the downstream traffic at intersection i to correspond to the saturation of the traffic,
Figure BDA0003298201290000037
green time for the interference phase of the upstream traffic at intersection i,
Figure BDA0003298201290000038
for downstream trafficThe interference phase at intersection i is green time.
Preferably, when the interference phase information in the green wave coordination control path matrix is that no interference phase exists, further judging whether the coordination phase of the intersection is a left-turn phase;
when the coordination phase of the intersection is a left-turn phase, constructing a virtual intersection, wherein the uplink and downlink coordination phase of the virtual intersection is the left-turn phase of the intersection;
and when the coordination phase of the intersection is not the left-turn phase, the coordination phase of the adjacent intersection is the bidirectional straight line phase.
Preferably, the road network traffic flow space-time information comprises the weight of the road section green wave bandwidth demand of the adjacent intersection, and the intersection lane physical information comprises the road section green wave bandwidth of the adjacent intersection;
controlling the green wave bandwidth of a green wave coordination control path according to the road network traffic flow space-time information and the intersection lane physical information, comprising the following steps:
according to the weight of the road section green wave bandwidth requirement of the adjacent intersection and the road section green wave bandwidth of the adjacent intersection, calculating the maximum green wave bandwidth of the green wave coordination control path under the traffic flow space-time information of different road networks, specifically:
Figure BDA0003298201290000039
wherein N is the intersection number of the green wave coordination control path,
Figure BDA00032982012900000310
for the road segment green wave bandwidth demand weight,
Figure BDA00032982012900000311
the green wave bandwidth on the left side of the center line of the upstream traffic flow between the intersection i and the first downstream intersection,
Figure BDA00032982012900000312
the green wave bandwidth on the right side of the center line of the upstream traffic flow between the intersection i and the first downstream intersection,
Figure BDA00032982012900000313
the green wave bandwidth on the left side of the center line of the descending traffic flow between the intersection i and the first downstream intersection,
Figure BDA00032982012900000314
the green wave bandwidth is the bandwidth of the right side of the center line of the descending traffic flow between the intersection i and the first downstream intersection.
Preferably, the road network traffic flow space-time information comprises actual traffic flow and saturated flow of road sections;
calculating the road section green wave bandwidth demand weight based on the actual traffic volume of the traffic flow and the saturated flow of the road section, specifically comprising the following steps:
Figure BDA0003298201290000041
wherein the content of the first and second substances,
Figure BDA0003298201290000042
for the actual traffic volume of the upstream and downstream traffic,
Figure BDA0003298201290000043
and k is a correction factor for the saturated flow of the uplink and downlink road sections.
Preferably, the road network traffic flow space-time information further comprises a green wave band vehicle speed limit and travel time of adjacent intersections, and the intersection lane physical information further comprises a green wave demand proportion and space distance of adjacent intersections;
the green wave bandwidth of the green wave coordination control path is restrained based on the green wave band limited vehicle speed, the travel time of the adjacent intersection, the green wave demand proportion and the space distance of the adjacent intersection, and the method specifically comprises the following steps:
Figure BDA0003298201290000044
Figure BDA0003298201290000045
Figure BDA0003298201290000046
Figure BDA0003298201290000047
wherein gamma is the ratio of the green wave requirements of the uplink and the downlink,
Figure BDA0003298201290000048
for the travel time of the upstream traffic traveling from intersection i to intersection i +1,
Figure BDA0003298201290000049
for the travel time of the downstream traffic flow from intersection i to intersection i +1, li,i+1Is the spatial distance from intersection i to intersection i +1, vmaxV is the maximum limit of the vehicle speed in the green bandminIs the minimum limit of the vehicle speed in the green wave band, Z is the common period frequency, CmaxFor maximum limitation of the duration of the common period, CminIs a common period duration minimum limit.
In a second aspect, the present invention further provides a non-linear path green wave control device, including:
the system comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring road network information, and the road network information comprises road network structure information, road network traffic flow time-space information and intersection lane physical information;
the path planning module is used for determining a green wave coordination control path according to the road network structure information and the intersection lane physical information;
and the control module is used for controlling the green wave bandwidth of the green wave coordination control path according to the road network traffic flow space-time information and the intersection lane physical information.
