CN114724353B - Bus signal passive priority control method and device considering pedestrians - Google Patents

Bus signal passive priority control method and device considering pedestrians Download PDF

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CN114724353B
CN114724353B CN202210240108.2A CN202210240108A CN114724353B CN 114724353 B CN114724353 B CN 114724353B CN 202210240108 A CN202210240108 A CN 202210240108A CN 114724353 B CN114724353 B CN 114724353B
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delay
pedestrian
intersection
car
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CN114724353A (en
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邹亮
王赟
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Shenzhen University
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/005—Traffic control systems for road vehicles including pedestrian guidance indicator
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • G06F30/27—Design optimisation, verification or simulation using machine learning, e.g. artificial intelligence, neural networks, support vector machines [SVM] or training a model
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/12—Computing arrangements based on biological models using genetic models
    • G06N3/126—Evolutionary algorithms, e.g. genetic algorithms or genetic programming
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125—Traffic data processing
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
    • G08G1/0145—Measuring and analyzing of parameters relative to traffic conditions for specific applications for active traffic flow control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2111/00—Details relating to CAD techniques
    • G06F2111/04—Constraint-based CAD
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2111/00—Details relating to CAD techniques
    • G06F2111/10—Numerical modelling
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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    • Y02T10/10—Internal combustion engine [ICE] based vehicles
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Abstract

The invention discloses a bus signal passive priority control method and device considering pedestrians, which selects an applicable bus signal passive priority strategy, calibrates a simulation model according to the running condition of a video recorded intersection, calculates the delay of a car and a bus of a mixed traffic entrance, adopts improved saturated flow rate calculation and delay calculation to respectively obtain delay calculation models of the car and the bus, converts the delay calculation models into passenger delay, and simultaneously obtains a pedestrian delay model according to the arrival and departure curves of the pedestrians; and taking green light time of each phase as a variable, establishing a mathematical model taking the minimum delay of people as a target and ensuring saturation, the shortest green light time and cycle constraint of normal operation of an intersection as constraint conditions, and solving the model by utilizing a genetic algorithm. The invention improves the delay calculation of the intersection entrance road mixed vehicles, adopts the special phase of dynamic pedestrians, and establishes a signal control model with the minimum average delay as a target, thereby effectively reducing the average delay.

Description

Bus signal passive priority control method and device considering pedestrians
Technical Field
The invention relates to the technical field of intersection signal control, in particular to a bus signal passive priority control method and device considering pedestrians.
Background
According to public security department statistics, the national motor vehicles keep up to 3.93 hundred million by 2021 years, and the number of the motor vehicles is increased by 2000 ten thousand. Because the urban road resources are limited, the urban road resources are far from meeting the traveling demands of more and more people, the traffic jam problem is only more serious, and public transportation is greatly and preferentially developed in order to relieve the current traffic traveling problem.
The bus signal priority is taken as an important implementation method in the bus priority, and plays a great role in actual implementation. In most public traffic signal priority control, the traffic efficiency of the car and the bus is mainly considered, and the street crossing requirement, street crossing efficiency and the like of pedestrians are weakened or ignored. This not only results in increased delays for pedestrians, but also causes problems in that a large number of people accumulate at intersections and pedestrians cross motor vehicle flows, which is not beneficial to the safety of pedestrians and affects the vehicle flows.
Therefore, bus signal priority control is performed at intersections near large business circles and large passenger subway stations, but in the prior art, when bus signal priority control is performed at intersections near large business circles and large passenger subway stations, the problem that pedestrians and vehicles cannot be compatible is generated, and further optimization is still needed.
Accordingly, there is a need for improvement and advancement in the art.
Disclosure of Invention
The invention aims to solve the technical problems that the prior art is overcome by providing a method, a device, a playing device and a storage medium for taking the bus signal of pedestrians into consideration, and aims to solve the problem that pedestrians and vehicles cannot be compatible when the bus signal is controlled preferentially at intersections near large business circles and large passenger subway stations.
