CN114049762A - Intelligent intersection signal regulation and control system for elevated road entrance ramp - Google Patents
Intelligent intersection signal regulation and control system for elevated road entrance ramp Download PDFInfo
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- CN114049762A CN114049762A CN202111235484.4A CN202111235484A CN114049762A CN 114049762 A CN114049762 A CN 114049762A CN 202111235484 A CN202111235484 A CN 202111235484A CN 114049762 A CN114049762 A CN 114049762A
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- 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
- G08G1/042—Detecting movement of traffic to be counted or controlled using inductive or magnetic detectors
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- 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
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- 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
- G08G1/02—Detecting movement of traffic to be counted or controlled using treadles built into the road
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- 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
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
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- 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
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/065—Traffic control systems for road vehicles by counting the vehicles in a section of the road or in a parking area, i.e. comparing incoming count with outgoing count
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
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Abstract
The invention discloses an intelligent control system for intersection signals of an entrance ramp of an elevated road, which relates to the technical field of road traffic, and is characterized in that the system collects and detects real-time traffic data based on a wide area radar arranged in an elevated road section between the entrance ramp of the elevated road and a nearest downstream ramp, a geomagnetic detector embedded in the entrance ramp of the elevated road and traffic detection equipment arranged at an upstream intersection where the entrance ramp of the elevated road is positioned, fully excavates space-time resources of the real-time data by using a density clustering algorithm to determine real-time traffic running states of the elevated road section, the entrance ramp and the upstream intersection, particularly traffic flow data, then controls a variable display screen of the upstream intersection to adjust the traffic flow entering the elevated road, and can effectively solve a traffic bottleneck point formed at a joint of the upstream intersection and the elevated road, the overall passing efficiency is improved.
Description
Technical Field
The invention relates to the technical field of road traffic, in particular to an intelligent control system for intersection signals of an entrance ramp of an elevated road.
Background
Through rapid urbanization development for many years, infrastructure construction of large and medium cities in China is rapidly advanced, urban road networks are continuously encrypted, along with rapid increase of the number of motor vehicles, the existing roads are difficult to meet the traffic demands of common people, particularly, increasingly serious traffic congestion problems exist in large cities in China, the overall development level of the cities is influenced, and the traffic congestion is relieved. The mode of building three-dimensional traffic is adopted in many cities to alleviate urban traffic jam, and this kind of way has certain effect, has solved some problems for the traffic jam problem can be improved to a certain extent, but because go up the slow and easy scheduling problem that spills over of elevated road, the junction of crossing and elevated road often can become the traffic bottleneck point, influences whole current efficiency.
Disclosure of Invention
The invention provides an intelligent control system for intersection signals of an entrance ramp of an elevated road aiming at the problems and technical requirements, and the technical scheme of the invention is as follows:
an intelligent regulation and control system for intersection signals of an elevated road entrance ramp, the system comprising: the system comprises a wide area radar arranged in an elevated road section between an entrance ramp and the nearest downstream ramp of the elevated road, a geomagnetic detector embedded in the entrance ramp of the elevated road, a variable display screen and traffic detection equipment arranged at an upstream intersection where the entrance ramp of the elevated road is located, wherein the variable display screen is arranged at an entrance lane of a ground road at the upstream intersection where the entrance ramp of the elevated road is located; the control center is connected with the wide area radar, the geomagnetic detector, the variable display screen and the traffic detection equipment, and the intelligent regulation and control method of the control center comprises the following steps:
acquiring real-time vehicle running information of vehicles in the elevated road section through a wide area radar;
acquiring real-time vehicle driving information of vehicles waiting to enter an elevated road section in an entrance ramp through a geomagnetic detector of the entrance ramp;
communicating with vehicles in the ground road through traffic detection equipment of the intersection and acquiring real-time vehicle driving information of the vehicles on the ground road of the upstream intersection;
clustering real-time vehicle driving information of vehicles in an elevated road section, an entrance ramp and a ground road by using a density clustering algorithm based on space-time distribution characteristics among the vehicles, and respectively determining current traffic flow data in the elevated road section, traffic flow data of the entrance ramp queued to enter the elevated road section and traffic flow data of an upstream intersection waiting to enter the elevated road;
determining the data of the vehicle flow rate which can be driven into the elevated road based on the data of the vehicle flow rate which is queued to drive into the elevated road section by the entrance ramp, the current data of the vehicle flow rate in the elevated road section and the threshold value of the vehicle flow rate in the elevated road section;
and controlling the display content of each variable display screen of the upstream intersection according to the traffic flow data waiting for entering the overhead road at the upstream intersection and the data of the accessible traffic flow of the overhead road.