In a third aspect, the present invention also provides an electronic device comprising a memory and a processor, wherein,
a memory for storing a program;
and the processor is coupled with the memory and used for executing the program stored in the memory so as to realize the steps in the non-linear path green wave control method in any one of the implementation modes.
In a fourth aspect, the present invention further provides a computer-readable storage medium for storing a computer-readable program or instruction, which when executed by a processor can implement the steps in the non-linear path green wave control method in any one of the above-mentioned implementations.
The beneficial effects of adopting the above embodiment are: according to the green wave control method, the green wave control device, the green wave coordination control path and the storage medium for the non-linear path, provided by the invention, by acquiring the road network structure information, the road network traffic space-time information and the intersection lane physical information, determining the green wave coordination control path according to the road network structure information and the intersection lane physical information, planning the non-linear green wave control path according to the actual condition of a road, controlling the green wave bandwidth of the green wave coordination control path according to the road network traffic space-time information and the intersection lane physical information, and controlling the green wave bandwidth according to the traffic conditions under different space-time conditions, so that the green wave control of the non-linear path facing to a T-shaped intersection is realized.
Drawings
FIG. 1 is a schematic flow chart illustrating a non-linear path green wave control method according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an embodiment of a non-linear path green wave control device according to the present invention;
fig. 3 is a schematic structural diagram of an electronic device of a non-linear path green wave control method according to an embodiment of the present invention.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.
In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
The invention provides a method, a device, equipment and a storage medium for controlling green waves of a non-linear path, which are respectively explained below.
Referring to fig. 1, fig. 1 is a schematic flow chart of an embodiment of a nonlinear path green wave control method according to the present invention, and an embodiment of the present invention discloses a nonlinear path green wave control method, including:
s101, obtaining road network information, wherein the road network information comprises road network structure information, road network traffic flow space-time information and intersection lane physical information;
s102, determining a green wave coordination control path according to the road network structure information and the intersection lane physical information;
s103, controlling the green wave bandwidth of the green wave coordination control path according to the road network traffic flow space-time information and the intersection lane physical information.
In step S101, in order to implement green wave control, first, real-time information of a road network, which mainly includes three types of road network structure information, road network traffic flow space-time information, and intersection lane physical information, is acquired, and through the road network information, green wave control path planning is implemented and green wave control path control is implemented.
In step S102, the road structure and traffic condition can be known from the road network structure information and the intersection lane physical information, and the green wave coordination control route is determined according to the actual road traffic condition.
In step S103, the traffic conditions of roads in different time and space are known through real-time space-time information of traffic flows in the road network and physical information of lanes at the intersection, and the green wave coordinated control path is controlled according to the traffic conditions in different time and space.
In the above embodiment, road network information of an urban road is first acquired, where the road network information includes road network structure information, road network traffic flow space-time information, and intersection lane physical information, a green wave control path of the urban traffic is determined according to the road network information, and the green wave control path is controlled, so as to implement green wave control on a non-linear path.
Compared with the prior art, the method, the device, the equipment and the storage medium for controlling the green wave of the non-linear path provided by the embodiment can be used for determining the green wave coordination control path according to the road network structure information, the road network traffic space-time information and the intersection lane physical information by acquiring the road network structure information, the road network traffic space-time information and the intersection lane physical information, planning the non-linear green wave control path according to the actual condition of the road, controlling the green wave bandwidth of the green wave coordination control path according to the road network traffic space-time information and the intersection lane physical information, and controlling the green wave bandwidth according to the traffic conditions under different space-time conditions, so that the green wave control of the non-linear path facing the T-shaped intersection is realized.
In some embodiments of the present invention, the road network structure information includes interference phase information of the traffic flow at the intersection and phase differences of adjacent intersections, and the intersection lane physical information includes a driving direction of the traffic flow at the intersection;
determining a green wave coordination control path according to the road network structure information and the intersection lane physical information, comprising the following steps of:
determining a green wave coordination control path matrix according to the driving direction of the traffic flow at the intersection, the interference phase information of the traffic flow at the intersection and the phase difference of adjacent intersections;
and determining a green wave coordination control path according to the green wave coordination control path matrix.