In order to solve the above technical problems, a first aspect of the present invention provides a method for controlling bus signals passively and preferentially according to pedestrians, where the method includes:
a method for passive priority control of bus signals considering pedestrians, wherein the method comprises the steps of:
acquiring active priority and passive priority strategies, comparing the active priority and the passive priority strategies, and confirming applicable bus signal priority strategies;
based on the passive priority strategy of the bus signals, calibrating a simulation model according to the running condition of the intersection recorded by videos, and adopting improved saturated flow rate calculation and delay for the bus and the bus delay of the mixed traffic entrance to respectively obtain delay calculation models of the bus and the bus; obtaining passenger delay through the delay conversion of the car and the bus, and calculating pedestrian delay according to the arrival and departure curves of the pedestrians;
Based on the calculated pedestrian delay, indirectly calculating the pedestrian delay of the intersection through the vehicle delay, and constructing a bus signal priority control mathematical model which ensures the normal operation and traffic safety of the intersection as constraints by taking the minimum pedestrian delay as a target;
acquiring actual running conditions of intersections, extracting relevant parameters, and inputting the bus signal priority control mathematical model; and solving the bus signal priority control mathematical model through a genetic algorithm to obtain an optimal signal control scheme and outputting the optimal signal control scheme.
The method for controlling the bus signal passive priority of the pedestrian comprises the steps of acquiring the active priority strategy and the passive priority strategy, comparing the active priority strategy with the passive priority strategy, and confirming the applicable bus signal priority strategy, wherein the steps comprise:
the control strategy of bus signal priority comprises an active priority control strategy and a passive priority control strategy;
according to the characteristics of pedestrians and buses at intersections of a large business district and a large passenger flow subway station, a passive priority strategy is selected, intersection simulation is carried out by adopting vissim9.0 software, and the rationality of the selected strategy is demonstrated according to the running condition and the output index.
According to the bus signal passive priority control method considering pedestrians, wherein based on the bus signal passive priority strategy, a simulation model is calibrated according to the running condition of a video recorded intersection, improved saturated flow rate calculation and delay calculation are adopted for the bus and bus delay of a mixed traffic entrance, and delay calculation models of the bus and bus are respectively obtained; the step of obtaining the passenger delay through the conversion of the car and the bus delay and calculating the pedestrian delay according to the arrival and departure curves of the pedestrian comprises the following steps:
The method comprises the steps of adaptively adjusting and improving the delay of vehicles at a mixed traveling intersection, respectively calculating the delay of buses and the delay of the buses at the mixed traveling intersection, and respectively calculating the delay of the buses and the delay of the buses in the mixed traveling state of the buses and the buses in the traffic flow of the mixed traveling of the buses and the buses;
obtaining passenger delay through the delay conversion of the car and the bus, and calculating pedestrian delay by means of a pedestrian arrival departure curve; pedestrian delays include delays in pedestrian specific phases and common pedestrian crossing phase delays.
According to the bus signal passive priority control method considering pedestrians, wherein based on the bus signal passive priority strategy, a simulation model is calibrated according to the running condition of a video recorded intersection, improved saturated flow rate calculation and delay calculation are adopted for the bus and bus delay of a mixed traffic entrance, and delay calculation models of the bus and bus are respectively obtained; the step of obtaining the passenger delay through the conversion of the car and the bus delay and calculating the pedestrian delay according to the arrival and departure curves of the pedestrian comprises the following steps:
calculation of saturation flow rate: collecting the following behavior of an intersection, recording the following distances among different vehicle types, and calculating the saturation flow rate of an entrance road of the urban intersection according to the composition proportion of different traffic vehicles and the parameters of the following behavior;
Improved mixed traffic flow saturation flow rate calculation: respectively calculating the vehicle flow delays under the condition of mixed running of the car and the bus; under the condition of traffic flow mixing, the traffic flow type is converted according to the traffic composition proportion, and the arrival rate q is calculated by delay calculation of social traffic flow c Homogeneous conversionFor the small car flow, calculating the arrival rate q of the traffic flow after delay b Are converted into bus flows.
