CN114049779A - Traffic signal full-induction real-time control method - Google Patents
Traffic signal full-induction real-time control method Download PDFInfo
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- CN114049779A CN114049779A CN202111284271.0A CN202111284271A CN114049779A CN 114049779 A CN114049779 A CN 114049779A CN 202111284271 A CN202111284271 A CN 202111284271A CN 114049779 A CN114049779 A CN 114049779A
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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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
- Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection
Abstract
The invention discloses a traffic signal full-induction real-time control method, which comprises the following steps: s1, acquiring and initializing collected original data and priority configuration parameters of a control method; s2, under the condition that the state of the signal control machine is normal, acquiring parameters of a current stage, initializing emptying time of the stage in the control method, and updating starting time of the current stage and latest starting time of the current stage; s3, determining and releasing the minimum releasing time of the current stage according to the acquired real-time traffic state data of the intersection; s4, determining a next release strategy according to the intersection real-time traffic state data, the current stage running state and the phase switching strategy; and S5, finishing phase switching according to the release strategy of S4, and returning to S2. The invention detects mixed traffic flow in real time, and introduces the operation of phase skipping on the basis of traffic signal full induction to skip one or more phases according to the real-time traffic demands of various traffic flows, thereby reducing the average waiting delay of intersections and solving the problem of idle discharge of green lights.
Description
Technical Field
The invention relates to the technical field of intelligent traffic, in particular to a traffic signal full-induction real-time control method.
Background
With the continuous acceleration of the urbanization process, the number and the population density of cities are continuously increased, the traffic demand of road intersections is increased, the traffic flow of each entrance lane is large, the problem of traffic jam is more and more serious, and the development pace of the cities is hindered, so that the problem of urban traffic jam is urgently solved.
At present, intersections with large urban traffic demands are selected by a timing and periodic signal control method basically, each phase is provided with fixed green light, yellow light and red light time, the lengths of the green light, yellow light and red light are determined according to the statistical result of historical traffic flow, the use efficiency is low, and the intersections are easy to pass by time, but the traffic flow has the obvious characteristic of stronger randomness, and each entrance lane of the intersection has different traffic demands in different time periods, so the timing signal control method cannot be well matched with the traffic flow arriving in real time, the waste of green light resources is easily caused, and the current traffic demands cannot be met. For the problem, in the prior art, motor vehicles are detected through traffic signal induction control, so that the phase duration is adjusted according to the magnitude of the traffic flow, however, the magnitude of the traffic flow is not only related to the magnitude of the traffic flow of the motor vehicles, pedestrians and non-motor vehicles also affect the traffic flow, and the method in the prior art still cannot accurately control signal lamps in real time according to the traffic flow, and has the problem of vacant green lamps.
The invention carries out real-time detection on mixed traffic flow (respectively detecting pedestrians, non-motor vehicles and motor vehicles), introduces phase-skipping operation (one or more phases can be skipped) on the basis of traffic signal full induction according to the real-time traffic demands of various traffic flows, reduces the average waiting delay of intersections, and solves the problem of vacant green lights.
Therefore, how to provide a traffic signal full-sensing real-time control method capable of effectively reducing the average waiting delay of an intersection and solving the problem of green light idle discharge is a problem that needs to be solved urgently by the technical personnel in the field.
Disclosure of Invention
In view of the above, the invention provides a traffic signal full-sensing real-time control method, which is used for reducing average waiting delay at an intersection and effectively solving the problem of idle discharge of green lights.