In the above embodiment, through the interference phase information of the traffic flow at the intersection and the phase difference between adjacent intersections in the road network structure information, the driving direction of the traffic flow at the intersection in the intersection lane physical information can be determined to determine the green wave coordination control path matrix, avoid detour only considering the number of the interference phases and the difference between intersections where the interference phases are located, and coordinate the available path matrix
Figure BDA0003298201290000081
Please refer to table 1, where table 1 shows values and corresponding meanings of the coordination path parameters.
TABLE 1 coordinated Path parameters and their meanings
Figure BDA0003298201290000082
Controlled path steering, interference phases and intersection distances can be intuitively obtained through the matrixes, when the road network and the controlled paths are more complicated, the number of the corresponding matrixes is more, and then the paths needing green wave coordination control are further determined according to the green wave coordination control path matrix.
It should be noted that the green wave control method for the non-linear path provided by the present invention is applicable to the situation that the number of turning lanes at the adjacent intersection is matched, that is, the number of lanes turning left is less than or equal to the number of linear lanes turning to the road, and the considered objects are all motor vehicles (excluding buses and special vehicles), and the intersection signal schemes all adopt the U.S. NEMA dual-loop phase structure and the coordination phase is placed behind the non-coordination phase, regardless of the influence of pedestrians and non-motor vehicles.
In some embodiments of the present invention, when the interference phase information in the green wave coordination control path matrix indicates that an interference phase exists, the coordination phase red light time with the interference phase at the adjacent intersection is corrected, specifically:
Figure BDA0003298201290000091
wherein the content of the first and second substances,
Figure BDA0003298201290000092
the time of the upstream traffic stream red light at the intersection i,
Figure BDA0003298201290000093
for the time of the traffic stream red light at the intersection i,
Figure BDA0003298201290000094
calculating the time of red light for the correction of the upstream traffic flow at the intersection i,
Figure BDA0003298201290000095
calculating the red light time for the correction of the downstream traffic flow at the intersection i,
Figure BDA0003298201290000096
the red time correction factor is compressed at intersection i for upstream traffic,
Figure BDA0003298201290000097
the red light time correction coefficient is compressed at the intersection i for the downstream traffic flow,
Figure BDA0003298201290000098
for the interference phase of the upstream traffic at intersection i to correspond to the saturation of the traffic,
Figure BDA0003298201290000099
for the interference phase of the downstream traffic at intersection i to correspond to the saturation of the traffic,
Figure BDA00032982012900000910
green time for the interference phase of the upstream traffic at intersection i,
Figure BDA00032982012900000911
green time for the interference phase of the downstream traffic at intersection i.
In the above embodiment, the traffic flow in the interference phase non-green wave coordination control path enters the green wave coordination control path, and there is interference on the green wave coordination control path, and when the interference phase information in the green wave coordination control path matrix indicates that there is an interference phase, the coordination phase red light time with the interference phase at the adjacent intersection is adjusted and corrected, so as to avoid congestion at the intersection.
To ensure the continuity of the green wave band, the method also needs to be used
Figure BDA00032982012900000912
Is carried out as followsConstraint, wherein the constant δ takes on values within 3 s:
Figure BDA00032982012900000913
wherein the content of the first and second substances,
Figure BDA0003298201290000101
indicating the queue dissipation time of the upstream flow at intersection i,
Figure BDA0003298201290000102
indicating the queue dissipation time of the downstream traffic at intersection i.
In some embodiments of the present invention, when the interference phase information in the green wave coordination control path matrix is that there is no interference phase, further determining whether the coordination phase at the intersection is a left-turn phase;
when the coordination phase of the intersection is a left-turn phase, constructing a virtual intersection, wherein the uplink and downlink coordination phase of the virtual intersection is the left-turn phase of the intersection;
and when the coordination phase of the intersection is not the left-turn phase, the coordination phase of the adjacent intersection is the bidirectional straight line phase.
In the above embodiment, if there is no interference phase in the green wave coordination control path, the coordination phase at the intersection is the bidirectional straight phase or the left-turn phase, and the situation of the coordination phase at the intersection is further determined, so as to adopt different control modes for different coordination phases.