The method for controlling the bus signal passive priority by considering pedestrians, wherein the steps of indirectly calculating the pedestrian delay of the intersection through the vehicle delay based on the calculated pedestrian delay and constructing a bus signal priority control mathematical model for guaranteeing the normal operation and the traffic safety of the intersection as constraints by taking the minimum of the pedestrian delay as a target comprise the following steps:
the intersection people average delay is indirectly calculated through the vehicle delay, and the calculation formula is as follows:
Figure GDA0004176032040000031
the variable is denoted as x= [ g ] 1 ，g 2 ，g 3 ，g 4 ，g 5 ，y]，g i For the duration of the phase green light, y is 0 or 1, and the specific expression of the bus signal priority control mathematical model is shown as follows;
Figure GDA0004176032040000041
wherein D is b Indicating total delay of passengers of bus, D c Indicating total delay of car passengers, D p Representing total delay of pedestrians crossing street, P b Indicating the total amount of passengers in the bus,
P c Representing the total amount of passengers on the car, P p Is the total amount of pedestrians crossing the street.
The bus signal passive priority control method considering pedestrians, wherein the actual running condition of an intersection is obtained, relevant parameters are extracted, and a bus signal priority control mathematical model is input; solving the bus signal priority control mathematical model through a genetic algorithm, and obtaining and outputting an optimal signal control scheme comprises the following steps:
heuristic solving of a bus signal priority control mathematical model is carried out by combining the real data through a Geatpy tool in the Python language;
video shooting is carried out on the actual intersection to acquire data, related data such as traffic flow, pedestrian flow and the like of the intersection are counted, and the bus signal priority control mathematical model is utilized to carry out solving;
respectively carrying out sensitivity analysis from the pedestrian arrival rate, the bus occupancy rate and the passenger carrying number, and taking the average delay as an evaluation index;
setting a special phase of a dynamic pedestrian through the effectiveness of the example and the sensitivity analysis so as to control the public transport signal of the intersection at the appointed place preferentially;
the solving process through the Geatpy toolkit in the Python language comprises the following steps:
the chromosome adopts an RI coding mode, and the length of each phase of the intersection is coded, so that the length of the chromosome corresponds to i phases;
Constructing a chromosome G of the population, and marking the chromosome length of the population as Lind;
adopting an objective function as a fitness function;
determining genetic operators, including modes corresponding to selection, crossing and mutation;
and (5) verifying by combining the actual intersection cases.
The bus signal passive priority control method considering pedestrians is characterized in that the saturation flow rate of an intersection entrance way is calculated by a saturation flow rate measuring and calculating method, and then delay calculation is carried out on a car and a bus respectively;
car
Figure GDA0004176032040000051
Delay of (2) and bus->
Figure GDA0004176032040000052
The delays of (1) are respectively:
Figure GDA0004176032040000053
wherein C represents a signal period, lambda i Indicating the green-to-signal ratio of the i-th phase,
Figure GDA0004176032040000054
Figure GDA0004176032040000055
and->
Figure GDA0004176032040000056
Flow rate ratio of car and bus, respectively, +.>
Figure GDA0004176032040000057
S ij c And S is ij b The saturation flow rates of the car and the bus, respectively, wherein,
Figure GDA0004176032040000058
h t0 is the average headway.
A bus signal passive priority control device considering pedestrians, wherein the device comprises:
the priority strategy comparison and selection module is used for acquiring active priority and passive priority strategies, comparing the active priority strategy with the passive priority strategy, confirming the applicable bus signal priority strategy and proving by using a simulation model;
the delay calculation module is used for calibrating a simulation model according to the running condition of the intersection recorded by the video based on the passive priority strategy of the bus signal, adopting improved saturated flow rate calculation and delay calculation for the bus and the bus delay of the mixed traffic entrance to respectively obtain delay calculation models of the bus and the bus; obtaining passenger delay through the delay conversion of the car and the bus, and calculating pedestrian delay according to the arrival and departure curves of the pedestrians;
The bus signal priority control mathematical model construction module is used for indirectly calculating the pedestrian delay of the intersection through the vehicle delay based on the calculated pedestrian delay, and constructing a bus signal priority control mathematical model which ensures the normal operation and the traffic safety of the intersection as constraints by taking the minimum pedestrian delay as a target;
the solving and outputting module is used for acquiring actual conditions and extraction parameters of the intersection through recording video and inputting the bus signal priority control mathematical model; and solving the bus signal priority control mathematical model through a genetic algorithm to obtain an optimal signal control scheme and outputting the optimal signal control scheme.
