CN114267189A - Expressway exit ramp and junction intersection combined control method - Google Patents
Expressway exit ramp and junction intersection combined control method Download PDFInfo
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Abstract
The invention discloses a united control method for an exit ramp and a junction intersection of an expressway, which comprises the steps of controlling signals of the junction intersection, judging whether auxiliary road pre-signals are set or not and calculating the duration of green lights, calculating parking times and establishing a bidirectional optimization model, constructing a united control model for the exit ramp and the junction intersection, and solving an objective function by using an NSGA-II algorithm; according to the invention, on the basis of controlling the car networking of the expressway exit ramp and the ground connection area, the exit ramp is not controlled, the pre-signal is set on the auxiliary road, the NEMA double-ring phase control is adopted at the connection intersection, two traffic flows with conflict are effectively prevented from being released simultaneously, the safety of the intersection on the space is ensured, the timing is not limited to the unification of two phase time, more phases and timing schemes are provided, and the time-space resources of the intersection are fully utilized.
Description
Technical Field
The invention relates to the technical field of expressway exit traffic control, in particular to an expressway exit ramp and junction intersection combined control method.
Background
Under the environment of the internet of vehicles, the control method of the connection area of the exit ramp and the ground can improve the operation efficiency of the connection area, reduce delay caused by random lane changing of vehicles, and solve the problems that the traffic demand change of the exit ramp and the connection intersection is large, the traditional timing methods such as fixed signal timing, multi-period timing and the like cannot acquire the traffic demand change of the exit ramp and the connection intersection in time, and the connection intersection is easy to queue too long traffic.
Disclosure of Invention
In order to solve the problems, the invention aims to provide a combined control method for an expressway exit ramp and a connection intersection, which is characterized in that the exit ramp is not controlled on the basis of vehicle networking control over the expressway exit ramp and a ground connection area, a pre-signal is set on an auxiliary road, and the connection intersection adopts NEMA double-ring phase control, so that two traffic flows with conflicts are effectively prevented from being released simultaneously, the safety of the intersection on the space is ensured, the time distribution is not limited to the unification of two phase times, more phase and time distribution schemes are provided, and the space-time resources of the intersection are fully utilized.
In order to realize the purpose of the invention, the invention is realized by the following technical scheme: a united control method for an exit ramp and a junction intersection of an express way comprises the following steps:
controlling a connection intersection signal by adopting a signal control method of a NEMA double-loop phase structure, determining the period duration of the connection intersection by a Webster method, introducing a transition phase to calculate a flow rate ratio, and performing effective green time distribution by the flow rate ratio;
step two, auxiliary road signal control, namely judging whether a pre-signal of an auxiliary road is set or not according to the arrival rate of the auxiliary road, and calculating the green light duration of the auxiliary road according to the traffic conservation of the lane and the phase of the exit ramp direction;
calculating the parking times by adopting a transition function coordination transformation delay calculation model, optimizing a signal control parameter of a secondary road signal and a connection intersection by combining a signal timing parameter of a connection intersection and a signal timing parameter of a secondary road initial, and establishing a bidirectional optimization model of signal parameters and speed guidance;
step four, constructing a combined control model of the exit ramp and the junction intersection by using a bidirectional optimization model and combining bidirectional information exchange between vehicles and infrastructure under the environment of the Internet of vehicles according to an objective function with minimum vehicle average delay and average parking times;
and step five, solving the target function of the combined control model by using an NSGA-II algorithm to obtain the minimum value of the average delay and the average parking times of the vehicle, and finishing the optimization of signal control.
The further improvement lies in that: the NEMA double-ring phase structure in the step one has 8 phases, the phases 1, 3, 5 and 7 are defined as left-turn traffic phases, the phases 2, 4, 6 and 8 are defined as straight traffic phases, the two barriers and the two groups of phase rings are divided into phases of a main road and a secondary road, the phases of an exit ramp and the secondary road are main road phases, the phase of an intersected road is a secondary main road phase, and the green light time of each phase of the NEMA double-ring phase structure meets the following relation
Ge1+Ge2-Ge5-Ge6＝0
Ge3+Ge4-Ge7-Ge8＝0
C＝G1+G2＝Ge1+Ge2+Ge3+Ge4
In the formula G1，G2Time, in units of s, representing the two phases of the blocking, i.e. the duration of the phase of the main road on which the exit ramp is located and the duration of the phase of the secondary road on which the intersecting road is located, GeiThe display green time of 8 phases is represented, i is 1, 2, …, 7 and 8, the unit is s, C represents the period duration, and 20n is satisfiedmax≤C≤60nmaxWherein n ismaxRepresents the maximum number of phases in each ring of the NEMA dual ring phase structure.
