CN114299736A - Multi-intersection traffic self-adaptive coordination control method - Google Patents
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Abstract
The invention discloses a self-adaptive coordination control method for multi-intersection traffic, which relates to the technical field of intersection traffic and comprises the following steps: the method comprises the steps of calibrating a current intersection traffic state in advance, and providing reasonable intersection traffic timing for a current lane, wherein the reasonable intersection traffic timing comprises green-wave lane traffic timing for configuring adjacent intersections in the same direction; the method comprises the steps of collecting current real-time intersection traffic information, wherein the current real-time intersection traffic information comprises collecting starting vehicle waiting information and ending vehicle waiting information of a current same lane intersection, and adjusting traffic timing of adjacent intersections based on the current lane traffic information to realize green-wave lanes of adjacent same-direction lanes. The invention realizes the self-adaptive coordination control of the multi-intersection traffic, not only has high adaptability, but also can determine the congestion coordination control of the trunk line in real time, and ensures that the vehicles do not generate congestion when passing through the intersection of the trunk line and can adapt to the allocation requirements of emergency vehicles.
Description
Technical Field
The invention relates to the technical field of intersection traffic, in particular to a self-adaptive coordination control method for multi-intersection traffic.
Background
With the continuous rising of the quantity of automobiles kept in cities, the traffic demand is increased greatly, but the traffic supply provided by a road network in which the cities are mature day by day is limited, the supply and demand are unbalanced, and the urban traffic jam is one of the causes of urban traffic jam; the problem of traffic congestion is mainly concentrated on nodes (level intersections) of a road network, and people are forced to notice that a backward traffic control technology is also a main cause of the traffic problem. With the continuous development of electronic, information and control technologies and the wide application in the traffic industry, people are continuously striving to improve traffic congestion through advanced intelligent traffic control technologies. The research and application of the adaptive signal control system is one of the important achievements of traffic control intellectualization. The adaptive signal control system mainly comprises four units: the system comprises an intersection signal control unit, a road traffic data detection system, a remote center control unit and a communication unit. According to the control range, the method can be divided into single-point adaptive signal control, trunk adaptive signal control and area coordinated adaptive signal control. Aiming at a single-point self-adaptive signal control system of a single intersection, the traffic state parameters of the intersection are obtained by using intersection detection equipment, a signal control scheme of the intersection is automatically calculated and optimized in an intersection control unit or a remote center and downloaded to a signal machine for execution, and the best control effect of the single intersection is taken as a target; aiming at the main line coordination self-adaptive signal control of a plurality of intersections, the coordination phase difference of a plurality of intersections is updated while the intersection scheme is optimized, so that the aim of realizing the main line green wave control is fulfilled; the regional coordination self-adaptive control is carried out on the region, the region is divided into a plurality of traffic sub-regions, coordination control is carried out in the sub-regions and sub-regions, and the optimal control effect of the whole road network in the region is taken as a target.
The existing self-adaptive control method mainly has the following problems:
1) the adaptability to the change of the traffic state is poor, and a detection method for the congestion state in the rush hour applicable to traffic signal control is lacked; single-point adaptive control and trunk green wave control cannot meet the control requirement of the congestion state in the peak period.
2) The optimization control is carried out on the road network in an isolated way by taking points and lines as units, the optimization effect is considered to be lost, the local optimization is trapped, and the overall optimization effect of the road network is poor.
3) Aiming at the characteristics of the road network structure and traffic state of the modern city, which are complex and changeable, a definite control strategy of a control target and a system is lacked.
An effective solution to the problems in the related art has not been proposed yet.
Disclosure of Invention
Aiming at the problems in the related art, the invention provides a multi-intersection traffic self-adaptive coordination control method to overcome the technical problems in the prior related art.
