CN114202915B - Alternate traffic control method for interleaved road section - Google Patents
Alternate traffic control method for interleaved road section Download PDFInfo
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- CN114202915B CN114202915B CN202111451989.4A CN202111451989A CN114202915B CN 114202915 B CN114202915 B CN 114202915B CN 202111451989 A CN202111451989 A CN 202111451989A CN 114202915 B CN114202915 B CN 114202915B
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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
- G08G1/0125—Traffic data processing
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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
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
- G08G1/0145—Measuring and analyzing of parameters relative to traffic conditions for specific applications for active traffic flow control
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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
- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/081—Plural intersections under common control
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Abstract
The invention discloses an interleaved road section alternate traffic control method, which relates to the technical field of intelligent traffic control.A mark line and a signal lamp are preset through the fine organization of the interleaved road section, and lane traffic state information of two lanes is respectively obtained; determining a switching period of a signal lamp; in each switching period, when waiting vehicles exist on the two lanes, respectively calculating the sum of waiting time of all vehicles on the two lanes according to the traffic state information of the lanes and the waiting time cost function of the lanes; the sum of the waiting time of all vehicles on the lane can reflect the total delay time of the lane; and controlling the phases of the two signal lights according to the total delay time of the two lanes. The invention can meet the requirements of traffic flows from different directions to different destinations, ensure that vehicles can safely and quickly pass through the interleaved road section, eliminate the congestion bottleneck of the interleaved road section and reduce the occurrence rate of traffic accidents.
Description
Technical Field
The invention relates to the technical field of intelligent traffic control, in particular to a traffic passing control method for an interwoven road section.
Background
The intersection road section forms a congestion initiation point by the characteristics of short vehicle meeting distance, more traffic conflicts, large accident risk and the like, and the congestion and even paralysis of the road in one region are often caused at peak time. Vehicles running through the interleaved road section need to cross one or more lanes to enter a target lane in the limited distance of the interleaved road section in order to select a destination, and because the merging and shunting distances are short, conflicts are easily generated in the merging and shunting processes, so that the traffic flow is in a highly disordered state, the traffic capacity of the interleaved road section is greatly reduced, and the driving risk is rapidly improved.
At present, the control modes of the main stream of the interlaced road section are divided into two types:
one is a free-interleaving mode, as shown in fig. 1:
when the motor vehicles from different lanes pass through a short shared lane and then respectively go to lanes in different directions, the positions of the motor vehicles needing to change lanes are not fixed, and the number of conflict points is large, so that a congestion initiation point is formed on the shared lane.
Secondly, a signal lamp control mode, as shown in fig. 2:
and a signal lamp is arranged before entering the interweaving road section, two lanes at the port A share one signal lamp phase, and two lanes at the port B share one signal lamp phase. And the traffic sequence of the interleaved road section is controlled by carrying out signal lamp phase conversion on the A/B port. The vehicle lane changing system has the advantages that vehicles at the A port and the B port do not collide in the passing process, but the vehicles between two lanes in the same direction still collide in the lane changing process when entering the interleaved road section.
When the phase of the traffic light is switched to the a/B port, one mode is: the method does not consider the situation that vehicles wait on a lane, although the vehicles at the A port reach the stop line first, the vehicles at the A port reach only a few vehicles behind the vehicles at the stop line, and a lot of vehicles follow the vehicles at the B port, so that the traffic light phase conversion mode can cause a lot of congestion at the B port. The other mode is as follows: and (3) adopting a queuing length threshold value release principle, and controlling the signal lamps corresponding to the corresponding lanes to be in a passing state when the queuing length (namely the number of waiting vehicles) of the vehicles on the lanes is greater than a threshold value. However, when vehicles are queued in both lanes, in practical situations, there are often situations where one lane is queued long in succession, which easily causes one lane to be always cleared and the other lane to be always queued for waiting. Therefore, one lane of the downstream lane is idle, no vehicle passes through, and the road use efficiency is reduced.
In summary, the above control methods are all very likely to cause traffic conflicts, form congestion-causing points, and have low road utilization efficiency.