The further improvement lies in that: the period duration calculation formula in the step one is
Wherein l represents the total loss time of each phase, Y represents the sum of the maximum flow rate ratios of each phase, and the total flow rate ratio of the NEMA phase is expressed by the following formula
In the formula yi，y`iRepresenting the flow rate ratio of the i-th ring as a whole, ei，jRepresenting the ratio of the flow rates at the j-th bit, from left to right, on the ith ring, j representing the j-th bit, from left to right, and i representing the ith ring.
The further improvement lies in that: in the first step, when the effective green time is distributed, the ratio of the key flow rate ratio of each phase to the total effective green time is calculated, and then the distribution is carried out according to the traditional signal timing idea.
The further improvement lies in that: the arrival rate q of the auxiliary road in the step twofSatisfy the requirement of
When q is less than q, no pre-signal is set for the auxiliary roadfSatisfy the requirement of
Setting a pre-signal to the auxiliary road, wherein gs，eAnd gl，eGreen time, N, indicating straight and left-hand phasesf，maxRepresenting the maximum number of vehicles in line, q, allowed without affecting the control of the junction areaoThe arrival rate of the exit ramp is represented, s represents the saturation flow rate, and n represents the number of lanes of the entrance ramp.
Further improvements toThe method is characterized in that: in the second step, when the green light time of the auxiliary road is calculated, the green light time is defined as gfIn a signal period, when the direction of the exit ramp is in a left-turn phase, the auxiliary green light duration is gf，1Calculated from the following equation
When the direction of the exit ramp is a straight-going phase, the green light duration g of the auxiliary roadf，2Calculated from the following equation
Finally, the duration of the green light of the auxiliary road meets gf＝min(gf，1，gf，2) In the formula slAnd ssIndicating the saturation flow rate, ζ, of a straight-through lane and a left-turn lanelAnd ζsRepresenting the ratio of left-hand to straight-hand movement of the vehicles on the off-ramp, σlAnd σsIndicating the left turn ratio and the straight-ahead ratio of the vehicle on the side, nl，nsIndicating the number of left-turn lanes and the number of straight lanes, N, of the exit lane on which the exit ramp is locatedl，NsQ' representing the number of vehicles staying in the left-turn lane and the straight-through lanefIndicating the saturation flow rate of the secondary circuit.
The further improvement lies in that: and the number of parking times calculated by the transition function coordination transformation delay calculation model in the step three
Consists of three parts of the number of times of parking in an unsaturated state, the number of times of parking in a transition part and the number of times of parking in an oversaturated state, and is calculated by the following formula
In the formula n1Indicating the period of observation, xpRepresenting the saturation of the p-phase, qpVehicle arrival rate representing p phase, C cycle duration, x1Indicating a low saturation threshold, x2Indicates a high saturation threshold, where p is 1, 2, …, 7, 8.
The further improvement lies in that: the minimum objective function in the fourth step is
In the formula Qk，pRepresenting the total traffic in phase p of the k period,
indicating vehicle delay at p-phase of the k-cycle,
indicating the average number of stops in phase p over the k period.
The invention has the beneficial effects that: according to the invention, on the basis of controlling the car networking of the expressway exit ramp and the ground connection area, the exit ramp is not controlled, the pre-signal is set on the auxiliary road, the NEMA double-ring phase control is adopted at the connection intersection, two traffic flows with conflict are effectively prevented from being released simultaneously, the safety of the intersection on the space is ensured, the timing is not limited to the unification of two phase time, more phases and timing schemes are provided, and the time-space resources of the intersection are fully utilized;
meanwhile, the minimum delay and parking times are used as an objective function, a combined control model of the lower exit ramp and the junction intersection of the Internet of vehicles is constructed, the environmental benefit and the traffic efficiency of the junction area and the whole intersection are improved, and the fuel consumption 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 used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only 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 flow chart of a control method of the present invention.
Fig. 2 is a diagram of the dual ring phase structure of the present invention.
FIG. 3 is a dual ring phase division diagram of the present invention.
Detailed Description
In order to further understand the present invention, the following detailed description will be made with reference to the following examples, which are only used for explaining the present invention and are not to be construed as limiting the scope of the present invention.