The further technical scheme is that the higher the proportion of the traffic flow data waiting for entering the elevated road at the upstream intersection relative to the data of the traffic flow which can be entered by the elevated road is, the smaller the number of lane marks which are displayed by the corresponding variable display screen and indicate the direction of entering the elevated road is.
The further technical scheme is that the method for determining the current traffic flow data in the elevated road section by clustering the real-time vehicle running information in the elevated road section based on the space-time distribution characteristics among vehicles by using a density clustering algorithm comprises the following steps:
clustering real-time vehicle running information in the elevated road section by using a density clustering algorithm to determine a vehicle headway statistical value of vehicles in each lane in the elevated road section, calculating traffic flow data of each lane based on the vehicle headway statistical value of the vehicles in each lane, and weighting the traffic flow data of each lane to obtain current traffic flow data in the elevated road section.
According to a further technical scheme, when current traffic flow data in the elevated road section are obtained through weighting of the traffic flow data of each lane, the weight of the traffic flow data of the lane, closest to the entrance ramp, of the elevated road section is the largest.
The control center is further connected with a third-party platform, and when the control center determines that the control center is in a special regulation and control scene currently according to data of the third-party platform, the variable display screen at the entrance lane of each ground road at the upstream intersection is controlled to display other lane marks except the lane mark indicating the driving-in elevated road.
The method comprises the following steps that a third-party platform is a third-party traffic management platform and/or a third-party meteorological platform, and when the overhead road section acquired from the third-party traffic management platform is in a traffic control state, and/or when the current overhead road section is determined to be in a preset weather state from the third-party meteorological platform, the current overhead road section is determined to be in a special regulation and control scene.
The beneficial technical effects of the invention are as follows:
the application discloses crossing signal intelligent control system of overhead road entrance ramp, this system is based on the real-time data that all kinds of sensors gathered and detected, utilize the space-time resource of density clustering algorithm fully to excavate real-time data in order to confirm the overhead road section interval, the real-time traffic running state at entrance ramp and upper reaches crossing, especially traffic flow data, then control the variable display screen at upper reaches crossing, in order to adjust the traffic flow who drives into the overhead road, can effectively solve the traffic bottleneck point that the junction of upper reaches crossing and overhead road formed, improve whole current efficiency.
Drawings
Fig. 1 is a schematic system structure diagram of an intersection signal intelligent control system according to the present application.
Detailed Description
The following further describes the embodiments of the present invention with reference to the drawings.
The application discloses an intelligent control system for intersection signals of an entrance ramp of an elevated road, please refer to fig. 1, and the system aims at the whole section of the entrance ramp of the elevated road, including the section of an upstream intersection of the entrance ramp, and the section of the elevated road between the entrance ramp and the nearest downstream ramp. This crossing signal intelligent control system includes: the wide area radar is arranged in an elevated road section between an entrance ramp and the nearest downstream ramp of the elevated road, and only one wide area radar can be arranged, and the wide area radars can also be distributed at intervals along the elevated road. The system also comprises a geomagnetic detector buried in an entrance ramp of the elevated road, and one or more geomagnetic detectors can be arranged. The variable display screen is arranged at an entrance lane of a ground road at an intersection upstream of an entrance ramp of the elevated road, the entrance lane of the ground road on which the variable display screen is arranged at least comprises one variable lane controlled by an indication mark of the variable display screen, for example, fig. 1 only shows the variable display screen at the entrance lane of the ground road opposite to the entrance ramp of the elevated road, and the rest are not shown. The system also comprises traffic detection equipment which is arranged at an intersection upstream of the entrance ramp of the elevated road, and is generally referred to as road side equipment (RSU).