Disclosure of Invention
In view of the above, the invention provides an interleaved road section alternate traffic control method, which solves the problems of low interleaved road section traffic efficiency and low road use efficiency of the existing interleaved road section due to the fact that the position and direction of a motor vehicle for changing lanes are not fixed and the control mode of a traffic signal lamp is not matched with the actual traffic condition, so as to meet the requirements of traffic travelers and improve the travel efficiency and safety of the interleaved road section.
Therefore, the invention provides the following technical scheme:
the invention provides an interleaved road section alternate traffic control method, wherein the interleaved road section at least comprises two driving-in directions and two driving-out directions, a first lane and a second lane are arranged in the first driving-in direction, a third lane and a fourth lane are arranged in the second driving-in direction, a fifth lane and a sixth lane are arranged in the first driving-out direction, a seventh lane and an eighth lane are arranged in the second driving-out direction, the second lane and the third lane are converged in the interleaved road section to form an interleaved road section shared lane, and the downstream of the interleaved road section shared lane is respectively connected with the sixth lane and the seventh lane; a first signal lamp and a first stop line are arranged at an entrance of the second lane entering the common lane of the interleaved road section, and a second signal lamp and a second stop line are arranged at an entrance of the third lane entering the common lane of the interleaved road section; the method comprises the following steps:
respectively acquiring lane traffic state information of the second lane and the third lane; the lane traffic status information includes: the running speed of any vehicle, the average head distance, the distance between any vehicle and the corresponding stop line, the number of waiting vehicles in front of any vehicle and the traffic flow at the current moment;
determining a phase switching period of a signal lamp;
determining whether waiting vehicles exist on the second lane and the third lane according to the lane traffic state information in each switching period;
when waiting vehicles exist on the second lane and the third lane, respectively calculating the sum of waiting time of all vehicles on the second lane and the third lane according to the lane traffic state information and the waiting time cost function of the lanes; the sum of the waiting time of all vehicles on the lane can reflect the total delay time of the lane, and the waiting time cost function of the lane is as follows:
wherein: wtim is the sum of waiting time required by each vehicle in a detection area behind a stop line of the lane; i represents the ith time; j represents the jth vehicle on the lane; delta is a signal lamp conversion time constant; lambda [ alpha ] gap Is a green space; n is the total number of all vehicles waiting to pass in the detection area behind the stop line of the lane; g i The time length of green light of the signal lamp corresponding to the lane at the ith moment G i Calculating according to the phase switching period of the signal lamp at the ith moment, the traffic flow ratio of the lane and the sum of the traffic flow ratios of the second lane and the third lane; t is t ij Indicating the time when the red light is turned on and the red light is turned on when the vehicle j reaches the stop line at the ith moment; t is t ij Calculating according to the running speed of the vehicle j at the ith moment, the average head distance, the distance from the vehicle j to the corresponding stop line and the number of waiting vehicles in front of the vehicle j;
and controlling the phases of the first signal lamp and the second signal lamp according to the total delay time of the second lane and the third lane.
Further, t ij Calculated by the formula:
wherein: v. of j The driving speed of the vehicle j and the d is the average distance between the heads; s j The distance of the vehicle j from the stop line; l j The number of waiting vehicles ahead of the vehicle j.
Further, determining the switching period of the signal lamp at the current moment comprises:
according to the Webster timing method, the signal period at the ith moment is as follows:
wherein λ is i Vehicle start lost time for the ith time; eta i The traffic flow ratio eta of the second lane at the ith moment 1i And the traffic flow ratio eta of the third lane 2i Sum, i.e. η i ＝η 1i +η 2i ；
q 1i The traffic flow of the second lane at the ith moment; q. q.s 1i The traffic flow of the third lane at the ith moment; and s is the lane saturation traffic flow.
Furthermore, a lane radar sensor is arranged on the second lane from the first stop line along the reverse direction of the vehicle running direction at intervals of a first preset distance; a radar sensor is arranged on the third lane from the first stop line along the reverse direction of the vehicle running direction at intervals of a first preset distance; a magnetic induction coil is arranged on the second lane at a second preset distance from the first stop line along the opposite direction of the driving direction; a magnetic induction coil is arranged on the third lane at a second preset distance from the second stop line along the reverse direction of the driving direction;
correspondingly, traffic state information of two lanes is respectively acquired, and the method comprises the following steps:
respectively acquiring the running speed of any vehicle at the current moment in the second lane and the third lane, the average head distance and the distance between any vehicle and a corresponding stop line by using the arranged radar sensors;
and acquiring the traffic flow of the two lanes by using the magnetic induction coil.