The technical scheme of the invention is realized as follows:
a multi-intersection traffic self-adaptive coordination control method comprises the following steps:
step S1, the traffic state of the current intersection is calibrated in advance, and reasonable intersection traffic timing is provided for the current lane, wherein the traffic timing comprises the green wave lane traffic timing of the adjacent intersection in the same direction;
step S2, collecting the current real-time intersection traffic information, wherein the current real-time intersection traffic information comprises the collection of the starting vehicle waiting information of the intersection in the current same lane and the ending vehicle waiting information of the current same lane, and the method comprises the following steps;
step S201, calibrating the distance information from the intersection of the current same lane to the adjacent start position lane, acquiring the traffic information of the waiting traffic borne by the lane, and setting a traffic adaptation threshold;
step S202, calibrating the traffic priority of the current intersection;
step S203, judging whether the bearing capacity of the starting vehicle waiting information and the ending vehicle waiting information of the current same lane at the current same lane intersection is larger than the current traffic adaptation threshold value or not based on the traffic priority of the current intersection;
step S204, if the current lane bearing capacity is larger than the current traffic adaptation threshold value, adjusting the traffic timing of the intersection of the current lane, and adaptively coordinating the traffic timing of the adjacent intersections;
and step S3, adjusting the traffic timing of the adjacent intersections based on the traffic information of the current lane, and realizing the green-wave lanes of the adjacent same-direction lanes.
The method for acquiring the traffic information of the waiting vehicle carried by the lane comprises the following steps:
step S20101, respectively collecting laser radar data and visual image data through a laser radar and a camera at the current intersection;
step S20102, calibrating the collected laser radar data and the collected visual image data, and synchronously calibrating coordinates;
step S20103, screening image information is obtained by the calibrated visual image data based on a semantic segmentation algorithm;
and step S20104, performing semantic reconstruction on the screened image information, acquiring intersection waiting image information and acquiring parameter value information.
The semantic reconstruction of the screened image information comprises the following steps:
step S20105, calibrating a semantic reconstruction database in advance;
and step S20106, based on the semantic reconstruction database component semantic reconstruction network model, converting the semantic reconstruction database image into image semantic data by manual labeling or by using an image semantic segmentation algorithm to serve as a label of the semantic reconstruction network model.
The method for acquiring the traffic information of the waiting vehicle carried by the lane further comprises the following steps:
step S20107, configuring an entrance detector at the current intersection in advance, and acquiring lane dividing flow information, initial vehicle waiting time distance information and time occupancy traffic flow data information of the intersection;
step S20108, configuring an outlet detector to acquire the road section queuing length information;
and step S20109, the obtained lane dividing flow information, the initial vehicle waiting time distance information, the time occupancy traffic flow data information and the road section queuing length information of the intersection are transmitted to an intersection annunciator and transmitted to an intersection traffic service end, and intersection traffic timing is configured.
The configuration outlet detector acquires the road section queuing length information, and the method comprises the following steps:
step S20110, acquiring queuing length information of the current road section based on the information of the waiting time interval of the starting vehicle;
step S20111, calibrating dissipation time from a starting vehicle to a last vehicle of the current road section queuing length;
and step S20112, the traffic timing of the current intersection is delayed or changed in advance based on the dissipation time, and the traffic timing of the adjacent intersection is adaptively coordinated.
Wherein the current intersection traffic priority comprises the following steps:
step S20201, the emergency vehicle sends a request for priority passing to instruct the running road as an optimal level;
step S20202, taking the traffic road condition of the trunk driving road as a second highest grade;
in step S20203, the traffic conditions of the side roads are regarded as the highest level.
The invention has the beneficial effects that:
the invention relates to a multi-intersection traffic self-adaptive coordination control method, which comprises the steps of calibrating the current intersection traffic state in advance, providing reasonable intersection traffic timing for the current lane, configuring green-wave lane traffic timing of adjacent intersections in the same direction, collecting current real-time intersection traffic information, collecting the starting vehicle waiting information of the intersection in the current same lane and the ending vehicle waiting information of the intersection in the current same lane, judging that the current lane bearing capacity is larger than the current traffic adaptive threshold value based on the current intersection traffic priority, adjusting the traffic timing of the intersection in the current lane, and adaptively coordinate the traffic timing of adjacent intersections, adjust the traffic timing of adjacent intersections based on the traffic information of the current lane, realize the green-wave lanes of adjacent equidirectional lanes, realize the adaptive coordination control of multi-intersection traffic, not only has high adaptability, and the congestion coordination control of the trunk line can be determined in real time, so that the vehicles are not crowded when passing through the trunk line intersection, and the dispatching requirements of emergency vehicles can be met.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments 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 it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a first flowchart illustrating a multi-intersection traffic adaptive coordination control method according to an embodiment of the present invention;
fig. 2 is a schematic flowchart of a multi-intersection traffic adaptive coordination control method according to an embodiment of the present invention.