Example one
According to fig. 1, 2, and 3, the present embodiment provides a combined control method for an expressway exit ramp and a junction intersection, including the following steps:
the method comprises the steps that firstly, intersection signal control is carried out, signals of an engaged intersection are controlled by adopting a signal control method of a NEMA double-loop phase structure, the period duration of the engaged intersection is determined through a Webster method, then a transition phase is introduced to calculate a flow rate ratio, effective green light time distribution is carried out through the flow rate ratio, the ratio of the key flow rate ratio of each phase to the total effective green light time is calculated when the effective green light time distribution is carried out, and then distribution is carried out according to the traditional signal timing idea;
the NEMA dual-ring phase structure has 8 phases, as shown in fig. 2 of the specification, the phases 1, 3, 5 and 7 are defined as left-turn traffic phases, the phases 2, 4, 6 and 8 are defined as straight traffic phases, the left-turn phases belong to protection phases, the left-turn phases are divided into phases of a main road and a secondary road by two barriers and two groups of phase rings, the phases of an exit ramp and a secondary road are main road phases, the phase of an intersected road is a secondary main road phase, and the green light time of each phase of the NEMA dual-ring phase structure meets the following relation:
Ge1+Ge2-Ge5-Ge6＝0
Ge3+Ge4-Ge7-Ge8＝0
C＝G1+G2＝Ge1+Ge2+Ge3+Ge4
in the formula G1，G2Time, in units of s, representing the two phases of the blocking, i.e. the duration of the phase of the main road on which the exit ramp is located and the duration of the phase of the secondary road on which the intersecting road is located, GeiA display green time representing 8 phases, i ═ 1, 2, …, 7, 8, in units of s, and C represents the cycle duration;
the period duration is calculated by the formula
Wherein l represents total loss time of each phase, Y represents the sum of maximum flow rate ratio of each phase, the calculation of key flow rate ratio of NEMA phase is to introduce transition phase on the definition of traditional phase, as shown in figure 3 of the specification, the east-west direction is divided into three phases according to the definition of traditional phase, east-west left turn, west-west straight turn and left-west straight turn, and the phase II is equivalent to the extension of east-east left turn green light time, the total flow rate ratio of NEMA phase is represented by the following formula
In the formula yi，y`iRepresenting the flow rate ratio of the i-th ring as a whole, ei，jRepresenting the ratio of the flow rates at the jth bit, left to right, on the ith ring, j representing the jth bit, left to right, i representing the ith ring;
for the effective green time allocation, the traditional signal timing idea is still adopted, the ratio of the key flow rate ratio of each phase to the total effective green time is calculated, allocation is carried out according to the ratio, and the effective green time of the phase I:
effective green time for phases i and ii:
effective green time for phase ii:
Ge2＝Ge1+2-Ge1
effective green time for phase iii:
the effective green time of the other phases can be obtained according to the method, and if the NEMA phase and the traditional phase are used in combination, the effective green time of the traditional phase is calculated according to the Webster method;
step two, auxiliary road signal control, judging whether to set auxiliary road pre-signal and auxiliary road arrival rate q according to the auxiliary road arrival ratefSatisfy the requirement of
When q is less than q, no pre-signal is set for the auxiliary roadfSatisfy the requirement of
Setting a pre-signal to the auxiliary road, wherein gs，eAnd gl，eGreen time, N, indicating straight and left-hand phasesf，maxRepresenting the maximum number of vehicles in line, q, allowed without affecting the control of the junction areaoExpressing the arrival rate of the exit ramp, s the saturation flow rate, n the number of lanes of the entrance ramp, and then according to the lane flow conservation and the exit ramp squareCalculating the green time of the auxiliary road according to the phase;
when calculating the green time of the auxiliary road, firstly defining the green time as gfIn a signal period, when the direction of the exit ramp is in a left-turn phase, the auxiliary green light duration is gf，1Calculated from the following equation
When the direction of the exit ramp is a straight-going phase, the green light duration g of the auxiliary roadf，2Calculated from the following equation
Finally, the duration of the green light of the auxiliary road meets gf＝min(gf，1，gf，2) In the formula slAnd ssIndicating the saturation flow rate, ζ, of a straight-through lane and a left-turn lanelAnd ζsRepresenting the ratio of left-hand to straight-hand movement of the vehicles on the off-ramp, σlAnd σsIndicating the left turn ratio and the straight-ahead ratio of the vehicle on the side, nl，nsIndicating the number of left-turn lanes and the number of straight lanes, N, of the exit lane on which the exit ramp is locatedl，NsQ' representing the number of vehicles staying in the left-turn lane and the straight-through lanefRepresenting the saturation flow rate of the secondary circuit;