Further, before determining whether there is a waiting vehicle on the second lane and the third lane according to the lane traffic state information, the method further includes:
acquiring the average speed of the downstream outlet traffic flow of the common lane of the interleaved road section;
determining a congestion state according to the average speed of the traffic flow;
when the downstream exit of the common lane of the interleaved road section is in a congestion state, setting a signal lamp corresponding to a lane where a vehicle to be driven into the common lane of the interleaved road section is located as a red lamp;
and when the downstream outlet of the common lane of the interleaved road section is in a non-congestion state, determining whether waiting vehicles exist on the second lane and the third lane or not according to the lane traffic state information.
Further, controlling the phases of the first signal light and the second signal light according to the total delay time of the second lane and the third lane includes:
setting the current phase of the first signal lamp as a green lamp, and comparing the total delay time of the second lane with the total delay time of the third lane after the minimum green lamp duration of the first signal lamp;
if the total delay time of the second lane is less than that of the third lane, controlling the switching phases of the first signal lamp and the second signal lamp;
if the total delay time of the second lane is greater than or equal to the total delay time of the third lane, keeping the first signal lamp and the second signal lamp unchanged;
and if the lamp-green duration of the first signal reaches the maximum duration or the lamp-green duration of the second signal reaches the maximum duration, controlling the switching phase of the first signal lamp and the second signal lamp.
Further, when there is no waiting vehicle on both the second lane and the third lane:
and determining the lane of the vehicle which reaches the corresponding stop line before according to the lane traffic state information, and controlling the signal lamp corresponding to the lane to be a green lamp.
Further, when the vehicle still waits to pass when the green time of the second lane reaches the maximum time and the third lane has no vehicle waiting, controlling the first signal lamp to keep the green light, recording the green duration of the first signal lamp again, and updating the maximum green time of the first signal lamp;
when the third lane has the vehicle waiting to pass when the green time reaches the maximum time and the second lane has no vehicle waiting, controlling the second signal lamp to keep the green, recording the green duration of the second signal lamp again, and updating the maximum time of the first signal lamp green time.
The invention has the advantages and positive effects that:
the interleaved road section alternate traffic control method provided by the invention adopts the steps of accurately calculating the delay time of each vehicle on the lane, controlling the traffic through the delay time, setting the maximum traffic time, providing a brand-new thought for interleaved road section traffic control, realizing the redistribution of road network flow, ensuring that the space-time distribution of traffic flow in a road network tends to be uniform, reducing the probability of traffic jam, effectively improving the road traffic efficiency, further improving the road occupancy of a downstream lane and ensuring that the running state of the road network is more optimal. Aiming at the current situation that traffic flow of an interleaved road section (such as a northeast road-a colorful cloud road in the city of Dalian) is large and congestion occurs frequently at the peak in the morning and evening of a working day, the control method accurately and efficiently solves the problem of congestion of the interleaved road section.
Based on the Webster formula, the invention increases the signal control influence factors by the loss time and the traffic flow factors of the interleaved section, comprehensively masters and considers the running state of the interleaved section, better and more accurately reduces the total delay time of the lane of the interleaved section to the maximum extent, and realizes the improvement of the alternate traffic efficiency of the interleaved section. Different from the prior art in which the queuing length is simply considered, the delay time of a single lane is only compressed from the representation, the total delay time of two lanes is ignored, and the total delay time is increased in many times, so that the traffic efficiency of the whole interleaved road section is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic diagram of a free-form interlacing mode for interlaced road segments;
FIG. 2 is a schematic view of a signal lamp control pattern for an interlaced road segment;
FIG. 3 is a schematic diagram of preset marking lines of an interlaced road section according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of holographic sensing adaptive control modes of an interleaved road segment according to an embodiment of the present invention;
fig. 5 is a flowchart of an alternate traffic control method for an interlaced road segment according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, 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.
