CN114464001B - Urban multi-intersection multilayer distribution control system and method under vehicle-road cooperative environment - Google Patents
Urban multi-intersection multilayer distribution control system and method under vehicle-road cooperative environment Download PDFInfo
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Abstract
The invention relates to a city multi-intersection multilayer distribution control system and a method thereof under a vehicle-road cooperative environment, wherein the system comprises a signal control unit, a road test unit and a multi-source traffic state sensing device which are arranged at each intersection, each intersection is respectively provided with a corresponding road network topological structure, each road network topological structure comprises all intersections which are directly adjacent to the intersection, and distributed communication is realized among the road network topological structures of each intersection; the road test unit fuses the state information of the intersection and the state information of the adjacent intersections, which are acquired by the multi-source traffic state sensing equipment in real time, and combines the signal timing information of the adjacent intersections to obtain an optimized signal timing scheme of the intersection; the signal control unit controls the signalers of the intersections to execute the optimized signal timing scheme acquired from the intersection drive test unit. Compared with the prior art, the method and the device can improve the solving efficiency and accuracy of the multi-intersection signal control problem and realize the optimal cooperative control of the urban multi-intersection.
Description
Technical Field
The invention relates to the technical field of signal control of road intersections, in particular to a multi-layer distribution control system and a multi-layer distribution control method for urban multi-intersections under a vehicle-road cooperative environment.
Background
The organic cooperation of the urban road multi-intersection signal control scheme is one of effective methods for relieving traffic jam and improving traffic efficiency. Most of the existing multi-intersection signal control methods are based on a centralized method, namely, an optimal control scheme is obtained by utilizing a heuristic algorithm, and the control method is low in solving efficiency and difficult to apply in practice.
In addition, most of the existing urban multi-intersection signal control platform architectures are centralized optimization frameworks, a plurality of intersections are considered as a whole for unified operation, and the signal timing parameters of all intersections are integrated into the same optimization problem so as to ensure that the whole operation performance of the whole area is optimal. However, as the number of urban intersections increases, the number of variables and constraints increases very rapidly, and the scale of the optimization problem increases, which seriously affects the efficiency and accuracy of solving the centralized signal cooperative problem, so that it is difficult to obtain a multi-intersection signal timing scheme efficiently, reliably and stably, and the problem of urban traffic jam is not facilitated to be relieved.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a multi-intersection multi-layer distribution control system and a multi-intersection multi-layer distribution control method under a vehicle-road cooperative environment, which are based on a distributed architecture so as to improve the solving efficiency and accuracy of a multi-intersection signal control problem and realize the optimal cooperative control of multiple intersections in a city.
The aim of the invention can be achieved by the following technical scheme: the multi-layer distribution control system for the urban multi-intersection under the vehicle-road cooperative environment comprises a signal control unit, a road test unit and multi-source traffic state sensing equipment which are arranged at each intersection, wherein each intersection is respectively provided with a corresponding road network topological structure, and the road network topological structure comprises all intersections which are directly adjacent to the intersection;
the road test unit is in communication connection with the signal control unit of the intersection, and is in communication connection with the road test units of other adjacent intersections in the road network topology structures corresponding to the intersection and the multi-source traffic state sensing equipment respectively so as to form distributed communication among the road network topology structures of the intersections;
the multi-source traffic state sensing equipment is used for collecting intersection state information in real time;
the road test unit is used for fusing and processing the state information of the intersection and the state information of the adjacent intersection, and combining the signal timing information of the adjacent intersection to obtain an optimized signal timing scheme of the intersection;
the signal control unit acquires an optimized signal timing scheme from the drive test unit of the intersection so as to correspondingly control the signaler of the intersection to execute the optimized signal timing scheme.
Further, the multi-source traffic state sensing device includes, but is not limited to, a stationary coil, a camera, and a radar.
Further, the drive test unit is also in communication connection with the internet-connected vehicle.
Further, the road network topology structure corresponding to the intersection is specifically:
G i (N i ,E i )
wherein G is i Road network topological structure model for intersection i, N i For a set of nodes, including all directly adjacent intersections to local intersection i, E i The road segment collection is connected with the intersection i and is used for reflecting the road segment length and saturated flow data;
the drive test unit of the local intersection i is only connected with N i The road test units of the intersections in the node set are in communication connection, and meanwhile, the road test units of the local intersections i only receive the data from E i Intersection state information collected by the multisource traffic state sensing equipment of the road section set.