When the coordination phase of the intersection is a left-turn phase, the uplink and downlink coordination phases of the virtual intersection are left-turn signals of the intersection by assuming the virtual intersection, so that the signals of the intersection are organically coupled into the two-way coordination phase of the virtual intersection, when the number of the T-shaped intersections is more than 2, the T-shaped intersections need to be sequentially coupled to obtain a plurality of two-way coordinatable virtual intersections, and the travel time of the upstream and downstream traffic streams to the downstream intersection is determined according to the travel time of the upstream and downstream traffic streams
Figure BDA0003298201290000103
Figure BDA0003298201290000104
And (6) performing calculation.
Embedding the coupling signal group of the virtual crossing into a model, and then correcting the red light time after the interference phase traffic flow is converged, wherein the red light time needs to be corrected
Figure BDA0003298201290000105
Substitution
Figure BDA0003298201290000106
According to the multi band basic model, the constraint conditions are as follows:
Figure BDA0003298201290000111
Figure BDA0003298201290000112
when in use
Figure BDA0003298201290000113
Substitution
Figure BDA0003298201290000114
Then, the following constraints can be obtained in the same way:
Figure BDA0003298201290000115
Figure BDA0003298201290000116
in the formulae (2) and (4), Δn,n+1The time difference of the middle points of the red points after the left turn phase coupling of the two intersections is shown, wherein,
Figure BDA0003298201290000117
indicating the green bandwidth of the upstream traffic between intersection i and the first downstream intersection,
Figure BDA0003298201290000118
indicating the green wave bandwidth on the left side of the center line of the upstream traffic flow between the intersection i and the first downstream intersection,
Figure BDA0003298201290000119
indicating the green wave bandwidth on the right side of the center line of the upstream traffic flow between the intersection i and the first downstream intersection,
Figure BDA00032982012900001110
indicating the green bandwidth of the downstream traffic flow between intersection i and the first downstream intersection,
Figure BDA00032982012900001111
indicating the green wave bandwidth on the left side of the center line of the descending traffic flow between the intersection i and the first downstream intersection,
Figure BDA00032982012900001112
indicating the green wave bandwidth on the right side of the center line of the descending traffic flow between the intersection i and the first downstream intersection,
Figure BDA00032982012900001113
the time from the center line of the green wave band of the upstream traffic flow at the intersection i to the right side of the red light is shown,
Figure BDA00032982012900001114
indicates the time, delta, from the center line of the green wave band of the downstream traffic flow at the intersection i to the left side of the red lightiIndicating the difference in time, Delta, between the mid-points of the up and down red lights at intersection ii,i+1And the time difference of the middle points of the red lights after the left turn signal of the intersection i and the intersection i +1 is coupled is shown.
In some embodiments of the present invention, the road network traffic flow spatio-temporal information comprises weights of road segment green wave bandwidth requirements of adjacent intersections, and the intersection lane physical information comprises road segment green wave bandwidths of adjacent intersections;
controlling the green wave bandwidth of a green wave coordination control path according to the road network traffic flow space-time information and the intersection lane physical information, comprising the following steps:
according to the weight of the road section green wave bandwidth requirement of the adjacent intersection and the road section green wave bandwidth of the adjacent intersection, calculating the maximum green wave bandwidth of the green wave coordination control path under the traffic flow space-time information of different road networks, specifically:
Figure BDA0003298201290000121
wherein N is the intersection number of the green wave coordination control path,
Figure BDA0003298201290000122
for the road segment green wave bandwidth demand weight,
Figure BDA0003298201290000123
the green wave bandwidth on the left side of the center line of the upstream traffic flow between the intersection i and the first downstream intersection,
Figure BDA0003298201290000124
the green wave bandwidth on the right side of the center line of the upstream traffic flow between the intersection i and the first downstream intersection,
Figure BDA0003298201290000125
the green wave bandwidth on the left side of the center line of the descending traffic flow between the intersection i and the first downstream intersection,
Figure BDA0003298201290000126
the green wave bandwidth is the bandwidth of the right side of the center line of the descending traffic flow between the intersection i and the first downstream intersection.