According to the invention, through deep analysis of the structural characteristics of the interleaved road section, a fine control mode of the interleaved road section is provided, a mark and marked line is set, a lane in a travel target direction is specified in advance before the interleaved road section is entered, specifically, the interleaved road section at least has two entrance directions and two exit directions, a first lane and a second lane are arranged in the first entrance direction, a third lane and a fourth lane are arranged in the second entrance direction, a fifth lane and a sixth lane are arranged in the first exit direction, a seventh lane and an eighth lane are arranged in the second exit direction, the second lane and the third lane are converged in the interleaved road section to form an interleaved road section common lane, and the downstream of the interleaved road section common lane is respectively connected with the sixth lane and the seventh lane. As shown in fig. 3, lane a1 of the entrance a is led to lane C1 of the exit C, lane B2 of the entrance B is led to lane D2 of the exit D, and lane change is not allowed in the process of passing; the lane changing method has the advantages that the lane changing is carried out on the interleaved road section areas of the A2 lane of the entrance A and the B1 lane of the entrance B, so that the vehicles in the two outer lanes cannot be jammed or collided in the process of passing to the respective destinations, the lane changing times of the vehicles passing through the interleaved road section are effectively reduced, and the passing efficiency is improved.
In order to further improve the passing efficiency and alleviate the problem of vehicle lane change conflict in the passing process of two inner lanes to respective destinations in the interleaved road section control mode in fig. 3, in the embodiment of the present invention, signal lamps are arranged, specifically, a first stop line and a first signal lamp are arranged downstream of a second lane, and a second stop line and a second signal lamp are arranged downstream of a third lane. As shown in fig. 4, on the basis of the sign line, signal lights are provided at the lanes a2 and B1, respectively. The advantage of having the signal lights at a2 and B1 is that the vehicles will pass in sequence, and when the green light at a2, the vehicle at a2 will reach D1 smoothly. The vehicle at B1 can smoothly reach C2 when B1 is a green light.
When the phase of the signal lamp is controlled, the speed and position information of each vehicle in the lane is accurately acquired according to the radar sensor, so that the time from each vehicle to a stop line is calculated, a time waiting cost function is established according to the vehicle queuing waiting time, the total delay time of the lane is calculated and obtained, the total delay time of the lane is taken as a control target of the traffic signal lamp, the green light duration of the traffic signal lamp is dynamically changed, and the traffic efficiency of the vehicles on the lane is improved.
As shown in fig. 5, it shows a flowchart of an alternate traffic control method for interlaced road segments according to an embodiment of the present invention, the method includes the following steps:
s1, acquiring information acquired by the radar sensor and the magnetic induction coil in real time, and calculating to obtain lane traffic state information of lanes A2 and B1 of the interleaved road section;
the method can acquire the information such as real-time speed, position, traffic flow and the like of any vehicle in the detection area behind the stop line on the interleaved road sections A2 and B1 based on the radar sensor and the magnetic induction coil, and calculate the information reflecting the traffic state of the lane such as the average distance between the heads of the vehicles, the distance between the vehicles and the corresponding stop line, the number of waiting vehicles in front of the vehicles and the like according to the information such as the real-time speed, the real-time position and the like.
The radar sensors are arranged one at a time at a first preset distance, which is usually 100m-120m, from the stop line of two lanes (a2 and B1) to the detection area, which is an area 1350 meters from the stop line of the lane to the opposite direction of the driving direction, and accordingly, the sensing area of the radar sensors is 1350 meters in length. The magnetic induction coils are arranged at the positions, away from the stop line in the opposite direction of the driving direction, of a second preset distance, one magnetic induction coil is arranged on one lane, the number of the magnetic induction coils is two, and the second preset distance is the boundary point of the detection area and is 1350 meters. In a specific implementation, the first preset distance, the second preset distance, and the detection area may be set according to an actual road segment length and a precision of the radar sensor.
S2, calculating the time of each vehicle in the detection area after the stop line of the interlaced road sections A2 and B1;
s3, judging whether the downstream outlet of the interweaving road section is congested or not;
at the downstream exit of the interweaving road section, two radar sensors are arranged on the lane C2 at a first preset distance from the separation point of the interweaving road section along the driving direction of the vehicle, and the first preset distance is usually 100-120 meters. Likewise, two radar sensors are provided on the lane D1 at a first preset distance from the point of separation of the woven section in the vehicle traveling direction. Monitoring the average speed of the downstream traffic flow of the interleaved road section through a radar sensor, and determining whether the downstream of the interleaved road section is congested or not by judging whether the average speed is less than or equal to a threshold value or not; the threshold is usually set to 15 km/h, and if the average speed is equal to or lower than the threshold, the traffic jam is considered.