A playback device comprising a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by one or more processors, the one or more programs comprising instructions for performing the method of any of claims 1-7.
A non-transitory computer readable storage medium, wherein instructions in the storage medium, when executed by a processor of a playback device, enable the playback device to perform the method of any one of claims 1-7.
The beneficial effects are that: compared with the prior art, the invention provides a passive priority control method for bus signals considering pedestrians, which is characterized by analyzing the applicable situation by comparing the characteristics of the passive priority and the active priority of the main bus signals at present, simulating different strategies by means of vissim9.0 software and selecting the passive priority as the bus signal priority strategy. And calculating the time interval of the vehicle in the mixed running state of the vehicle and the bus, respectively calculating the saturated flow rate of the vehicle and the bus, further respectively calculating the respective delay in the mixed running state of the vehicle and the bus, and carrying out contrast verification through the calibrated vissim9.0 model simulation. And calculating pedestrian delays under the special phases of the pedestrian and the no-pedestrian respectively by using the arrival and departure curves of the pedestrian, and calculating the pedestrian delays by combining 0-1 integer programming. And taking the minimum person delay as a target of the timing model, inputting an actual example by utilizing a genetic algorithm, and solving the model. Under the construction of different pedestrian flow rates and bus flow rates, the running condition of the intersection is deeply explored, and the result shows that the invention can better cope with the bus signal priority control of the adjacent intersections of the business district and the large passenger subway. The invention improves the delay calculation of the hybrid vehicle, adopts the special phase of the dynamic pedestrian, and establishes the signal control model by taking the average delay as the target, thereby effectively reducing the average delay.
Drawings
Fig. 1 is a flowchart of a specific implementation of a method for passive priority control of bus signals considering pedestrians according to an embodiment of the present invention.
Fig. 2 is a diagram of a calculation mode of a car and a bus delay of a mixed travelling port in a passive priority control method of bus signals considering pedestrians according to an embodiment of the present invention.
Fig. 3 is a comparison simulation result of a webster delay model in a bus signal passive priority control method considering pedestrians and an improved model in the method according to an embodiment of the present invention.
Fig. 4 is a graph showing a delay line of a pedestrian in the east-west direction without a special phase of the pedestrian in a passive priority control method of a bus signal considering the pedestrian according to an embodiment of the present invention.
Fig. 5 is a north-south pedestrian delay curve of a special phase of a pedestrian in a bus signal passive priority control method considering the pedestrian according to an embodiment of the present invention.
Fig. 6 is a graph showing pedestrian delay curves in east-west directions of a special phase of a pedestrian in a bus signal passive priority control method considering the pedestrian according to an embodiment of the present invention.
Fig. 7 is a plot of pedestrian delay in the north-south direction of a special phase of a pedestrian in a method for passive priority control of a bus signal considering the pedestrian according to an embodiment of the present invention.
FIG. 8 is a genetic algorithm solving flow path provided by an embodiment of the present invention.
FIG. 9 is a comparison of the results of the method provided by the examples of the present invention with the conventional webster timing method.
Fig. 10 is a schematic block diagram of a method for passive priority control of a bus signal considering pedestrians according to an embodiment of the present invention.