The control center is connected with the wide area radar, the geomagnetic detector, the variable display screen and the traffic detection equipment, and the control center can be connected with the variable display screen through the signal controller and can also be directly connected with the variable display screen. The intelligent control method of the control center comprises the following steps:
1. the real-time vehicle running information of the vehicles in the elevated road section is acquired through the wide area radar, the real-time vehicle running information headway value of the vehicles in the elevated road section, and the real-time vehicle running information of each vehicle acquired through the wide area radar comprises a real-time position, a real-time speed, a lane, headway with a previous vehicle and the like. The method comprises the steps that real-time vehicle running information of vehicles waiting to enter an elevated road section in an entrance ramp is obtained through a geomagnetic detector of the entrance ramp, and the real-time vehicle running information of each vehicle obtained through the geomagnetic detector comprises information about whether the vehicle exists. The method comprises the steps that communication is carried out between traffic detection equipment at an intersection and vehicles in a ground road, real-time vehicle running information of the vehicles on the ground road at an upstream intersection is obtained, the traffic detection equipment is communicated with vehicle-mounted equipment on the vehicles within a coverage range based on an internet of vehicles technology, so that various real-time vehicle running information including positions and navigation information of the vehicles can be obtained, and the real-time vehicle running information of the vehicles on the ground road obtained through the traffic detection equipment comprises target running paths, positions, real-time vehicle speeds and the like.
2. The method comprises the steps of clustering real-time vehicle driving information of vehicles in an elevated road section based on space-time distribution characteristics among the vehicles by using a density clustering algorithm to determine current traffic flow data in the elevated road section, clustering real-time vehicle driving information of the vehicles in an entrance ramp based on the space-time distribution characteristics among the vehicles by using the density clustering algorithm to determine traffic flow data of the entrance ramp queued to enter the elevated road section, and clustering real-time vehicle driving information of the vehicles on a ground road based on the space-time distribution characteristics among the vehicles by using the density clustering algorithm to determine the traffic flow data of an upstream intersection waiting to enter the elevated road.
Real-time data acquired by various sensors in the first step are discrete and complicated, are difficult to directly apply, and are difficult to reflect the driving characteristics of vehicles, so that the method adopts a density clustering algorithm (DBSCAN) to cluster original data based on the space-time distribution characteristics among the vehicles so as to acquire required and available data. Such algorithms assume that the cluster structure can be determined by how close the sample distribution is. In general, a density clustering algorithm examines connectivity among samples from the perspective of sample density, and based on that connectable samples continuously expand cluster clusters to obtain a final clustering result, the DBSCAN algorithm first selects a core object in a data set as a "seed" (seed), and then determines a corresponding cluster from the seed, and finds out cluster clusters generated by samples with reachable density until all core objects are visited.
The traffic data of the upstream intersection waiting to enter the elevated road includes all dynamic traffic flows of the upstream intersection entering the elevated road, such as north left-turn traffic flow, west straight traffic flow, and south right-turn traffic flow, which are common for the intersection.
The traffic flow data of the section of the overhead road into which the entrance ramp is queued comprises the number of the vehicles staying at the connection section of the upstream intersection and the overhead entrance ramp and the number of the vehicles staying on the entrance ramp.
When the current traffic flow data in the elevated road section is determined, real-time vehicle running information in the elevated road section is clustered by using a density clustering algorithm to determine a vehicle headway statistical value of vehicles in each lane in the elevated road section, the traffic flow data of each lane is calculated based on the vehicle headway statistical value of the vehicles in each lane, and the current traffic flow data in the elevated road section is obtained by weighting the traffic flow data of each lane.
Further, in one embodiment, when the current traffic data in the elevated road section is obtained by weighting the traffic data of each lane, the weight of the traffic data of the lane of the elevated road section closest to the entrance ramp is the largest. This is because the lane closest to the entrance ramp is the lane in which the entrance ramp merges into the elevated road section, and the congestion situation is most likely to occur in all the lanes in the elevated road section, and therefore this calculation method is adopted. For example, one embodiment provides a method for determining traffic data for lane 1, lane 2 and lane 3, i.e., the number of vehicles per hour is ZZ1＝3600/NN1、ZZ2＝3600/NN2And ZZ3＝3600/NN3And if the lane 3 is closest to the entrance ramp, the current traffic flow data in the elevated road section can be weighted to be Z-0.3 xzz1+0.3*ZZ2+0.4*ZZ3Wherein NN1、NN2、NN3Are the headway statistics of vehicles in lane 1, lane 2 and lane 3, respectively.