S4, when an outlet at the downstream of the interweaving road section is congested, setting the first signal lamp and the second signal lamp to be in a forbidden state (red lamp) to prevent the vehicle from following and blocking the interweaving area;
s5, when the downstream exit of the interleaved section is unblocked, namely the average speed of the traffic flow downstream of the interleaved section is monitored by a radar sensor to be more than 15 km/h, the traffic signals of the lanes A2 and B1 of the interleaved section are controlled in three situations (for the convenience of description, because only two lanes are considered, the lanes are respectively called lane 1 and lane 2):
setting the minimum time length and the maximum time length of green time of signal lamps of two lanes; the set minimum and maximum time lengths of the green time of the two lane signal lamps are respectively
And
(
is a fixed value, typically 2 s;
will be updated during actual operation).
When neither lane 1 nor lane 2 has a vehicle waiting:
based on the real-time speed and position information detected by the radar sensor, the vehicle in which lane firstly arrives at the stop line and the lane is firstly led to be a green light.
② when the actual green time of the lane 1 reaches the maximum time
There are still vehicles waiting to pass and lane 2 has no vehicles waiting:
keeping green light for lane 1 signal, and renewing green light time duration
When the actual green time of lane 2 reaches the maximum time
There are still vehicles waiting to pass and lane 1 has no vehicles waiting:
keeping green light for lane 2 signal, counting again the duration of green light time, and updating
And thirdly, when the lane 1 and the lane 2 have vehicles to wait:
and if the lane 1 is a green light at the moment, continuously comparing the waiting time cost functions of the two lanes after the minimum green light duration, and judging whether to change the phase of the traffic signal lamp.
Latency cost function: the method accurately reflects the set of the waiting time of each vehicle of the two lanes, and can accurately reflect the total delay time of the two lanes. The Webster method is introduced, so that more factors influencing the traffic condition of the lane, such as loss time, traffic flow and lane saturation flow, are considered by the waiting time cost function, and therefore the waiting time cost function better reflects the traffic running state of the lane and better controls traffic lights. Specifically, the method comprises the following steps:
defining a latency cost function Wtim for two lanes 1 And Wtim 2 The function value is not negative, the initial value is set to 0, and the waiting time cost function Wtim 1 And Wtim 2 The calculation of (c) is as follows:
wherein:
Wtim 1 the total waiting time required by each vehicle in the detection area after 1 lane (single lane) stop line is calculated;
Wtim 2 the total waiting time of each vehicle in the detection area after 2 lanes (single lane) stop line is calculated;
i represents the ith time;
j represents the jth vehicle on the lane;
delta is a signal lamp switching time constant, namely the signal lamp yellow lamp duration, and is usually 3 s;
λ gap the green interval is preset according to the traffic flow at the intersection and is usually set to be 2 s;
n 1 the total number of all vehicles waiting to pass in the detection area behind the lane stop line is 1;
n 2 the total number of all vehicles waiting to pass in the detection area behind the lane stop line is 2;
G 1i the theoretically calculated green time length of the first signal lamp at the ith moment,
G 1i and the constraint conditions are met:
when in use
G 1i Get
And (6) performing calculation.
G 2i The theoretically calculated green time length of the second signal lamp at the ith moment,
G 2i and the constraint conditions are met:
when in use
G 2i Get
And (6) performing calculation.