In order to achieve the purpose, the invention adopts the following technical scheme:
a traffic signal full-induction real-time control method comprises the following steps:
s1, initializing control method parameters, wherein the control method parameters comprise phase, phase sequence and priority configuration parameters;
s2, under the condition that the state of the signal control machine is normal, acquiring parameters of a current stage, initializing emptying time of the stage in the control method, and updating starting time of the current stage and latest starting time of the current stage; wherein, the stage is the color state of the signal lamp at the intersection, and the emptying time of the stage is the green flashing time of the green lamp and the yellow lamp time;
s3, acquiring real-time traffic state data of the intersection, and determining and releasing the minimum releasing time of the current stage according to the acquired real-time traffic state data of the intersection; the intersection real-time traffic state data is real-time traffic demand data of traffic participating objects;
s4, determining a next release strategy according to the real-time detected intersection real-time traffic state data, the current stage running state and the phase switching strategy;
the specific content of the phase switching strategy comprises:
(1) judging whether a motor vehicle, a pedestrian or a non-motor vehicle waits at the next stage corresponding to the phase sequence of the current stage, and if so, switching the phase to the next stage; if not, continuing to judge the next stage, and circularly judging until all the stages except the current stage in the phase sequence are traversed and judged;
(2) if all the stages judge that no motor vehicle, pedestrian or non-motor vehicle waits, keeping the current stage;
(3) detecting and judging whether motor vehicles, pedestrians or non-motor vehicles wait at all intersections, and switching phases to a target stage if a traffic demand is detected;
s5, finishing the phase switching capable of jumping the phase according to the release strategy determined in S4, and returning to S2.
Preferably, the specific contents of S1 include:
acquiring and initializing parameters of a control method, wherein the parameters comprise signal lamp phase fixed timing configuration, signal lamp phase sequence configuration, entity class PreemptEntity of a priority configuration parameter, array length PreemptSize of the priority configuration parameter and green lamp emptying time array PreClrList of the current phasePlan;
and obtaining intersection stage data according to the current phase sequence data of the signal controller, and initializing priority control parameters in an algorithm, wherein the priority configuration parameters comprise a priority control parameter ID, a corresponding phase plan number, a corresponding phase list, minimum green light time, maximum red light waiting time and maximum green light time.
Preferably, before executing S2, the method further includes the following steps: and detecting whether the state of the signal control machine is normal, if so, continuing to S2, and otherwise, closing the intersection signal control machine and sending an alarm instruction.
Preferably, the specific contents of S3 include: judging whether pedestrians wait on the road section corresponding to the target stage according to the detected real-time traffic state data of the intersection, determining the minimum green light time for releasing the target stage according to the judgment result, and then releasing the current minimum green light time.
Preferably, S3 further includes: after the minimum green light release time is over, judging whether release delay is needed or not according to real-time detected intersection real-time traffic state data and the current stage running state; the judging method specifically comprises the following steps:
(1) if the motor vehicle is driven on the road section corresponding to the current stage, the release time does not reach the set maximum green time, and the release time corresponding to the detected number of vehicles is greater than the emptying time corresponding to the current stage, continuing to release for an extended period and performing cyclic judgment;
(2) if the motor vehicle is driven on the road section corresponding to the current stage, but the release time reaches the set maximum green light time or the release time corresponding to the detected number of vehicles is less than the emptying time corresponding to the current stage, directly carrying out phase switching judgment without carrying out delay judgment;
(3) if no motor vehicle exists at the current stage, the phase switching judgment is directly carried out, and the delay judgment is not carried out any more.
Preferably, the step S5 further includes determining whether to start blind area detection according to a preset blind area detection start judgment rule, updating the configuration parameters of the next stage after the blind area detection is performed, and if the blind area detection is not required, directly returning to the step S2.
Preferably, the specific content of the blind area detection enabling judgment rule includes:
(1) if the target stage is the next stage adjacent to the current stage, the blind area detection is not carried out any more;
(2) if the target stage is not the next stage adjacent to the current stage, starting blind area detection is confirmed;
the specific content of the blind area detection rule comprises the following steps:
(1) if the current time-the time when the phase switching decision is made is less than the current stage emptying time and the cycle condition of the stage is allowed to be modified emergently, polling to acquire the state and the remaining time of the state of each phase in the current stage, if the state and the remaining time of each phase in the current stage meet the yellow light flashing period and the remaining time is less than the preset time interval or in the full red stage, not allowing the stage to be modified emergently, and exiting the cycle;
(2) and (3) carrying out vehicle detection and judgment on the intersection next to the current stage on the basis that the circulation condition in the step (1) is met, and switching to the next stage of the current stage if motor vehicles, non-motor vehicles or pedestrians wait.
Preferably, the phase states include: green light clearing time precleanance, green light clearing time 2 precleanance 2, yellow light flashing yellowchange, and intersection signal light all red.