In the above embodiment, the green wave bandwidth lengths of different intersections are calculated by the weight of the road section green wave bandwidth requirements of adjacent intersections and the road section green wave bandwidths of adjacent intersections, so that the maximum total green wave bandwidth of the green wave coordination control path under the space-time information of different road network traffic streams is obtained, and green wave coordination control on the non-linear path is realized.
In some embodiments of the invention, the road network traffic flow spatiotemporal information comprises actual traffic flow and saturated traffic flow of road segments;
calculating the road section green wave bandwidth demand weight based on the actual traffic volume of the traffic flow and the saturated flow of the road section, specifically comprising the following steps:
Figure BDA0003298201290000127
wherein the content of the first and second substances,
Figure BDA0003298201290000128
for the actual traffic volume of the upstream and downstream traffic,
Figure BDA0003298201290000129
and k is a correction factor for the saturated flow of the uplink and downlink road sections.
In the above embodiment, the actual traffic volume of the traffic flow and the saturation flow of the road section at different time and space are different, that is, the requirement of the green wave bandwidth of the road section is also different, and the requirement weight of the green wave bandwidth of the road section can be calculated according to the actual traffic volume of the traffic flow and the saturation flow of the road section, so that the bandwidth of the whole green wave coordination control path can be calculated.
In some embodiments of the present invention, the road network traffic flow space-time information further includes a green wave band vehicle speed limit and a travel time of an adjacent intersection, and the intersection lane physical information further includes a green wave demand proportion and a spatial distance of the adjacent intersection;
the green wave bandwidth of the green wave coordination control path is restrained based on the green wave band limited vehicle speed, the travel time of the adjacent intersection, the green wave demand proportion and the space distance of the adjacent intersection, and the method specifically comprises the following steps:
Figure BDA0003298201290000131
Figure BDA0003298201290000132
Figure BDA0003298201290000133
Figure BDA0003298201290000134
wherein gamma is the ratio of the green wave requirements of the uplink and the downlink,
Figure BDA0003298201290000135
for the travel time of the upstream traffic traveling from intersection i to intersection i +1,
Figure BDA0003298201290000136
for the travel time of the downstream traffic flow from intersection i to intersection i +1, li,i+1Is the spatial distance from intersection i to intersection i +1, vmaxV is the maximum limit of the vehicle speed in the green bandminIs the minimum limit of the vehicle speed in the green wave band, Z is the common period frequency, CmaxFor maximum limitation of the duration of the common period, CminIs a common period duration minimum limit.
In the above embodiment, the green wave bandwidth of the green wave coordination control path cannot be set arbitrarily, so that to enable the system to obtain a stable green wave, the green wave bandwidth needs to be determined according to the actual traffic demand, the green wave band speed and the cycle duration need to be constrained, and the green wave bandwidth of the green wave coordination control path is constrained by limiting the vehicle speed by the green wave band, the travel time of the adjacent intersection, the green wave demand ratio and the spatial distance of the adjacent intersection.
In order to better implement the non-linear path green wave control method in the embodiment of the present invention, on the basis of the non-linear path green wave control method, please refer to fig. 2, where fig. 2 is a schematic structural diagram of an embodiment of the non-linear path green wave control device provided in the present invention, and an embodiment of the present invention provides a non-linear path green wave control device 200, including:
an obtaining module 201, configured to obtain road network information, where the road network information includes road network structure information, road network traffic flow time-space information, and intersection lane physical information;
the path planning module 202 is configured to determine a green wave coordination control path according to the road network structure information and the intersection lane physical information;
and the control module 203 is used for controlling the green wave bandwidth of the green wave coordination control path according to the road network traffic flow space-time information and the intersection lane physical information.
Here, it should be noted that: the apparatus 200 provided in the foregoing embodiment may implement the technical solutions described in the foregoing method embodiments, and the specific implementation principle of each module or unit may refer to the corresponding content in the foregoing method embodiments, which is not described herein again.
Referring to fig. 3, fig. 3 is a schematic structural diagram of an electronic device of a non-linear path green wave control method according to an embodiment of the present invention. Based on the non-linear path green wave control method, the invention also correspondingly provides non-linear path green wave control equipment, and the non-linear path green wave control equipment can be computing equipment such as a mobile terminal, a desktop computer, a notebook computer, a palm computer, a server and the like. The non-linear path green wave control device includes a processor 310, a memory 320, and a display 330. Fig. 3 shows only some of the components of the electronic device, but it is to be understood that not all of the shown components are required to be implemented, and that more or fewer components may be implemented instead.