According to the Webster timing method, the signal period at the ith moment is as follows:
wherein λ is i Vehicle start lost time for the ith time (the start time of the first vehicle after the radar sensor measures the stop line); eta i The traffic flow ratio eta of the lane at the ith time 1 1i And 2 lane traffic flow ratio η 2i Sum, i.e. η i ＝η 1i +η 2i ；
q 1i The traffic flow of the 1 st lane at the ith moment is measured by a magnetic induction coil arranged on the 1 st lane; q. q.s 1i The traffic flow of the 2 lanes at the ith moment is measured by magnetic induction coils arranged on the 2 lanes; s is the saturated traffic flow of 1 and 2 lanes, and a numerical value is given as a constant when a road is designed;
t ij the time that the red light is turned on when the vehicle j reaches the parking waiting point at the ith moment when the red light is turned on is shown; the parking waiting point is positioned at a parking position of the vehicle when meeting the red light, and is a parking line or is close to the rear of the vehicle already parked when meeting the red light; t is t ij Can be calculated by the formula:
wherein: v. of j The driving speed of the vehicle j at the ith moment is d, and the average distance between the vehicle heads is d; s j Distance of vehicle j from stop line; l j Number of waiting vehicles ahead of vehicle j, d, S j 、l j All can be measured by a radar sensor arranged on the lane.
The meanings of equations (1) and (2) are: the waiting time of each vehicle on each lane is firstly obtained, the set of the waiting time of each vehicle on the two lanes is accurately reflected, and then the waiting time of all vehicles on each lane is summed so as to accurately reflect the total delay time of the two lanes.
If Wtim 1 ＜Wtim 2 Lane 1 changes to red and lane 2 changes to green.
If Wtim 1 ≥Wtim 2 Then the signal lamp is kept unchanged.
If the green time of the signal lamp reaches the maximum time
Or
The lane 1 and lane 2 lights will switch.
The time waiting cost function is based on a Webster method, various lane delay factors such as loss time, traffic flow, lane saturation flow and the like are considered, the actual lane traffic running state can be reflected more comprehensively and accurately, road traffic switching is achieved through the time waiting cost function, and road traffic efficiency is improved.
In the embodiment of the invention, through the fine organization of the interleaved road sections, the marking lines and the signal lamps are preset, the data such as the current position, the current speed and the time of reaching the stop line at the current moment of each vehicle are tracked in real time according to holographic perception, the traffic flow characteristics of the interleaved road sections are comprehensively analyzed, the corresponding control strategy is formulated, the self-adaptive control of traffic signals of the interleaved road sections is realized, the requirements of traffic flows from different directions to different destinations are met, the vehicles can safely and quickly pass through the interleaved road sections, the bottleneck of the interleaved road sections is eliminated, and the occurrence rate of traffic accidents is reduced.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (7)
1. The interleaved section has at least two entering directions and two exiting directions, a first lane and a second lane are arranged in the first entering direction, a third lane and a fourth lane are arranged in the second entering direction, a fifth lane and a sixth lane are arranged in the first exiting direction, a seventh lane and an eighth lane are arranged in the second exiting direction, the second lane and the third lane are converged in the interleaved section to form an interleaved section common lane, and the downstream of the interleaved section common lane is respectively connected with the sixth lane and the seventh lane; a first signal lamp and a first stop line are arranged at an entrance of the common lane of the interleaved section on the second lane, and a second signal lamp and a second stop line are arranged at an entrance of the common lane of the interleaved section on the third lane; the method comprises the following steps:
respectively acquiring lane traffic state information of the second lane and the third lane; the lane traffic status information includes: the running speed of any vehicle, the average head distance, the distance between any vehicle and the corresponding stop line, the number of waiting vehicles in front of any vehicle and the traffic flow at the current moment;
determining a phase switching period of a signal lamp;
determining whether waiting vehicles exist on the second lane and the third lane according to the lane traffic state information in each switching period;
when waiting vehicles exist on the second lane and the third lane, respectively calculating the sum of waiting time of all vehicles on the second lane and the third lane according to the lane traffic state information and the waiting time cost function of the lanes; the sum of the waiting time of all vehicles on the lane can reflect the total delay time of the lane, and the waiting time cost function of the lane is as follows:
wherein: wtim is the sum of waiting time required by each vehicle in a detection area behind a stop line of the lane; i represents the ith time; j represents the jth vehicle on the lane; delta is a signal lamp conversion time constant; lambda [ alpha ] gap Is a green space; n is the stop line post-inspection of the laneMeasuring the total number of all vehicles waiting to pass in the area; g i The time length of green light of the signal lamp corresponding to the lane at the ith moment G i Calculating according to the phase switching period of the signal lamp at the ith moment, the traffic flow ratio of the lane and the sum of the traffic flow ratios of the second lane and the third lane; t is t ij Indicating the time when the red light is turned on and the red light is turned on when the vehicle j reaches the stop line at the ith moment; t is t ij Calculating according to the running speed of the vehicle j at the ith moment, the average head distance, the distance from the vehicle j to the corresponding stop line and the number of waiting vehicles in front of the vehicle j;
controlling the phases of the first signal lamp and the second signal lamp according to the total delay time of the second lane and the third lane, comprising:
setting the current phase of the first signal lamp as a green lamp, and comparing the total delay time of the second lane with the total delay time of the third lane after the minimum green lamp duration of the first signal lamp;
if the total delay time of the second lane is less than that of the third lane, controlling the switching phases of the first signal lamp and the second signal lamp;
if the total delay time of the second lane is greater than or equal to the total delay time of the third lane, keeping the first signal lamp and the second signal lamp unchanged;
and if the lamp-green duration of the first signal reaches the maximum duration or the lamp-green duration of the second signal reaches the maximum duration, controlling the switching phases of the first signal lamp and the second signal lamp.