Preferably, the specific content of the phase switching in S5 includes:
(1) acquiring the current stage condition of the signal controller, and acquiring the next stage according to the corresponding phase sequence;
(2) the polling wait signal controller enters the next stage;
(3) waiting for the current stage to enter countdown;
(4) and after the current stage is confirmed to enter countdown, formally sending a command for controlling the next stage to the signal control machine, and simultaneously confirming whether the control command is correctly sent.
According to the technical scheme, compared with the prior art, the invention discloses the traffic signal full-induction real-time control method, mixed traffic flow is detected in real time, one or more phases can be skipped by introducing the operation of phase skipping on the basis of full induction of the traffic signal according to the real-time traffic demands of various traffic flows, the average waiting delay of the intersection is reduced, the problem of idle discharge of green light is effectively solved, and the traffic efficiency of the intersection is improved. Meanwhile, the problem of intersection unbalance caused by sudden change of traffic flow can be solved, the intelligent degree of traffic signal control is improved, the control cost is reduced, and the energy conservation and emission reduction in the traffic-assisted field are facilitated.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic overall flow chart provided by the present invention.
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. 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.
The embodiment of the invention discloses a traffic signal full-induction real-time control method, which comprises the following steps as shown in figure 1:
s1, initializing parameters of a control method, wherein the parameters mainly comprise phase, phase sequence and priority configuration parameters;
s2, under the condition that the state of the signal control machine is normal, acquiring parameters of a current stage, initializing emptying time of the stage in the control method, and updating starting time of the current stage and latest starting time of the current stage; wherein, stage is the green light condition when the signal light of the intersection is released once, and the clear time of stage refers to the green light flashing time and the yellow light flashing time when the signal light is released this time;
s3, acquiring real-time traffic state data of the intersection, and determining and releasing the minimum releasing time of the current stage according to the acquired real-time traffic state data of the intersection; the intersection real-time traffic state data is real-time traffic demand data of traffic participating objects;
s4, determining a next release strategy according to the real-time detected intersection real-time traffic state data, the current stage running state and the phase switching strategy;
the specific content of the phase switching strategy comprises:
(1) judging whether a motor vehicle, a pedestrian or a non-motor vehicle waits at the next stage corresponding to the phase sequence of the current stage, and if so, switching the phase to the next stage; if not, the next stage is continuously judged, and the judgment is circulated until all the stages except the current stage in the phase sequence are traversed and judged;
(2) if all the stages judge that no motor vehicle, pedestrian or non-motor vehicle waits, keeping the current stage;
(3) detecting and judging whether motor vehicles, pedestrians or non-motor vehicles wait at all intersections, and switching phases to a target stage if a traffic demand is detected;
s5, finishing the phase switching capable of jumping the phase according to the release strategy determined in S4, and returning to S2.
It should be noted that:
the method comprises the steps of collecting real-time traffic state data of an intersection, including but not limited to real-time traffic demand data of traffic participation objects such as motor vehicles, non-motor vehicles, pedestrians and the like.
The real-time traffic demand of the intersection is collected, the infrared image data, the radar data and the video data are intelligently fused, the real-time lane-level motor vehicle traffic demand, the lane-level non-motor vehicle traffic demand and the pedestrian traffic demand are detected, and all-weather 24-hour accurate detection can be performed on various traffic demands.
The minimum release time in S3 can be set by itself according to the requirement.
In order to further implement the above technical solution, the specific content of S1 includes:
acquiring and initializing parameters of a control method, wherein the parameters comprise signal lamp phase fixed timing configuration, signal lamp phase sequence configuration, entity class PreemptEntity of priority configuration parameters, array length PreemptSize of the priority configuration parameters and green lamp emptying time array PreClrList of the current phasePlan;
and obtaining intersection stage data according to the current phase sequence data of the signal controller, and initializing priority control parameters in an algorithm, wherein the priority configuration parameters comprise a priority control parameter ID, a corresponding phase plan number, a corresponding phase list, minimum green light time, maximum red light waiting time and maximum green light time.
In order to further implement the above technical solution, the method further includes the following steps before executing S2: and detecting whether the state of the signal control machine is normal, if so, continuing to S2, and otherwise, closing the intersection signal control machine and sending an alarm instruction.