The memory 320 may be an internal storage unit of the non-linear path green wave control device in some embodiments, such as a hard disk or a memory of the non-linear path green wave control device. The memory 320 may also be an external storage device of the nonlinear path green wave control device in other embodiments, such as a plug-in hard disk provided on the nonlinear path green wave control device, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and so on. Further, the memory 320 may also include both an internal storage unit of the non-linear path green wave control device and an external storage device. The memory 320 is used for storing application software installed in the non-linear path green wave control device and various data, such as program codes installed in the non-linear path green wave control device. The memory 320 may also be used to temporarily store data that has been output or is to be output. In one embodiment, the memory 320 stores a non-linear path green wave control program 340, and the non-linear path green wave control program 340 can be executed by the processor 310 to implement the non-linear path green wave control method according to the embodiments of the present application.
Processor 310, which in some embodiments may be a Central Processing Unit (CPU), microprocessor or other data Processing chip, executes program code or processes data stored in memory 320, such as executing a non-linear path green wave control method.
The display 330 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch panel, or the like in some embodiments. Display 330 is used to display information on the non-linear path green wave control device and to display a visual user interface. The components 310 and 330 of the non-linear path green wave control device communicate with each other via the system bus.
In one embodiment, the steps in the non-linear path green wave control method described above are implemented when processor 310 executes non-linear path green wave control program 340 in memory 320.
The above description is only for the preferred 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 (10)

1. A non-linear path green wave control method, comprising:
acquiring road network information, wherein the road network information comprises road network structure information, road network traffic flow space-time information and intersection lane physical information;
determining a green wave coordination control path according to the road network structure information and the intersection lane physical information;
and controlling the green wave bandwidth of the green wave coordination control path according to the road network traffic flow space-time information and the intersection lane physical information.
2. The method according to claim 1, wherein the road network structure information includes interference phase information of traffic flow at an intersection and phase difference between adjacent intersections, and the intersection lane physical information includes traveling direction of traffic flow at the intersection;
determining a green wave coordination control path according to the road network structure information and the intersection lane physical information, comprising:
determining a green wave coordination control path matrix according to the driving direction of the traffic flow at the intersection, the interference phase information of the traffic flow at the intersection and the phase difference of adjacent intersections;
and determining the green wave coordination control path according to the green wave coordination control path matrix.
3. The non-linear path green wave control method according to claim 2, wherein when the interference phase information in the green wave coordination control path matrix indicates that an interference phase exists, the method corrects the coordination phase red light time of the adjacent intersection with the interference phase, specifically:
Figure FDA0003298201280000011
wherein the content of the first and second substances,
Figure FDA0003298201280000012
the time of the upstream traffic stream red light at the intersection i,
Figure FDA0003298201280000013
for the time of the traffic stream red light at the intersection i,
Figure FDA0003298201280000014
calculating the time of red light for the correction of the upstream traffic flow at the intersection i,
Figure FDA0003298201280000015
calculating the red light time for the correction of the downstream traffic flow at the intersection i,
Figure FDA0003298201280000016
the red time correction factor is compressed at intersection i for upstream traffic,
Figure FDA0003298201280000017
the red light time correction coefficient is compressed at the intersection i for the downstream traffic flow,
Figure FDA0003298201280000018
for the interference phase of the upstream traffic at intersection i to correspond to the saturation of the traffic,
Figure FDA0003298201280000021
for the interference phase of the downstream traffic at intersection i to correspond to the saturation of the traffic,
Figure FDA0003298201280000022
green time for the interference phase of the upstream traffic at intersection i,
Figure FDA0003298201280000023
green time for the interference phase of the downstream traffic at intersection i.
4. The non-linear path green wave control method according to claim 2, wherein when the interference phase information in the green wave coordination control path matrix is that there is no interference phase, further determining whether the coordination phase of the intersection is a left-turn phase;
when the coordination phase of the intersection is a left-turn phase, constructing a virtual intersection, wherein the uplink and downlink coordination phase of the virtual intersection is the left-turn phase of the intersection;
and when the coordination phase of the intersection is not the left-turn phase, the coordination phase of the adjacent intersection is a bidirectional straight line phase.