Fig. 11 is a schematic block diagram of an internal structure of a playback apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and effects of the present invention clearer and more specific, the present invention will be described in further detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In order to solve the problems in the prior art, the embodiment provides a passive priority control method for bus signals considering pedestrians, and the method can ensure normal operation of an intersection and reduce personnel delay of the intersection in signal control of the intersection adjacent to a business district and a large passenger flow subway station. In specific implementation, the embodiment firstly analyzes the applicable situation by comparing the characteristics of the passive priority and the active priority of the current main bus signals, simulates different strategies by means of vissim9.0 software, and selects the passive priority as the bus signal priority strategy. And calculating the time interval of the vehicle in the mixed running state of the vehicle and the bus, respectively calculating the saturated flow rate of the vehicle and the bus, further respectively calculating the respective delay in the mixed running state of the vehicle and the bus, and carrying out contrast verification through the calibrated vissim9.0 model simulation. And calculating pedestrian delays under the special phases of the pedestrian and the no-pedestrian respectively by using the arrival and departure curves of the pedestrian, and calculating the pedestrian delays by combining 0-1 integer programming. And taking the minimum person delay as a target of the timing model, and solving the model by utilizing a genetic algorithm. And then carrying out example verification and deeply exploring the running condition of the intersection under the condition of different pedestrian duty ratios and bus flow duty ratios, so that the invention can better cope with the bus signal priority control of the adjacent intersections of the business district and the large passenger subway.
Exemplary method
The bus signal passive priority control method considering pedestrians can be applied to terminal equipment, and the terminal equipment is an intelligent terminal product such as a computer and a mobile phone. Specifically, as shown in fig. 1, a method for controlling the passive priority of bus signals considering pedestrians in this embodiment includes the following steps:
step S100, acquiring an active priority strategy and a passive priority strategy, comparing the active priority strategy with the passive priority strategy, and confirming an applicable bus signal priority strategy;
in the embodiment of the invention, the active priority strategy and the passive priority strategy are acquired, the active priority strategy and the passive priority strategy are compared, and the applicable bus signal passive priority strategy is selected through the vissim9.0 simulation software; the method can be used for simulating and proving different priority strategies for intersections adjacent to business circles and subways by means of vissim9.0 simulation software, and selecting an applicable bus signal priority strategy; and obtain the initiative to prioritize and passive to prioritize tactics, and compare initiative to prioritize tactics and passive to confirm the public traffic signal that is suitable to prioritize tactics, the invention preferably chooses: and a passive priority strategy of bus signals.
In the embodiment of the invention, regarding the selection of the bus signal priority strategy, the comparison method selects the passive priority as the bus signal priority strategy by combining the characteristics of intersections of a business district and a subway by a theoretical characteristic comparison and a vissim9.0 simulation verification dual mode. Different priority strategies are simulated for the same intersection, for example by means of vissim9.0 software, and comprehensive selection of running conditions and delay conditions is checked.
Step 200, calibrating a simulation model according to the running condition of the intersection recorded by video based on the passive priority strategy of the bus signal, and adopting improved saturated flow rate calculation and delay calculation for the bus and the bus delay of the mixed traffic entrance to respectively obtain delay calculation models of the bus and the bus; obtaining passenger delay through the delay conversion of the car and the bus, and calculating pedestrian delay according to the arrival and departure curves of the pedestrians;
according to the invention, the saturation flow rate of the entrance road of the intersection is calculated by a saturation flow rate measuring and calculating method, and then the delays of the car and the bus are calculated respectively. The method comprises the steps of calculating the vehicle delay of a mixed traveling intersection, wherein the vehicle comprises a car and a bus, improving the calculation of the car and the bus delay of the mixed traveling intersection, and calculating the delay of the car and the bus respectively; and obtaining passenger delay through the conversion of the car and the bus delay, and calculating the pedestrian delay by means of the pedestrian arrival departure curve, wherein the pedestrian delay calculation is divided into a special phase with pedestrians and a special phase without pedestrians.
For example, the invention can calibrate a simulation model according to the running condition of an intersection recorded by video by using vissim9.0, adopts improved saturated flow rate calculation and delay for the delay of the buses and the buses of the mixed traffic entrance to respectively obtain delay calculation models of the buses and the buses, converts the delay calculation models into passenger delay, and simultaneously distinguishes whether a special phase for the pedestrian exists or not by using 0-1 according to the arrival and departure curves of the pedestrian to obtain the pedestrian delay model.