In order to further implement the above technical solution, the specific content of S3 includes: and judging whether pedestrians wait on the road section corresponding to the target stage according to the detected real-time traffic state data of the intersection, determining the minimum green light time for releasing the target stage according to the judgment result, and then releasing the minimum green light time.
In order to further implement the above technical solution, S3 further includes: after the minimum green light release time is over, judging whether release delay is needed or not according to real-time detected intersection real-time traffic state data and the current stage running state; the judging method specifically comprises the following steps:
(1) if the motor vehicle is driven on the road section corresponding to the current stage, the release time does not reach the set maximum green time, and the release time corresponding to the detected number of vehicles is greater than the emptying time corresponding to the current stage, continuing to release for an extended period and performing cyclic judgment;
(2) if the motor vehicle is driven on the road section corresponding to the current stage, but the release time reaches the set maximum green light time or the release time corresponding to the detected number of vehicles is less than the emptying time corresponding to the current stage, directly carrying out phase switching judgment without carrying out delay judgment;
(3) if no motor vehicle exists at the current stage, the phase switching judgment is directly carried out, and the delay judgment is not carried out any more.
In order to further implement the above technical solution, step S5 further includes determining whether to start blind area detection according to a preset blind area detection start judgment rule, updating configuration parameters of a next stage after the blind area detection is performed, and directly returning to step S2 if the blind area detection is not required.
In order to further implement the above technical solution, the specific content of the blind area detection enabling judgment rule includes:
(1) if the target stage is the next stage adjacent to the current stage, the blind area detection is not carried out any more;
(2) if the target stage is not the next stage adjacent to the current stage, starting blind area detection is confirmed;
the specific contents of the blind area detection rule comprise:
(1) if the current time-the time when the phase switching decision is made is less than the current stage emptying time and the cycle condition of the stage is allowed to be modified emergently, polling to acquire the state and the remaining time of the state of each phase in the current stage, if the state and the remaining time of each phase in the current stage meet the yellow light flashing period and the remaining time is less than the preset time interval or in the full red stage, not allowing the stage to be modified emergently, and exiting the cycle;
(2) and (3) carrying out vehicle detection and judgment on the intersection next to the current stage on the basis that the circulation condition in the step (1) is met, and switching to the next stage of the current stage if motor vehicles, non-motor vehicles or pedestrians wait.
It needs to be further explained that:
the preset time length can be set as required, and is set to 2s in the embodiment
In order to further implement the above technical solution, the phase state includes: green light clearing time precleanance, green light clearing time 2 precleanance 2, yellow light flashing yellowchange, and intersection signal light all red.
In order to further implement the above technical solution, the specific content of phase switching in S5 includes:
(1) acquiring the current stage condition of the signal controller, and acquiring the next stage according to the corresponding phase sequence;
(2) the polling wait signal controller enters the next stage;
(3) waiting for the current stage to enter countdown;
(4) and after the current stage is confirmed to enter countdown, formally sending a command for controlling the next stage to the signal control machine, and simultaneously confirming whether the control command is correctly sent.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. A traffic signal full-induction real-time control method is characterized by comprising the following steps:
s1, initializing control method parameters, wherein the control method parameters comprise phase, phase sequence and priority configuration parameters;
s2, under the condition that the state of the signal control machine is normal, acquiring parameters of a current stage, initializing emptying time of the stage in the control method, and updating starting time of the current stage and latest starting time of the current stage; wherein, the stage is the color state of the signal lamp at the intersection, and the emptying time of the stage is the green flashing time of the green lamp and the yellow lamp time;
s3, acquiring real-time traffic state data of the intersection, and determining and releasing the minimum releasing time of the current stage according to the acquired real-time traffic state data of the intersection; the intersection real-time traffic state data is real-time traffic demand data of traffic participating objects;
s4, determining a next release strategy according to the real-time detected intersection real-time traffic state data, the current stage running state and the phase switching strategy;
the specific content of the phase switching strategy comprises:
(1) judging whether a motor vehicle, a pedestrian or a non-motor vehicle waits at the next stage corresponding to the phase sequence of the current stage, and if so, switching the phase to the next stage; if not, continuing to judge the next stage, and circularly judging until all the stages except the current stage in the phase sequence are traversed and judged;
(2) if all the stages judge that no motor vehicle, pedestrian or non-motor vehicle waits, keeping the current stage;
(3) detecting and judging whether motor vehicles, pedestrians or non-motor vehicles wait at all intersections, and switching phases to a target stage if a traffic demand is detected;
s5, finishing the phase switching capable of jumping the phase according to the release strategy determined in S4, and returning to S2.