A multi-layer distribution control method for urban multi-intersections in a vehicle-road cooperative environment comprises the following steps:
s1, based on distributed communication among road network topological structures of all intersections, a road test unit acquires intersection state information from multisource traffic state sensing equipment of the intersection and adjacent intersections and acquires signal timing information of the adjacent intersections from the road test unit of the adjacent intersections;
s2, the road test unit performs fusion processing on the acquired intersection state information to obtain road section consistency traffic state description information;
s3, based on the road section consistency traffic state description information and the signal timing information of adjacent intersections, a distributed traffic road network system dynamic update equation is constructed by determining the adjacent intersection timing information at an asynchronous moment, and a set objective function is combined to obtain a distributed signal timing optimization model;
s4, solving the distributed signal timing optimization model to obtain an optimized signal timing scheme corresponding to each intersection;
s5, the signal control unit acquires a corresponding optimized signal timing scheme from the road test unit of the intersection, and controls the intersection signal machine to execute the acquired optimized signal timing scheme.
Further, the road segment consistency traffic state description information in the step S2 includes queuing length, signal state, steering proportion and vehicle delay data.
Further, the specific process of determining the timing information of the adjacent intersections at the asynchronous time in the step S3 is as follows: since the vehicles passing through the upstream intersection can not immediately reach the stop line position of the downstream intersection, the signal timing scheme of the current adjacent intersection can not influence the local intersection, but the signal timing scheme of the last moment can influence the signal timing of the local intersection at the moment, the adjacent intersection timing scheme of the last moment is taken as asynchronous moment information, namely the adjacent intersection timing scheme based on the signal timing optimization of the local intersection i at the moment t is from t-h i The time of day at which the time of day,
wherein j is the adjacent intersection number of intersection i, N i For all intersection sets directly adjacent to intersection I, I is the intersection set, T j,i For the travel time of intersections j to i, the timing information of adjacent intersections at asynchronous time can be obtainedAnd modeling basis and real-time guarantee are provided for distributed signal timing optimization control.
Further, the specific process of constructing the dynamic update equation of the distributed traffic road network system in the step S3 is as follows: the queuing length evolution of the traffic network is regarded as the system dynamic update, and based on the adjacent intersection timing information at asynchronous time, the system dynamic evolution of the distributed road network topology structure can be updated in a distributed mode so as to meet the requirement of distributed signal timing optimization, thereby queuing length of an entrance road m of an intersection i at time t
The evolution formula of (2) is used as a dynamic updating formula of the distributed traffic road network system.
Further, the queue length of the entrance way m of the intersection i at the time t
The evolution formula is:
in the method, in the process of the invention,
and->
The number of vehicles entering and exiting from upstream to downstream at time t, M, respectively, is the entrance lane M of intersection i i For intersection i entrance lane set, p m′,m For upstream inlet channel m' to downstream inlet channelSteering ratio of m>
Inlet lane m' at T-T for intersection j j,i The signal lamp state at moment, 1 is taken when green light, otherwise 0 is taken; s is(s) j,m′ For the saturation flow rate of the entrance lane m' of intersection j, Δt is the time step, +.>
Inlet channel m' for intersection j is at T-T j,i The queuing length at the moment, U (i, m) is the upstream inlet channel set of the inlet channel m of the intersection i, m' belongs to the U (i, m) set, j is the adjacent intersection number of the intersection i, N i For all intersection sets directly adjacent to intersection I, I is the intersection set, T j,i For the travel time of intersections j to i, < +.>
Taking 1 when in green light for the signal lamp state of the entrance way m of the intersection i at the moment t, otherwise taking 0; s is(s) i,m For the saturation flow rate of intersection Inlet m, deltat is the time step, +.>
The queue length of the entrance lane m at the time t-1 for the intersection i.
Further, the objective function set in the step S3 is specifically that the vehicle delay is minimum and the throughput is maximum.
Compared with the prior art, the invention provides a multi-layer distributed control system and method for the urban multi-intersection in perception, topology modeling, communication, optimization, control and the like based on a distributed architecture, and the multi-layer rapid coordination of perception, topology modeling, communication, optimization, control and the like is realized through the distributed method, so that the problems of difficult solution, poor stability and the like are overcome, the solution efficiency of the multi-intersection signal control problem can be improved, the stability of the urban multi-intersection signal timing is improved, the urban traffic jam problem is relieved, the optimal coordination control of the urban multi-intersection signal timing is realized, and the delay and the traffic capacity are effectively reduced.