in order to enable the vehicles to just pass when arriving at the intersection after the green light phase of the auxiliary road is started, a phase difference needs to be set between the vehicles and the junction intersection, and meanwhile, the phase difference O between the auxiliary road and the junction intersection is considered in consideration of the fact that a certain time is needed for emptying the vehicles on the current phase lanefShould satisfy
Calculating the parking times by adopting a transition function coordination transformation delay calculation model, optimizing a signal control parameter of a secondary road signal and a connection intersection by combining a signal timing parameter of a connection intersection and a signal timing parameter of a secondary road initial, and establishing a bidirectional optimization model of signal parameters and speed guidance;
transition function coordination transformation delay calculation model calculated parking times
Consists of three parts of the number of times of parking in an unsaturated state, the number of times of parking in a transition part and the number of times of parking in an oversaturated state, and is calculated by the following formula
In the formula n1Indicating the period of observation, xpRepresenting the saturation of the p-phase, qpVehicle arrival rate representing p phase, C cycle duration, x1Indicating a low saturation threshold, x2Represents a high saturation threshold, where p ═ 1, 2, …, 7, 8;
step four, constructing a combined control model of the exit ramp and the junction intersection by using a bidirectional optimization model and combining bidirectional information exchange between vehicles and infrastructure under the environment of the Internet of vehicles according to an objective function with minimum vehicle average delay and average parking times;
wherein the minimum objective function is
In the formula Qk，pRepresenting the total traffic in phase p of the k period,
indicating vehicle delay at p-phase of the k-cycle,
represents the average number of stops of p phases in the k period;
and step five, solving the target function of the combined control model by using an NSGA-II algorithm to obtain the minimum value of the average delay and the average parking times of the vehicle, and finishing the optimization of signal control.
Example two
The embodiment provides a combined control method for an exit ramp and a junction intersection of an express way, wherein when the parking times are judged, the parking times are the number of vehicles which completely stop through the traffic volume in the intersection, whether the vehicles completely stop once is judged, and the vehicle delay is judged by comparing the vehicle delay and the vehicle delay
Average delay d from acceleration or deceleration due to a complete stophIs determined by the size of the sensor; delay when the vehicle is running
Then, the vehicle belongs to a complete parking; when in use
When the system is used, one-time complete parking is not formed, the system can be converted into a certain proportion of complete parking, the number of parking times is calculated by adopting a transition function coordination transformation theory, the problems that the saturation tends to 1 time delay and the number of parking times tends to infinity in a steady-state theory can be effectively solved, and the problem that random retardation is not considered in a constant number theory in an oversaturated state can be solved.
And calculating initial signal timing parameters of the junction intersection and the auxiliary road according to the current traffic flow data obtained by investigation, and optimizing the signal control parameters of the auxiliary road and the signalized intersection by taking the delay and the minimum parking times as objective functions. On the basis, a bidirectional optimization model of signal parameters and speed guidance is established according to the relation between the time of the vehicle reaching the intersection after the speed guidance and the double-ring phase parameters.
Because the phase 1 and the phase 5 of the double-ring structure are the green light starting phases at the same time, in order to ensure that the vehicle in the current phase can just pass through the intersection when reaching the intersection, the green light starting time of the phase 1 and the phase 5 in the first period is
Therefore, the green light turn-on time of the other phases is:
Tk,2＝Tk,1+gk,1
Tk,3＝Tk,2+gk,2
Tk,4＝Tk,3+gk,3
Tk+1,1＝Tk,4+gk,4
Tk,6＝Tk,5+gk,5
Tk,7＝Tk,6+gk,6
Tk,8＝Tk,7+gk,7
Tk+1,5＝Tk,8+gk,8
in the formula gk，pDenotes the duration of the green light of phase p during period k, including the yellow light time and the full red time, Tk，pIndicating the green light on time of phase p in k cycles.