2. The method of claim 1, wherein the step S1 includes:
acquiring and initializing parameters of a control method, wherein the parameters comprise signal lamp phase fixed timing configuration, signal lamp phase sequence configuration, entity class PreemptEntity of a priority configuration parameter, array length PreemptSize of the priority configuration parameter and green lamp emptying time array PreClrList of the current phasePlan;
and obtaining intersection stage data according to the current phase sequence data of the signal controller, and initializing priority control parameters in an algorithm, wherein the priority configuration parameters comprise a priority control parameter ID, a corresponding phase plan number, a corresponding phase list, minimum green light time, maximum red light waiting time and maximum green light time.
3. The method of claim 1, wherein the step of executing S2 comprises the following steps: and detecting whether the state of the signal control machine is normal, if so, continuing to S2, and otherwise, closing the intersection signal control machine and sending an alarm instruction.
4. The method of claim 1, wherein the step S3 includes: judging whether pedestrians wait on the road section corresponding to the target stage according to the detected real-time traffic state data of the intersection, determining the minimum green light time for releasing the target stage according to the judgment result, and then releasing the current minimum green light time.
5. The method of claim 1, wherein the step S3 further comprises: after the minimum green light release time is over, judging whether release delay is needed or not according to real-time detected intersection real-time traffic state data and the current stage running state; the judging method specifically comprises the following steps:
(1) if the motor vehicle is driven on the road section corresponding to the current stage, the release time does not reach the set maximum green time, and the release time corresponding to the detected number of vehicles is greater than the emptying time corresponding to the current stage, continuing to release for an extended period and performing cyclic judgment;
(2) if the motor vehicle is driven on the road section corresponding to the current stage, but the release time reaches the set maximum green light time or the release time corresponding to the detected number of vehicles is less than the emptying time corresponding to the current stage, directly carrying out phase switching judgment without carrying out delay judgment;
(3) if no motor vehicle exists at the current stage, the phase switching judgment is directly carried out, and the delay judgment is not carried out any more.
6. The method of claim 1, wherein S5 further comprises determining whether to start blind area detection according to a preset blind area detection start judgment rule, updating configuration parameters of a next stage after the blind area detection is performed, and returning to S2 directly if the blind area detection is not required.
7. The method as claimed in claim 6, wherein the specific content of the blind spot detection enabling judgment rule includes:
(1) if the target stage is the next stage adjacent to the current stage, the blind area detection is not carried out any more;
(2) if the target stage is not the next stage adjacent to the current stage, starting blind area detection is confirmed;
the specific content of the blind area detection rule comprises the following steps:
(1) if the current time-the time when the phase switching decision is made is less than the current stage emptying time and the cycle condition of the stage is allowed to be modified emergently, polling to acquire the state and the remaining time of the state of each phase in the current stage, if the state and the remaining time of each phase in the current stage meet the yellow light flashing period and the remaining time is less than the preset time interval or in the full red stage, not allowing the stage to be modified emergently, and exiting the cycle;
(2) and (3) carrying out vehicle detection and judgment on the intersection next to the current stage on the basis that the circulation condition in the step (1) is met, and switching to the next stage of the current stage if motor vehicles, non-motor vehicles or pedestrians wait.
8. The method of claim 7, wherein the phase state comprises: green light clearing time precleanance, green light clearing time 2 precleanance 2, yellow light flashing yellowchange, and intersection signal light all red.
9. The method as claimed in claim 1, wherein the specific content of the phase switching in S5 includes:
(1) acquiring the current stage condition of the signal controller, and acquiring the next stage according to the corresponding phase sequence;
(2) the polling wait signal controller enters the next stage;
(3) waiting for the current stage to enter countdown;
(4) and after the current stage is confirmed to enter countdown, formally sending a command for controlling the next stage to the signal control machine, and simultaneously confirming whether the control command is correctly sent.
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