Wherein, the car
Figure GDA0004176032040000101
Delay of (2) and bus->
Figure GDA0004176032040000102
The delays of (1) are respectively:
Figure GDA0004176032040000103
Figure GDA0004176032040000104
wherein C represents a signal period, lambda i Indicating the green-to-signal ratio of the i-th phase,
Figure GDA0004176032040000105
Figure GDA0004176032040000106
and->
Figure GDA00041760320400001010
Flow rate ratio of car and bus, respectively, +.>
Figure GDA0004176032040000107
S ij c And S is ij b The saturation flow rates of the car and the bus, respectively, wherein,
Figure GDA0004176032040000108
Figure GDA0004176032040000109
h t0 is the average headway.
According to the invention, pedestrian delay calculation under the special phases of pedestrians and no pedestrians is distinguished, and the purpose of correctly using a pedestrian delay model is achieved through 0-1 integer programming.
Step S300, based on the calculated pedestrian delay, the pedestrian delay of the intersection is indirectly calculated through the vehicle delay, and the minimum pedestrian delay is taken as a target, so that a bus signal priority control mathematical model which ensures the normal operation and the traffic safety of the intersection is constructed as constraints;
Based on the calculated pedestrian delay, the invention establishes a mathematical model taking the green time of each phase as a variable and the minimum delay of people as a target and taking the saturation, the shortest green time and the period constraint of the normal operation of the intersection as constraint conditions.
Step S400, acquiring actual running conditions of an intersection, extracting related parameters, and inputting the bus signal priority control mathematical model; solving the bus signal priority control mathematical model through a genetic algorithm to obtain an optimal signal control scheme and outputting the optimal signal control scheme;
in the invention, the actual running condition of the intersection can be obtained and related parameters can be extracted in a video recording mode, and the bus signal priority control mathematical model is input; and solving the bus signal priority control mathematical model through a genetic algorithm to obtain an optimal signal control scheme and outputting the optimal signal control scheme. In specific implementation, the car and bus delay is converted into passenger delay and pedestrian delay, the passenger delay and the pedestrian delay are converted into the objective function with minimum average passenger delay, and constraint conditions comprise cycle duration constraint, saturation constraint, shortest green light time constraint and integer constraint of 0-1, and then the constraint is solved by means of a genetic algorithm.
Solving by the Geatpy toolkit in Python language, the main process includes:
The chromosome adopts an RI coding mode, and the length of each phase of the intersection is coded, so that the length of the chromosome corresponds to i phases;
constructing a chromosome G of the population, and marking the chromosome length of the population as Lind;
adopting an objective function as a fitness function;
determining genetic operators, including modes corresponding to selection, crossing and mutation;
and (5) verifying by combining the actual intersection cases.
According to the invention, a genetic algorithm is utilized to solve a bus signal priority control mathematical model, the solution is carried out by means of a Geatpy toolkit in Python language, and the sensitivity analysis of a personal special phase threshold and a bus proportion is carried out by combining with example verification. For example, the actual condition of the intersection is obtained through video recording, and the bus signal priority control mathematical model is input. The mathematical model is solved through a genetic algorithm to obtain an optimal signal control scheme, verification is conducted by combining the example, a threshold value is set for the special phases of pedestrians and pedestrians, the bus occupation ratio is subjected to sensitivity analysis, verification is conducted by combining the example, the threshold value is set for the special phases of the pedestrians and pedestrians, and the bus occupation ratio is subjected to sensitivity analysis.
In the embodiment of the invention, the following steps are included: the step S100 of acquiring active priority and passive priority policies, and comparing the active priority and passive priority policies, and confirming the applicable bus signal passive priority policies specifically includes:
According to the invention, according to the selection of the applicable bus signal priority strategy, based on the characteristics and the applicable conditions of the bus signal priority strategy, and in combination with the characteristics of the intersection, the appropriate bus signal priority strategy is selected to perform the bus signal priority control.