Carry out joint control to between auxiliary road and linking intersection in order to prevent that overlength queuing from appearing in export ramp linking district, guarantee the maximize of the efficiency of passing of linking district and import road, because set up the signal lamp at the auxiliary road, go to improve the operational benefits of export ramp and linking district on the basis of sacrificing auxiliary road operational benefits, in order to balance the operational benefits of auxiliary road and linking district, only when queuing up the length and reaching the biggest queuing length that the linking district can allow, just control the auxiliary road, open red light phase place, cut off the auxiliary road vehicle and get into the linking district, then auxiliary road signal lamp is for linking intersection green light opening time T of straight line phase placek，fAnd the red light turn-on time Tk，fIs Tk，f＝Tk，l+Of，T`k，f＝Tk，f+gk，fIn the formula gk，fThe green light duration representing the k-cycle bypass phase.
Because the length of each ring in the NEMA double-ring phase structure is the period length, the range of the period duration and the phase number should satisfy the formula 20nmax≤C≤60nmaxIn the formula nmaxIndicating the maximum number of phases in each ring, and the period duration
Ge1+Ge2-Ge5-Ge6＝0
Ge3+Ge4-Ge7-Ge8＝0
C＝G1+G2＝Ge1+Ge2+Ge3+Ge4
The green time is within the shortest green time and the maximum green time, wherein the shortest green time is the shortest time for the pedestrian to cross the street and the maximum value of the shortest time for the vehicle to be emptied in the queuing area, and the maximum green time is within the constraint of the period and the shortest green time
In the formula
The minimum green time representing the p-phase,
the maximum green time of p phase is expressed, and the minimum green time satisfies the formula
In the formula vpeopThe walking speed of the pedestrian is generally 1.0-1.2m/s, lpDenotes the length of the crosswalk corresponding to the p phase, I denotesThe green light interval, typically 5s,
the average headway is shown and is typically taken to be 2s, N is the number of vehicles that can be accommodated by the queuing area, and ak is the start-up lost time and is typically taken to be 3 s.
The maximum green time for each of the two loop phases should be less than the time on both sides of the barriers in each loop, and the adjacent phases blocked on the same side are guaranteed to meet the minimum green time. For example, the maximum green time for phase 1 in a double loop configuration should satisfy the following relationship, with other phases being the same
The green time and phase difference of the auxiliary road should satisfy gf＝min(gf，1，gf，2) And
of (3) is performed.
When the NSGA-II algorithm solves the target function of the combined control model, a real number coding method is used for coding to obtain [ G ]1，G2，σ1，σ2，σ3，σ4，μ]，G1And G2Denotes the duration of the two stages of the bicyclic structure, σiThe ratio i of each phase is 1, 2, 3, 4, mu represents the ratio of the green light phase of the auxiliary road to the period, and the following formula is shown after decoding
And determining a fitness function, and solving an optimized value of multiple targets, so that the fitness function has two values, one is a delay value, the other is a parking number value, and the objective of solving is to minimize the delay and the parking number and convert the minimum value into the problem of solving the minimum value of the multiple targets.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. A united control method for an exit ramp and a junction intersection of an express way is characterized by comprising the following steps:
controlling a connection intersection signal by adopting a signal control method of a NEMA double-loop phase structure, determining the period duration of the connection intersection by a Webster method, introducing a transition phase to calculate a flow rate ratio, and performing effective green time distribution by the flow rate ratio;
step two, auxiliary road signal control, namely judging whether a pre-signal of an auxiliary road is set or not according to the arrival rate of the auxiliary road, and calculating the green light duration of the auxiliary road according to the traffic conservation of the lane and the phase of the exit ramp direction;
calculating the parking times by adopting a transition function coordination transformation delay calculation model, optimizing a signal control parameter of a secondary road signal and a connection intersection by combining a signal timing parameter of a connection intersection and a signal timing parameter of a secondary road initial, and establishing a bidirectional optimization model of signal parameters and speed guidance;
step four, constructing a combined control model of the exit ramp and the junction intersection by using a bidirectional optimization model and combining bidirectional information exchange between vehicles and infrastructure under the environment of the Internet of vehicles according to an objective function with minimum vehicle average delay and average parking times;
and step five, solving the target function of the combined control model by using an NSGA-II algorithm to obtain the minimum value of the average delay and the average parking times of the vehicle, and finishing the optimization of signal control.