According to the road network topology structure corresponding to the intersection, the road network topology structures are arranged, and the distributed communication among the road network topology structures is utilized, so that the road test unit can acquire the state information and the signal timing information of all the intersections in the road network topology structure, on one hand, the local intersections are prevented from receiving a large amount of invalid full-sample data from the whole road network, on the other hand, the cooperative control among the intersections can be realized only based on the distributed topology structures, and on the other hand, the acquired information can be fully fused and utilized, so that the subsequent optimization of the signal timing of the intersection can be accurately completed.
In the distributed signal timing optimization process, the invention fully considers the timing information of adjacent intersections at asynchronous time, combines the queuing length of the real-time dynamic change of the entrance lane of the intersection to construct a distributed traffic road network system dynamic update equation, and combines the minimum delay and the maximum throughput as objective functions to construct a distributed signal timing scheme optimization model, so that the information of adjacent intersections is fully and accurately considered while the signal timing scheme of each intersection is optimized, and the multi-intersection coordination can be reliably realized.
Drawings
FIG. 1 is a schematic flow chart of the method of the present invention;
FIG. 2 is a diagram of a technical route and a logic framework of a multi-layered distributed signal control platform according to an embodiment;
FIG. 3 is a schematic diagram of a physical architecture of distributed awareness of a vehicle-road collaborative environment in an embodiment;
FIG. 4 is a schematic diagram of a distributed signal timing optimization control and implementation process in an embodiment.
Detailed Description
The invention will now be described in detail with reference to the drawings and specific examples.
Examples
The utility model provides a city multi-intersection multilayer distribution control system under car way collaborative environment, includes that signal control unit, drive test unit and the multisource traffic state perception equipment of laying at each intersection, and each intersection is provided with corresponding road network topological structure respectively, and road network topological structure includes the intersection that is adjacent directly with this intersection all, and the road network topological structure that the intersection corresponds specifically is:
G i (N i ,E i )
wherein G is i Road network topological structure model for intersection i, N i For a set of nodes, including all directly adjacent intersections to local intersection i, E i The road segment collection is connected with the intersection i and is used for reflecting the road segment length and saturated flow data;
the drive test unit of the local intersection i is only connected with N i The road test units of the intersections in the node set are in communication connection, and meanwhile, the road test units of the local intersections i only receive the data from E i Intersection state information collected by the multisource traffic state sensing equipment of the road section set.
The road test unit is in communication connection with the signal control unit of the intersection, the road test unit is in communication connection with the road test units of other adjacent intersections in the road network topology structures corresponding to the intersection and the multisource traffic state sensing equipment respectively so as to form distributed communication among the road network topology structures of the intersections, and in practical application, the road test unit can be in communication connection with the internet-connected vehicles.
The multi-source traffic state sensing equipment is used for collecting intersection state information in real time;
the road test unit is used for fusing and processing the state information of the intersection and the state information of the adjacent intersection, and combining the signal timing information of the adjacent intersection to obtain an optimized signal timing scheme of the intersection;
the signal control unit acquires an optimized signal timing scheme from the drive test unit of the intersection so as to correspondingly control the signaler of the intersection to execute the optimized signal timing scheme.
The system is applied to practice to realize the multi-layer distribution control method of the urban multi-intersection under the cooperative environment of the vehicle and the road, as shown in fig. 1, and comprises the following steps:
s1, based on distributed communication among road network topological structures of all intersections, a road test unit acquires intersection state information from multisource traffic state sensing equipment of the intersection and adjacent intersections and acquires signal timing information of the adjacent intersections from the road test unit of the adjacent intersections;
s2, the road test unit performs fusion processing on the acquired intersection state information to obtain road section consistency traffic state description information;
s3, based on the road section consistency traffic state description information and the signal timing information of adjacent intersections, a distributed traffic road network system dynamic update equation is constructed by determining the adjacent intersection timing information at an asynchronous moment, and a set objective function is combined to obtain a distributed signal timing optimization model;
s4, solving the distributed signal timing optimization model to obtain an optimized signal timing scheme corresponding to each intersection;
s5, the signal control unit acquires a corresponding optimized signal timing scheme from the road test unit of the intersection, and controls the intersection signal machine to execute the acquired optimized signal timing scheme.