Specifically, the control strategies of bus signal priority mainly include active priority and passive priority, and for passive priority, the control strategies are more important to intersections with large flow and relatively stable traffic flow, and the control strategies have poor adaptability when the traffic flow is smaller. The active priority is more suitable for the condition of smaller traffic volume, and the phase is required to be frequently changed and the phase time is required to be changed due to the characteristics of a control strategy, so that the active priority is not suitable for the intersection with larger traffic volume. The invention combines the characteristics of pedestrians and buses near intersections of the researched business district and large passenger flow subway stations, selects a passive priority strategy, carries out intersection simulation by means of vissim9.0 software, and demonstrates the rationality of the selected strategy according to the running condition and output indexes.
In the embodiment of the invention, the following steps are included: regarding the passive priority strategy based on the bus signal in step S200, calibrating a simulation model according to the running condition of the intersection recorded by video, and adopting improved saturated flow rate calculation and delay calculation for the buses and the bus delays of the mixed traffic entrance to obtain delay calculation models of the buses and the buses respectively; the passenger delay is obtained through the conversion of the car and the bus delay, and the pedestrian delay is calculated according to the arrival and departure curves of the pedestrians, specifically, the method comprises the following steps:
In the invention, the calculation of the traffic delay of the intersection is carried out by normalizing the arrived traffic into the car and then calculating. The intersection vehicle delay calculation model adopts a Webster delay model and a model derived on the basis of the Webster delay model, and has better flexibility in use under a plurality of conditions. The Webster model is mainly used for calculating delay of the car according to the rules of arrival and departure of the car flow, and when a large car or a bus exists in an entrance way, the car is transferred by a conversion coefficient and then calculated. This way of standardizing to cars has extremely high applicability at intersections with cars as the main, but has a large deviation from the actual situation when the proportion of buses is high. Therefore, the invention improves the adaptability adjustment of the vehicle delay of the mixed travelling intersection, and calculates the delay of the bus and the car of the mixed travelling intersection respectively. The calculation thinking is shown in the following figure 2, namely, the delay of the bus and the delay of the car in the mixed state of the bus and the car are calculated in the traffic flow of the mixed state of the bus and the car respectively.
Specifically, firstly, calculating the saturation flow rate, collecting the following behavior of an intersection through researching the following behavior of the intersection, recording the following distances among different vehicle types, and calculating the saturation flow rate of an entrance road of the urban intersection according to the composition proportion of different traffic vehicles and the parameters of the following behavior.
In the invention, the saturation flow rate of the inlet channel of the intersection is calculated according to the saturation flow rate, and the calculation process is as follows:
wherein the saturation flow rate of the inlet channel is calculated by the following equation 1:
Figure GDA0004176032040000131
vehicle composition correction factor f c Calculated by the following equation 2:
Figure GDA0004176032040000132
wherein h is t0 The average headway is:
h t0 ＝ρ b 2 ×t b+b +ρ c 2 ×t c+c +ρ b ×ρ c ×t b+c +ρ c ×ρ b ×t c+b the method comprises the steps of carrying out a first treatment on the surface of the Wherein, the liquid crystal display device comprises a liquid crystal display device,
ρ b for the proportion of buses, ρ c For car proportion, t b+b Is to follow the bus, t c+c Following car for car, t b+c Is to follow the car for buses, t c+b Is the average headway of the bus and the bus.
And calculating the saturation flow rate of the improved mixed traffic flow, and calculating the traffic flow delay under the condition of mixing the car and the bus respectively. Under the condition of traffic flow mixing, the traffic flow type is converted according to the traffic composition proportion, and the arrival rate q is calculated by delay calculation of social traffic flow c All are converted into small car flows and busesCalculating the delay of the traffic flow and then calculating the arrival rate q b Are converted into bus flows.
The vehicle average delay of the social vehicle is calculated by the following equation 3:
Figure GDA0004176032040000141
the vehicle delay of the bus is calculated by the following formula 4:
Figure GDA0004176032040000142
/>
wherein:
Figure GDA0004176032040000143
and the total delay of the bus with mixed traffic flows is calculated by the following formula 5:
Figure GDA0004176032040000144
further, in the embodiment of the invention, the operation data of the intersection is acquired through video, and indexes such as the maximum queuing length, the average delay of vehicles (cars and buses), the average parking times and the like of the intersection are acquired and recorded. And establishing an intersection simulation model through vissim9.0 software, and adjusting parameters in the simulation model to enable the running condition and the actual condition of the simulation model to be close. After the simulation model is calibrated, the webster delay model and the delay model adopted by the method are used for calculation, and the proportion of buses is increased from 5% to 30%. Comparing the obtained result with the calibrated vissim9.0 simulation output result, it can be seen from fig. 3 that when the proportion of buses at the intersection is gradually increased, the improved webster delay calculation method for the delay of the buses is closer to the real condition of the intersection.