In the figure:
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 that can be derived by one of ordinary skill in the art from the embodiments given herein are intended to be within the scope of the present invention.
According to the embodiment of the invention, a multi-intersection traffic self-adaptive coordination control method is provided.
As shown in fig. 1-2, the method for adaptive coordination control of multi-intersection traffic according to the embodiment of the present invention includes the following steps:
step S1, the traffic state of the current intersection is calibrated in advance, and reasonable intersection traffic timing is provided for the current lane, wherein the traffic timing comprises the green wave lane traffic timing of the adjacent intersection in the same direction;
step S2, collecting the current real-time intersection traffic information, wherein the current real-time intersection traffic information comprises the collection of the starting vehicle waiting information of the intersection in the current same lane and the ending vehicle waiting information of the current same lane, and the method comprises the following steps;
step S201, calibrating the distance information from the intersection of the current same lane to the adjacent start position lane, acquiring the traffic information of the waiting traffic borne by the lane, and setting a traffic adaptation threshold;
step S202, calibrating the traffic priority of the current intersection;
step S203, judging whether the bearing capacity of the starting vehicle waiting information and the ending vehicle waiting information of the current same lane at the current same lane intersection is larger than the current traffic adaptation threshold value or not based on the traffic priority of the current intersection;
step S204, if the current lane bearing capacity is larger than the current traffic adaptation threshold value, adjusting the traffic timing of the intersection of the current lane, and adaptively coordinating the traffic timing of the adjacent intersections;
and step S3, adjusting the traffic timing of the adjacent intersections based on the traffic information of the current lane, and realizing the green-wave lanes of the adjacent same-direction lanes.
The method for acquiring the traffic information of the waiting vehicle carried by the lane comprises the following steps:
step S20101, respectively collecting laser radar data and visual image data through a laser radar and a camera at the current intersection;
step S20102, calibrating the collected laser radar data and the collected visual image data, and synchronously calibrating coordinates;
step S20103, screening image information is obtained by the calibrated visual image data based on a semantic segmentation algorithm;
and step S20104, performing semantic reconstruction on the screened image information, acquiring intersection waiting image information and acquiring parameter value information.
The semantic reconstruction of the screened image information comprises the following steps:
step S20105, calibrating a semantic reconstruction database in advance;
and step S20106, based on the semantic reconstruction database component semantic reconstruction network model, converting the semantic reconstruction database image into image semantic data by manual labeling or by using an image semantic segmentation algorithm to serve as a label of the semantic reconstruction network model.
The method for acquiring the traffic information of the waiting vehicle carried by the lane further comprises the following steps:
step S20107, configuring an entrance detector at the current intersection in advance, and acquiring lane dividing flow information, initial vehicle waiting time distance information and time occupancy traffic flow data information of the intersection;
step S20108, configuring an outlet detector to acquire the road section queuing length information;
and step S20109, the obtained lane dividing flow information, the initial vehicle waiting time distance information, the time occupancy traffic flow data information and the road section queuing length information of the intersection are transmitted to an intersection annunciator and transmitted to an intersection traffic service end, and intersection traffic timing is configured.
The configuration outlet detector acquires the road section queuing length information, and the method comprises the following steps:
step S20110, acquiring queuing length information of the current road section based on the information of the waiting time interval of the starting vehicle;
step S20111, calibrating dissipation time from a starting vehicle to a last vehicle of the current road section queuing length;
and step S20112, the traffic timing of the current intersection is delayed or changed in advance based on the dissipation time, and the traffic timing of the adjacent intersection is adaptively coordinated.