By applying the technical scheme, the embodiment utilizes the distributed sensing method under the cooperative environment of the vehicle and the road to acquire real-time traffic state information, realizes distributed communication according to the topological structure of the distributed road network, optimizes the local signal timing scheme based on the real-time traffic information, and realizes the architecture of the urban multi-intersection multi-layer distributed signal control platform. As shown in fig. 2, mainly includes the following:
step 2, a distributed communication method according to a road network topological structure;
step 3, optimizing distributed signal timing;
and 4, implementing a distributed control scheme.
Specific:
(1.1) distributed awareness system physical architecture.
The multi-layer distributed signal control platform requires that a signal control unit, a road test unit and a series of traffic state sensing devices (shown in figure 3) are arranged at each intersection under the cooperative environment of the vehicle and the road.
The signal control unit is responsible for receiving the optimized signal timing information from the drive test unit and implementing according to an optimization scheme.
The road test unit is used for receiving information from each state sensing device, the network-connected vehicle and the road test unit of the adjacent intersection, optimizing the signal timing of the local intersection based on the information, feeding back the optimized signal timing scheme to the signal control unit, and broadcasting the local information to the road test unit of the adjacent intersection.
The traffic state sensing equipment comprises detection equipment such as a fixed coil, a camera and a radar and is used for sensing the state information of a local intersection in real time and integrating and summarizing the information to the drive test unit. In addition, the network-connected vehicles on the road section can also communicate broadcast information with the road test equipment in real time.
And (1.2) a traffic state information fusion method.
By utilizing a multi-source data fusion technology, the multi-layer distributed signal control platform synthesizes traffic information from a plurality of sensing devices, absorbs the characteristics of different data sources, then extracts unified and more accurate traffic state information from the traffic information, and generates consistent traffic state description information of road sections, wherein the traffic state description information mainly comprises data such as queuing length, vehicle delay and the like.
Step 2, distributed communication method according to road network topology structure
(2.1) establishing a distributed topology of adjacent intersections
Consider the distributed topology of adjacent intersections. Each intersection i independently builds a local road network topological structure model G i (N i ,E i ) Wherein N is i Is a collection of nodes including all directly adjacent intersections to the local intersection i. E (E) i The set of links connected to the intersection i is shown, and data such as the link length and the saturated flow are reflected.
(2.2) distributed communication method
Different from the centralized communication method, the distributed communication method is only applied to the local road network topology structure G of the intersection i i (N i ,E i ). I.e. the drive test unit of the local intersection i is only connected with N i The intersection drive test units in the node set communicate, and the drive test units of the local intersection i only receive the signals from E i The multisource traffic state perception fusion information of the road section set. The distributed communication method avoids that local intersections receive a large amount of invalid full-sample data from the whole road network, and realizes cooperative control among the intersections only based on a distributed topology structure.
(2.3) adjustment of topology
The distributed topology structure of the adjacent intersections is used as the bottom static data of the multi-layer distributed signal control platform, and data such as the adjacent relation of the intersections, the length of road sections, the design scheme of channeling, the saturation flow rate and the like are required to be collected according to the real road network data construction of the real world. After the real world road network is transformed, the underlying distributed topology of the platform needs to be adjusted and changed.
Step 3, distributed signal timing optimization
(3.1) Adjacent intersection timing information at asynchronous time
The vehicles passing through the upstream intersection can not immediately reach the stop line position of the downstream intersection, namely the signal timing scheme of the current adjacent intersection can not influence the local intersection, but the timing scheme of the last moment can influence the signal timing of the local intersection at the moment. The adjacent intersection timing scheme at the previous moment is regarded as asynchronous moment information, and represents that the local intersection i performs signal timing optimization at the moment t, and the adjacent intersection timing scheme based on the adjacent intersection timing scheme is from t-h i Time of day. Wherein h is i The method comprises the following steps:
j represents the adjacent intersection number of intersection i, N i For all intersection sets directly adjacent to intersection I, I is the intersection set, T j,i Is the travel time of intersections j through i. Asynchronous time information provides modeling basis and for distributed signal timing optimization controlAnd the real-time performance is guaranteed.
(3.2) System dynamic distributed update
The evolution of the queuing length of the traffic network is regarded as a system dynamic update. Based on the adjacent intersection timing information at the asynchronous moment, the system dynamic evolution of the distributed topology structure can be updated in a distributed mode so as to meet the requirement of distributed signal timing optimization. Queue length of intersection i entrance lane m at time t
The evolution formula can be calculated as follows:
wherein p is m′,m The diversion ratio of the upstream inlet channel m' to the downstream inlet channel m is shown.