3. And determining the data of the vehicle flow rate which can be driven into the elevated road based on the data of the vehicle flow rate which is queued to drive into the elevated road section by the entrance ramp, the current data of the vehicle flow rate in the elevated road section and the threshold value of the vehicle flow rate in the elevated road section. The traffic flow relation of the whole section of the overhead road from the upstream intersection to the downstream ramp is that the traffic flow data of the current entrance ramp queued to enter the overhead road section and the current traffic flow data in the overhead road section are subtracted from the traffic flow threshold value of the overhead road section, namely the traffic flow data which can also enter the ground road of the upstream intersection.
4. The display content of each variable display screen of the upstream intersection is controlled according to the traffic flow data waiting to enter the elevated road at the upstream intersection and the accessible traffic flow data of the elevated road, specifically, the higher the proportion of the traffic flow data waiting to enter the elevated road at the upstream intersection relative to the accessible traffic flow data of the elevated road is, the smaller the number of lane marks indicating the direction of entering the elevated road displayed by the corresponding control variable display screen is, and the overall control principle is that the traffic flow data entering the elevated road within the green letter time period does not exceed the accessible traffic flow data of the elevated road, so as to avoid causing congestion. Because different intersections also have different lane division conditions and different traffic operation characteristics, timing schemes of signal lamps at the intersections also need to be considered, and a plurality of variable display screens at the intersections can be combined in various ways, a specific control mode is not provided in the application, but a person skilled in the art can set a specific control scheme according to the control principle according to the characteristics of the actual intersection.
In one embodiment, the control center of the present application is further connected to a third party platform, and optionally, when the control center determines that the current vehicle is in a special control scene through data of the third party platform, the control center controls the variable display screen at the entrance lane of each ground road at the upstream intersection to display lane marks other than the lane mark indicating the vehicle entering the elevated road. Namely, the driver is prohibited from driving into the elevated road under a special regulation and control scene. Optionally, the third-party platform is a third-party traffic management platform and/or a third-party meteorological platform, and when the section of the elevated road acquired from the third-party traffic management platform is in the traffic control state, and/or when the current section of the elevated road is determined to be in the predetermined weather state by the third-party meteorological platform, the current section of the elevated road is determined to be in the special regulation and control scene.
The present application is illustrated by the following example:
(1) assuming that the traffic data of the upstream intersection waiting for entering the overhead road < the data of the traffic data of the overhead road available for entering, in this state, for example, there may be the following setting modes:
assuming that the signal lamp at the upstream intersection employs three-phase control, it may be considered that the variable display screen display at the ground road of the west entrance facing the upstream intersection is controlled as: "left turn straight going common, straight going, right turning", "left turn, left turn straight going common, straight going, right turning common. Three phases (east single, west single and north-south combined), and the south turning and the right turning are not controlled by lamps.
Assuming that the signal lights of the upstream intersection adopt four-phase control, it can be considered that the variable display screen display at the ground road of the west entrance facing the upstream intersection is controlled as: "turn left, go straight, turn right" or "turn left, go straight turn right sharing". Four phases (east-west direct movement, east-west left turning, south-north direct movement, south-north left turning), and south-right turning is not controlled by the lamp.
It can also be seen that there are actually many different specific control schemes.
(2) Assuming that the traffic data of the upstream intersection waiting for entering the overhead road ≈ the data of the driveable traffic of the overhead road, in this state, when the signal lamp of the upstream intersection adopts the four-phase control, it may be considered that the variable display screen at the ground road of the west entrance opposing the upstream intersection is controlled to display: "turn left, go straight, turn right". Four phases (east-west going straight, east-west turning left, south-north going straight, south-north turning left), and south-right turning is controlled by the lamp (not going when going straight east-west, south-north turning left). From this comparison, it can be seen that, compared to the first case, it is possible to reduce the number of vehicles entering the elevated road by reducing the lane markings for straight travel (i.e., the direction of entering the elevated road) at the west entrance, thereby preventing the vehicles from overstressing the elevated ramp and the elevated road section.
(3) Assuming that the traffic data of the upstream intersection waiting for entry into the elevated road > the overhead road-drivable traffic data, in this state, when the signal lamp of the upstream intersection adopts the four-phase control, it may be considered that the variable display screen at the ground road of the west entrance facing the upstream intersection is controlled to display: "turn left, go straight, turn right" or "turn around turn left and use, turn left, go straight, turn right". Four phases (east-west going straight, east-west turning left, south-north going straight, south-north turning left), and south-right turning light control (no going when east-west going straight, south-north turning left). Lane markings that further reduce straight-ahead movement (i.e., into the direction of the elevated road) at the west entry reduce vehicles entering the elevated road compared to the second case.