5. The non-linear path green wave control method according to any one of claims 3 or 4, wherein the road network traffic flow spatio-temporal information comprises a weight of a road segment green wave bandwidth requirement of an adjacent intersection, and the intersection lane physical information comprises a road segment green wave bandwidth of the adjacent intersection;
controlling the green wave bandwidth of the green wave coordination control path according to the road network traffic flow space-time information and the intersection lane physical information, comprising the following steps:
calculating the maximum green wave bandwidth of the green wave coordination control path under different road network traffic flow space-time information according to the weight of the road section green wave bandwidth requirement of the adjacent intersection and the road section green wave bandwidth of the adjacent intersection, specifically:
Figure FDA0003298201280000024
wherein N is the intersection number of the green wave coordination control path,
Figure FDA0003298201280000025
for the road segment green wave bandwidth demand weight,
Figure FDA0003298201280000026
the green wave bandwidth on the left side of the center line of the upstream traffic flow between the intersection i and the first downstream intersection,
Figure FDA0003298201280000027
the green wave bandwidth on the right side of the center line of the upstream traffic flow between the intersection i and the first downstream intersection,
Figure FDA0003298201280000028
the green wave bandwidth on the left side of the center line of the descending traffic flow between the intersection i and the first downstream intersection,
Figure FDA0003298201280000029
from intersection i toAnd the green wave bandwidth on the right side of the center line of the downstream descending traffic flow between the first intersections of the downstream.
6. The non-linear path green wave control method according to claim 5, wherein the road network traffic flow space-time information includes actual traffic flow and saturated traffic flow of road sections;
calculating the road section green wave bandwidth demand weight based on the actual traffic volume of the traffic flow and the saturated flow of the road section, specifically comprising the following steps:
Figure FDA0003298201280000031
wherein the content of the first and second substances,
Figure FDA0003298201280000032
for the actual traffic volume of the upstream and downstream traffic,
Figure FDA0003298201280000033
and k is a correction factor for the saturated flow of the uplink and downlink road sections.
7. The non-linear path green wave control method according to claim 5, wherein the road network traffic flow space-time information further includes green wave band limit vehicle speed and travel time of adjacent intersections, and the intersection lane physical information further includes green wave demand ratio and spatial distance of adjacent intersections;
and constraining the green wave bandwidth of the green wave coordination control path based on the green wave band vehicle speed limit, the travel time of the adjacent intersection, the green wave demand proportion and the space distance of the adjacent intersection, specifically comprising the following steps:
Figure FDA0003298201280000034
Figure FDA0003298201280000035
Figure FDA0003298201280000036
Figure FDA0003298201280000037
wherein gamma is the ratio of the green wave requirements of the uplink and the downlink,
Figure FDA0003298201280000038
for the travel time of the upstream traffic traveling from intersection i to intersection i +1,
Figure FDA0003298201280000039
for the travel time of the downstream traffic flow from intersection i to intersection i +1, li,i+1Is the spatial distance from intersection i to intersection i +1, vmaxV is the maximum limit of the vehicle speed in the green bandminIs the minimum limit of the vehicle speed in the green wave band, Z is the common period frequency, CmaxFor maximum limitation of the duration of the common period, CminIs a common period duration minimum limit.
8. A non-linear path green wave control device, comprising:
the system comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring road network information, and the road network information comprises road network structure information, road network traffic flow space-time information and intersection lane physical information;
the path planning module is used for determining a green wave coordination control path according to the road network structure information and the intersection lane physical information;
and the control module is used for controlling the green wave bandwidth of the green wave coordination control path according to the road network traffic flow space-time information and the intersection lane physical information.
9. An electronic device comprising a memory and a processor, wherein,
the memory is used for storing programs;
the processor, coupled to the memory, is configured to execute the program stored in the memory to implement the steps of the non-linear path green wave control method of any one of claims 1 to 7.
10. A computer-readable storage medium storing a computer-readable program or instructions, which when executed by a processor, is capable of implementing the steps of the non-linear path green wave control method of any one of claims 1 to 7.
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