2. The method as claimed in claim 1, wherein t is the number of the segments ij Calculated by the formula:
wherein: v. of j The running speed of the vehicle j and the average headway distance d are shown; s j Distance of vehicle j from stop line; l j The number of waiting vehicles ahead of vehicle j.
3. The method as claimed in claim 1, wherein determining the switching period of the traffic light at the current time comprises:
according to the Webster timing method, the signal period at the ith moment is as follows:
wherein λ is i Vehicle start lost time for the ith time; eta i The traffic flow ratio eta of the second lane at the ith moment 1i And the traffic flow ratio eta of the third lane 2i Sum, i.e. η i ＝η 1i +η 2i ；
q 1i The traffic flow of the second lane at the ith moment; q. q.s 1i The traffic flow of the third lane at the ith moment; and s is the lane saturation traffic flow.
4. The interleaved route alternating passage control method according to claim 2, wherein a lane radar sensor is provided on the second lane at every first predetermined distance in a direction opposite to a vehicle traveling direction from the first stop line; a radar sensor is arranged on the third lane from the second stop line along the reverse direction of the vehicle running direction at intervals of a first preset distance; a magnetic induction coil is arranged on the second lane at a second preset distance from the first stop line along the opposite direction of the driving direction; a magnetic induction coil is arranged on the third lane at a second preset distance from the second stop line along the reverse direction of the driving direction;
correspondingly, traffic state information of two lanes is respectively acquired, and the method comprises the following steps:
respectively acquiring the running speed of any vehicle at the current moment in the second lane and the third lane, the average head distance and the distance between any vehicle and a corresponding stop line by using the arranged radar sensors;
and acquiring the traffic flow of the two lanes by using the magnetic induction coil.
5. The interleaved road segment alternate transit control method according to claim 1, further comprising, before determining whether there is a waiting vehicle on the second lane and the third lane according to the lane traffic state information:
acquiring the average speed of the downstream outlet traffic flow of the common lane of the interleaved road section;
determining a congestion state according to the average speed of the traffic flow;
when the downstream exit of the common lane of the interleaved road section is in a congestion state, setting a signal lamp corresponding to a lane where a vehicle to be driven into the common lane of the interleaved road section is located as a red lamp;
and when the downstream outlet of the common lane of the interleaved road section is in a non-congestion state, determining whether waiting vehicles exist on the second lane and the third lane or not according to the lane traffic state information.
6. The interleaved route section alternate passage control method according to claim 1, wherein when there is no waiting vehicle on either of the second lane and the third lane:
and determining the lane of the vehicle which reaches the corresponding stop line first according to the lane traffic state information, and controlling the signal lamp corresponding to the lane to be a green lamp.
7. The interleaved road segment alternate passage control method according to claim 1, wherein when there is still a vehicle waiting to pass when the green time of the second lane reaches the maximum time period and there is no vehicle waiting in the third lane, the first signal lamp is controlled to keep green, the green duration of the first signal lamp is recorded again, and the maximum green time period of the first signal lamp is updated;
when the third lane has the vehicle waiting to pass when the green time reaches the maximum time and the second lane has no vehicle waiting, controlling the second signal lamp to keep the green, recording the green duration of the second signal lamp again, and updating the maximum time of the first signal lamp green time.
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