Indicating that the intersection j is provided with an inlet channel m' at T-T j,i Time of day messageAnd (5) in the state of the signal lamp, taking 1 in the green lamp, otherwise taking 0.s is(s) j,m′ Representing the saturation flow rate of the inlet lane m' at intersection j. Δt represents the time step, which in the application can be designed to be 1s. />
Indicating that the intersection j is provided with an inlet channel m' at T-T j,i Queuing length at time. U (i, m) represents the upstream inlet to collection of the intersection i inlet lane m, m' belonging to the U (i, m) collection. j represents the adjacent intersection number of intersection i, N i For all sets of intersections immediately adjacent to intersection I, I represents the set of intersections, T j,i Is the travel time of intersections j through i.
Thus, a dynamic update equation of the distributed traffic road network system is constructed. The variables such as queuing length, signal state, steering proportion and the like can be obtained according to a distributed sensing system in a vehicle-road cooperative environment.
(3.3) distributed Signal timing scheme optimization
Based on the dynamic updating equation of the distributed traffic road network system, the road test unit can construct a distributed signal timing scheme optimization model according to minimum delay, maximum throughput and the like as objective functions, and the information of adjacent intersections is considered while the signal timing scheme of each intersection is optimized, so that the aim of multi-intersection cooperation is fulfilled, as shown in fig. 4. The multi-layer distributed signal control platform is not limited to the specific form of the optimization model, and the existing optimization model can be applied to the platform architecture.
Step 4, distributed control scheme implementation
(4.1) local intersection control scheme implementation
Obtaining an optimized signal timing scheme at each intersection according to the steps, and implementing according to a distributed framework: and when the signal control unit of each intersection receives the optimized signal of the drive test unit, controlling the signaler to execute according to an optimized scheme.
(4.2) broadcasting and receiving of information
The drive test unit at each intersection broadcasts information such as queuing length, optimized signal timing scheme and the like to the drive test units at adjacent intersections and receives information from the adjacent intersections.
In summary, the technical scheme fully utilizes the real-time traffic state information acquired in the cooperative environment of the vehicle and the road, and provides the multi-layer distributed signal control platform for the urban multi-intersection. By adopting a distributed modeling architecture on multiple layers of sensing, topology modeling, communication, optimization, control and the like, the problems that a traditional centralized method is difficult to solve, difficult to apply and the like are solved, the stability of multi-intersection signal control can be effectively improved, the passing efficiency is effectively improved, and delay is reduced.
Claims (5)
1. The multi-layer distribution control method for the urban multi-intersection under the vehicle-road cooperative environment is applied to a multi-layer distribution control system for the urban multi-intersection under the vehicle-road cooperative environment, and is characterized by comprising a signal control unit, a road test unit and multi-source traffic state sensing equipment which are arranged at each intersection, wherein each intersection is respectively provided with a corresponding road network topological structure, and the road network topological structure comprises all intersections which are directly adjacent to the intersection;
the road test unit is in communication connection with the signal control unit of the intersection, and is in communication connection with the road test units of other adjacent intersections in the road network topology structures corresponding to the intersection and the multi-source traffic state sensing equipment respectively so as to form distributed communication among the road network topology structures of the intersections;
the multi-source traffic state sensing equipment is used for collecting intersection state information in real time;
the road test unit is used for fusing and processing the state information of the intersection and the state information of the adjacent intersection, and combining the signal timing information of the adjacent intersection to obtain an optimized signal timing scheme of the intersection;
the signal control unit acquires an optimized signal timing scheme from the drive test unit of the intersection so as to correspondingly control the signaler of the intersection to execute the optimized signal timing scheme;
the road network topology structure corresponding to the intersection is specifically:
G i (N i ,E i )
wherein G is i Road network topological structure model for intersection i, N i For a set of nodes, including all directly adjacent intersections to local intersection i, E i The road segment collection is connected with the intersection i and is used for reflecting the road segment length and saturated flow data;
the drive test unit of the local intersection i is only connected with N i The road test units of the intersections in the node set are in communication connection, and meanwhile, the road test units of the local intersections i only receive the data from E i Intersection state information acquired by multi-source traffic state sensing equipment of road section sets;
the method comprises the following steps:
s1, based on distributed communication among road network topological structures of all intersections, a road test unit acquires intersection state information from multisource traffic state sensing equipment of the intersection and adjacent intersections and acquires signal timing information of the adjacent intersections from the road test unit of the adjacent intersections;
s2, the road test unit performs fusion processing on the acquired intersection state information to obtain road section consistency traffic state description information;
s3, based on the road section consistency traffic state description information and the signal timing information of adjacent intersections, a distributed traffic road network system dynamic update equation is constructed by determining the adjacent intersection timing information at an asynchronous moment, and a set objective function is combined to obtain a distributed signal timing optimization model;
s4, solving the distributed signal timing optimization model to obtain an optimized signal timing scheme corresponding to each intersection;
s5, the signal control unit acquires a corresponding optimized signal timing scheme from the road test unit of the intersection, and controls the intersection signal machine to execute the acquired optimized signal timing scheme;
the specific process of determining the timing information of the adjacent intersections at the asynchronous time in the step S3 is as follows: since the vehicles passing through the upstream intersection can not immediately reach the stop line position of the downstream intersection, the signal timing scheme of the current adjacent intersection can not influence the local intersection, but the signal timing scheme of the last moment can influence the signal timing of the local intersection at the moment, the adjacent intersection timing scheme of the last moment is taken as asynchronous moment information, namely the adjacent intersection timing scheme based on the signal timing optimization of the local intersection i at the moment t is from t-h i The time of day at which the time of day,
wherein j is the adjacent intersection number of intersection i, N i For all intersection sets directly adjacent to intersection I, I is the intersection set, T j,i For the travel time of intersections j to i, the adjacent intersection timing information at asynchronous moment can provide modeling basis and real-time guarantee for distributed signal timing optimization control;
the specific process of constructing the dynamic update equation of the distributed traffic road network system in the step S3 is as follows: the evolution of the queuing length of the traffic network is regarded as the dynamic update of the system, and the distributed road network topology can be realized based on the timing information of adjacent intersections at asynchronous timeThe dynamic evolution of the system of the structure is updated in a distributed manner to meet the requirement of optimizing the distributed signal timing, thereby queuing the entrance way m of the intersection i at the time t
The evolution formula of (2) is used as a dynamic updating equation of the distributed traffic road network system;
the objective function set in step S3 is specifically that the vehicle delay is minimum and the throughput is maximum.
2. The urban multi-intersection multi-layer distribution control method in a vehicle-road cooperative environment according to claim 1, wherein the multi-source traffic state sensing device comprises, but is not limited to, a fixed coil, a camera and a radar.
3. The method for multi-layer distribution control of urban multiple intersections in a cooperative vehicle-road environment according to claim 1, wherein the drive test unit is further in communication connection with an internet-connected vehicle.
4. The method for multi-layer distribution control of urban multiple intersections in a cooperative vehicle-road environment according to claim 1, wherein the road segment consistency traffic state description information in the step S2 includes queuing length, signal state, steering proportion and vehicle delay data.
5. The method for controlling multi-layer distribution of urban multiple intersections in a cooperative vehicle-road environment according to claim 1, wherein the queuing length of the entrance way m of the intersection i at time t is as follows
The evolution formula is:
in the method, in the process of the invention,
and->
The number of vehicles entering and exiting from upstream to downstream at time t, M, respectively, is the entrance lane M of intersection i i For intersection i entrance lane set, p m′,m For the turning ratio of the upstream inlet channel m' to the downstream inlet channel m, +.>
Inlet lane m' at T-T for intersection j j,i The signal lamp state at moment, 1 is taken when green light, otherwise 0 is taken; s is(s) j,m′ For the saturation flow rate of the entrance lane m' of intersection j, Δt is the time step, +.>
Inlet channel m' for intersection j is at T-T j,i The queuing length at the moment, U (i, m) is the upstream inlet channel set of the inlet channel m of the intersection i, m' belongs to the U (i, m) set, j is the adjacent intersection number of the intersection i, N i For all intersection sets directly adjacent to intersection I, I is the intersection set, T j,i For the travel time of intersections j to i, < +.>
Taking 1 when in green light for the signal lamp state of the entrance way m of the intersection i at the moment t, otherwise taking 0; s is(s) i,m For saturation flow rate, delta, of intersection Inlet channel mt is the time step, < >>
The queue length of the entrance lane m at the time t-1 for the intersection i.
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