2. The express way exit ramp and junction intersection combined control method according to claim 1, characterized in that: the NEMA double-ring phase structure in the step one has 8 phases, the phases 1, 3, 5 and 7 are defined as left-turn traffic phases, the phases 2, 4, 6 and 8 are defined as straight traffic phases, the two barriers and the two groups of phase rings are divided into phases of a main road and a secondary road, the phases of an exit ramp and the secondary road are main road phases, the phase of an intersected road is a secondary main road phase, and the green light time of each phase of the NEMA double-ring phase structure meets the following relation
Ge1+Ge2-Ge5-Ge6＝0
Ge3+Ge4-Ge7-Ge8＝0
C＝G1+G2＝Ge1+Ge2+Ge3+Ge4
In the formula G1，G2Time, in units of s, representing the two phases of the blocking, i.e. the duration of the phase of the main road on which the exit ramp is located and the duration of the phase of the secondary road on which the intersecting road is located, GeiThe display green time of 8 phases is represented, i is 1, 2, …, 7 and 8, the unit is s, C represents the period duration, and 20n is satisfiedmax≤C≤60nmaxWherein n ismaxRepresents the maximum number of phases in each ring of the NEMA dual ring phase structure.
3. The express way exit ramp and junction intersection combined control method according to claim 1, characterized in that: the period duration calculation formula in the step one is
Wherein l represents the total loss time of each phase, Y represents the sum of the maximum flow rate ratios of each phase, and the total flow rate ratio of the NEMA phase is expressed by the following formula
In the formula yi，y`iRepresenting the flow rate ratio of the i-th ring as a whole, ei，jRepresenting the ratio of the flow rates at the j-th bit, from left to right, on the ith ring, j representing the j-th bit, from left to right, and i representing the ith ring.
4. The express way exit ramp and junction intersection combined control method according to claim 1, characterized in that: in the first step, when the effective green time is distributed, the ratio of the key flow rate ratio of each phase to the total effective green time is calculated, and then the distribution is carried out according to the traditional signal timing idea.
5. The express way exit ramp and junction intersection combined control method according to claim 1, characterized in that: the arrival rate q of the auxiliary road in the step twofSatisfy the requirement of
When q is less than q, no pre-signal is set for the auxiliary roadfSatisfy the requirement of
Setting a pre-signal to the auxiliary road, wherein gs，eAnd gl，eGreen time, N, indicating straight and left-hand phasesf，maxRepresenting the maximum number of vehicles in line, q, allowed without affecting the control of the junction areaoThe arrival rate of the exit ramp is represented, s represents the saturation flow rate, and n represents the number of lanes of the entrance ramp.
6. The express way exit ramp and junction intersection combined control method according to claim 1, characterized in that: in the second step, when the green light time of the auxiliary road is calculated, the green light time is defined as gfIn a signal period, when the direction of the exit ramp is in a left-turn phase, the auxiliary green light duration is gf，1Calculated from the following equation
When the direction of the exit ramp is a straight-going phase, the green light duration g of the auxiliary roadf，2Calculated from the following equation
Finally, the duration of the green light of the auxiliary road meets gf＝min(gf，1，gf，2) In the formula slAnd ssIndicating the saturation flow rate, ζ, of a straight-through lane and a left-turn lanelAnd ζsRepresenting the ratio of left-hand to straight-hand movement of the vehicles on the off-ramp, σlAnd σsIndicating the left turn ratio and the straight-ahead ratio of the vehicle on the side, nl，nsIndicating the number of left-turn lanes and the number of straight lanes, N, of the exit lane on which the exit ramp is locatedl，NsQ' representing the number of vehicles staying in the left-turn lane and the straight-through lanefIndicating the saturation flow rate of the secondary circuit.
7. The express way exit ramp and junction intersection combined control method according to claim 1, characterized in that: and the number of parking times calculated by the transition function coordination transformation delay calculation model in the step three
Consists of three parts of the number of times of parking in an unsaturated state, the number of times of parking in a transition part and the number of times of parking in an oversaturated state, and is calculated by the following formula
In the formula n1Indicating the period of observation, xpTo representSaturation of p-phase, qpVehicle arrival rate representing p phase, C cycle duration, x1Indicating a low saturation threshold, x2Indicates a high saturation threshold, where p is 1, 2, …, 7, 8.
8. The express way exit ramp and junction intersection combined control method according to claim 1, characterized in that: the minimum objective function in the fourth step is
In the formula Qk，pRepresenting the total traffic in phase p of the k period,
indicating vehicle delay at p-phase of the k-cycle,
indicating the average number of stops in phase p over the k period.
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