In addition, the traffic flow change characteristics at different time intervals throughout the day are considered, and specific different control schemes can be configured at the peak leveling time interval and the peak time interval. And when meeting with special weather or sudden emergency, the control center determines to be in a special regulation and control scene, at the moment, the variable display screen at the ground road position of the west entrance can be set to display as 'left turn, right turn' or 'U-turn, left turn, right turn' or 'U-turn, left turn, right turn', namely, the straight indication mark is not displayed, the emergency state control is implemented, and the entering of the elevated road is temporarily suspended.
What has been described above is only a preferred embodiment of the present application, and the present invention is not limited to the above embodiment. It is to be understood that other modifications and variations directly derivable or suggested by those skilled in the art without departing from the spirit and concept of the present invention are to be considered as included within the scope of the present invention.
Claims (6)
1. An intelligent regulation and control system for intersection signals of an elevated road entrance ramp, the system comprising: the system comprises a wide area radar arranged in an elevated road section between an entrance ramp and the nearest downstream ramp of the elevated road, a geomagnetic detector embedded in the entrance ramp of the elevated road, a variable display screen and traffic detection equipment arranged at an upstream intersection where the entrance ramp of the elevated road is located, wherein the variable display screen is arranged at an entrance lane of a ground road at the upstream intersection where the entrance ramp of the elevated road is located; the control center is connected with the wide area radar, the geomagnetic detector, the variable display screen and the traffic detection equipment, and the intelligent regulation and control method of the control center comprises the following steps:
acquiring real-time vehicle running information of vehicles in the elevated road section through a wide area radar;
acquiring real-time vehicle driving information of vehicles waiting to enter an elevated road section in an entrance ramp through a geomagnetic detector of the entrance ramp;
communicating with vehicles in the ground road through traffic detection equipment of the intersection and acquiring real-time vehicle driving information of the vehicles on the ground road of the upstream intersection;
clustering real-time vehicle driving information of vehicles in an elevated road section, an entrance ramp and a ground road by using a density clustering algorithm based on space-time distribution characteristics among the vehicles, and respectively determining current traffic flow data in the elevated road section, traffic flow data of the entrance ramp queued to enter the elevated road section and traffic flow data of an upstream intersection waiting to enter the elevated road;
determining the data of the vehicle flow rate which can be driven into the elevated road based on the data of the vehicle flow rate which is queued to drive into the elevated road section by the entrance ramp, the current data of the vehicle flow rate in the elevated road section and the threshold value of the vehicle flow rate in the elevated road section;
and controlling the display content of each variable display screen of the upstream intersection according to the traffic flow data waiting for entering the overhead road at the upstream intersection and the data of the accessible traffic flow of the overhead road.
2. The system of claim 1, wherein the higher the proportion of the traffic data awaiting entry into the elevated road at the upstream intersection relative to the available traffic data for the elevated road, the fewer the number of lane markings indicative of the direction of entry into the elevated road are displayed by the respective variable display screens.
3. The system of claim 1, wherein clustering the real-time vehicle travel information within the elevated road section using a density clustering algorithm based on spatiotemporal distribution features between vehicles to determine current traffic flow data within the elevated road section comprises:
clustering real-time vehicle running information in the elevated road section by using a density clustering algorithm to determine a vehicle headway statistical value of vehicles in each lane in the elevated road section, calculating traffic flow data of each lane based on the vehicle headway statistical value of the vehicles in each lane, and weighting the traffic flow data of each lane to obtain current traffic flow data in the elevated road section.
4. The system according to claim 3, wherein the weighting of the traffic data of the lane of the elevated road section closest to the entrance ramp is the largest when the current traffic data in the elevated road section is weighted by the traffic data of each lane.
5. The system according to claim 1, wherein the control center is further connected to a third party platform, and when the control center determines that the vehicle is currently in a special regulation and control scene through data of the third party platform, the control center controls the variable display screen at the entrance lane of each ground road at the upstream intersection to display lane marks other than the lane mark indicating the driving-in elevated road.
6. The system according to claim 5, wherein the third party platform is a third party traffic management platform and/or a third party weather platform, and when the overhead road section acquired from the third party traffic management platform is in the traffic control state, and/or when the current predetermined weather state is determined from the third party weather platform, the current special regulation and control scene is determined.
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