Wherein the current intersection traffic priority comprises the following steps:
step S20201, the emergency vehicle sends a request for priority passing to instruct the running road as an optimal level;
step S20202, taking the traffic road condition of the trunk driving road as a second highest grade;
in step S20203, the traffic conditions of the side roads are regarded as the highest level.
By means of the scheme, the reasonable intersection traffic timing is provided for the current lane by pre-calibrating the traffic state of the current intersection, and configuring green wave lane traffic timing of adjacent intersections in the same direction, collecting current real-time intersection traffic information, collecting starting vehicle waiting information of the current intersection in the same lane and ending vehicle waiting information of the current intersection in the same lane, judging that the current lane bearing capacity is larger than a current traffic adaptive threshold value based on the current intersection traffic priority, adjusting the traffic timing of the current intersection in the same lane, and adaptively coordinate the traffic timing of adjacent intersections, adjust the traffic timing of adjacent intersections based on the traffic information of the current lane, realize the green-wave lanes of adjacent equidirectional lanes, realize the adaptive coordination control of multi-intersection traffic, not only has high adaptability, and the congestion coordination control of the trunk line can be determined in real time, so that the vehicles are not crowded when passing through the trunk line intersection, and the dispatching requirements of emergency vehicles can be met.
According to the technical scheme, the semantic reconstruction network model comprises a plurality of convolution layers, an activation layer, a pooling layer, an anti-convolution layer, a 1 × 1 convolution layer and a softmax layer, wherein the convolution layers are arranged in parallel; the resolution of the network input lidar data is 1232 × 368, the size of the kernel function of the convolutional layer is 3 × 3 matrix, the size of the kernel function of the deconvolution layer is 4 × 4, the size of the pooling domain is 2 × 2, and the pooling step size is 2.
In addition, in the technical scheme, for whether the bearing capacity of the starting vehicle waiting information and the ending vehicle waiting information of the current same lane at the current same lane intersection is greater than the current traffic adaptation threshold, the following is concrete: the signal lamp of the front intersection is green, and the remaining time of the green lamp is tgThe dissipation time of the front train (namely waiting for the tail vehicle to pass through the intersection on the same lane) is tdExpressed as:
if t1＞tdThe red light is cut off promptly, the green light opens the back early, and the conflict does not take place for tail vehicle and the dissipation train in the place ahead, need not carry out the speed of a motor vehicle guide to the tail vehicle this moment, make green light long satisfy the emergency vehicle pass through can, set up green light time this moment and be:
furthermore, if t1＜tdThat is, after the red light is turned off and the green light is started early, the last vehicle collides with the front dissipation train, the green light duration is reset, the last vehicle is decelerated, and the emergency vehicle acceleration a is introduced0And a boot time t0The following conditions are satisfied:
the following condition is thus satisfied for the resulting end vehicle acceleration:
the tail vehicle speed needs to satisfy the following condition:
reducing the speed below v can successfully avoid collisions, after the vehicle has slowed down, has traveled:
the last vehicle passes through the rest road section at a constant speed v for the following time:
the green light duration thus obtained is:
te＝t0+t2
according to the technical scheme, the time for the tail vehicle of the same lane to pass through the intersection is obtained, the adjustment of the traffic timing of the intersection of the current lane is realized, the traffic timing of the adjacent intersection is self-adaptively coordinated, and the green-wave lane of the adjacent same-direction lane is facilitated.
In conclusion, by means of the technical scheme of the invention, by calibrating the traffic state of the current intersection in advance, providing reasonable intersection traffic timing for the current lane, configuring green-wave lane traffic timing of adjacent intersections in the same direction, collecting current real-time intersection traffic information, collecting the starting vehicle waiting information of the intersection in the current same lane and the ending vehicle waiting information of the intersection in the current same lane, judging that the current lane bearing capacity is larger than the current traffic adaptive threshold value based on the current intersection traffic priority, adjusting the traffic timing of the intersection in the current lane, and adaptively coordinate the traffic timing of adjacent intersections, adjust the traffic timing of adjacent intersections based on the traffic information of the current lane, realize the green-wave lanes of adjacent equidirectional lanes, realize the adaptive coordination control of multi-intersection traffic, not only has high adaptability, and the congestion coordination control of the trunk line can be determined in real time, so that the vehicles are not crowded when passing through the trunk line intersection, and the dispatching requirements of emergency vehicles can be met.
While the foregoing is directed to the preferred embodiment of the present invention, other and further embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (6)
1. A multi-intersection traffic self-adaptive coordination control method is characterized by comprising the following steps:
the method comprises the steps of calibrating a current intersection traffic state in advance, and providing reasonable intersection traffic timing for a current lane, wherein the reasonable intersection traffic timing comprises green-wave lane traffic timing for configuring adjacent intersections in the same direction;
collecting current real-time intersection traffic information, wherein the current real-time intersection traffic information comprises the collection of the starting vehicle waiting information of the intersection in the current same lane and the current ending vehicle waiting information of the intersection in the same lane, and the method comprises the following steps;
calibrating the distance information from the intersection of the current same lane to the adjacent start position lane, acquiring the traffic information of the lane bearing the waiting traffic, and setting a traffic adaptation threshold;
calibrating the traffic priority of the current intersection;
judging whether the bearing capacity of the starting vehicle waiting information and the ending vehicle waiting information of the current same lane at the current same lane intersection is larger than the current traffic adaptation threshold value or not based on the traffic priority of the current intersection;
if the current lane bearing capacity is larger than the current traffic adaptation threshold value, adjusting the traffic timing of the intersection of the current lane, and adaptively coordinating the traffic timing of the adjacent intersection;
and adjusting the traffic timing of the adjacent intersections based on the traffic information of the current lane to realize the green-wave lanes of the adjacent equidirectional lanes.
2. The multi-intersection traffic adaptive coordination control method according to claim 1, wherein the step of acquiring the waiting traffic information carried by the lanes comprises the following steps:
respectively acquiring laser radar data and visual image data by a laser radar and a camera at the current intersection;
calibrating the collected laser radar data and the collected visual image data, and synchronously calibrating coordinates;
acquiring screening image information of the calibrated visual image data based on a semantic segmentation algorithm;
and performing semantic reconstruction on the screened image information, acquiring intersection waiting image information and acquiring parameter value information.
3. The multi-intersection traffic adaptive coordination control method according to claim 2, wherein the semantic reconstruction of the screened image information comprises the following steps:
calibrating a semantic reconstruction database in advance;
based on a semantic reconstruction database component semantic reconstruction network model, converting a semantic reconstruction database image into image semantic data through manual annotation or by utilizing an image semantic segmentation algorithm to serve as a label of the semantic reconstruction network model.
4. The multi-intersection traffic adaptive coordination control method according to claim 3, wherein the step of obtaining the traffic information of the waiting traffic carried by the lanes further comprises the steps of:
configuring an entrance detector at a current intersection in advance, and acquiring lane dividing flow information, initial vehicle waiting time distance information and time occupancy traffic flow data information of the intersection;
configuring an outlet detector to obtain the road section queuing length information;
and transmitting the acquired lane dividing flow information, the initial vehicle waiting time distance information, the time occupancy traffic flow data information and the road section queuing length information of the intersection to an intersection annunciator, transmitting the information to an intersection traffic service end, and configuring intersection traffic timing.
5. The multi-intersection traffic adaptive coordination control method according to claim 4, wherein the configuration exit detector obtains the road section queuing length information, comprising the following steps:
acquiring queuing length information of a current road section based on the information of the starting vehicle waiting time interval;
calibrating the dissipation time from the initial vehicle to the last vehicle of the current road section queuing length;
and delaying or changing the traffic timing of the current intersection in advance based on the dissipation time, and adaptively coordinating the traffic timing of the adjacent intersections.
6. The multi-intersection traffic adaptive coordination control method according to claim 5, wherein the current intersection traffic priority comprises the following steps:
the emergency vehicle sends a request for priority passing to instruct a running road as an optimal level;
the passing road condition of the trunk driving road is used as a second superior grade;
the secondary road traffic condition is taken as the most secondary level.
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