Further, in the embodiment of the method, the pedestrian delay calculation relates to a special phase of a dynamic pedestrian, so that the pedestrian delay (for short, the pedestrian delay) consists of the delay of the special phase of the pedestrian and the delay of the common pedestrian delay.
Specifically, taking four phases as an example, the phase setting is as shown in fig. 4 to 7, and the setting of the pedestrian-specific phase is dynamic, so that when calculating the pedestrian delay, it is necessary to distinguish whether the pedestrian-specific phase exists or not to calculate the pedestrian delay:
when no special phase exists for pedestrians, the curves of arrival and evacuation of pedestrians in the east-west direction are shown in the following figure 4, and pedestrians in the east-west direction delay D p1 The method comprises the following steps:
Figure GDA0004176032040000151
the curves of arrival and departure in the north-south direction are shown in the following figure 5, and the pedestrian in the north-south direction delays by D p2 The method comprises the following steps:
Figure GDA0004176032040000152
when the special phase of the pedestrian exists, the arrival and departure curves of the east-west pedestrian are as shown in the following figure 6, and the east-west pedestrian delays by D pt1 The method comprises the following steps:
Figure GDA0004176032040000161
the curves of arrival and departure in the north-south direction are shown in the following figure 7, and pedestrians in the north-south direction are delayed
D pt2 The method comprises the following steps:
Figure GDA0004176032040000162
the pedestrian delay at the time of calculation is:
Figure GDA0004176032040000163
wherein:
Figure GDA0004176032040000164
an average delay for a pedestrian crossing at the kth phase;
Figure GDA0004176032040000165
representing a delay of a pedestrian in a non-pedestrian specific phase, < ->
Figure GDA0004176032040000166
Figure GDA0004176032040000167
Representing a delay of a pedestrian in a pedestrian-specific phase, < > >
Figure GDA0004176032040000168
y is 0 or 1, and y=1 means setting a pedestrian-specific phase.
The step S300 of the embodiment of the invention is based on the calculated pedestrian delay, the pedestrian delay of the intersection is indirectly calculated through the vehicle delay, and the step of constructing a bus signal priority control mathematical model which ensures the normal operation and the traffic safety of the intersection as constraints by taking the minimum pedestrian delay as a target is as follows:
specifically, the invention calculates the average person delay of the intersection indirectly through the vehicle delay, establishes a mathematical model with the minimum average person delay as a target, calculates the average person delay of the intersection indirectly through the vehicle delay,
Figure GDA0004176032040000171
constructing a bus signal priority control mathematical model which ensures the normal operation and traffic safety of the intersection as constraints by taking the minimum delay of people as a target;
specifically, the variable is represented as x= [ g ] 1 ，g 2 ，g 3 ，g 4 ，g 5 ，y]，g i For the duration of the phase green light, y is 0 or 1, and the specific expression of the bus signal priority control mathematical model is shown as follows;
Figure GDA0004176032040000172
wherein D is b Indicating total delay of passengers of bus, D c Indicating total delay of car passengers, D p Representing total delay of pedestrians crossing street, P b Indicating the total amount of passengers in the bus,
P c representing the total amount of passengers on the car, P p Indicating the total amount of pedestrians crossing the street.
In the embodiment of the invention, the constraint conditions comprise:
setting the signal period C in the maximum and minimum period ranges, avoiding operation for too long time, namely:
15n<C<220
wherein n is the number of phases;
ensure the whole passing of the intersection by the saturation x of the vehicle p As a constraint, namely:
x p ≤0·95
the pedestrian safety crossing and the normal passing of the vehicle are ensured, and the shortest green lamp duration is set, namely:
g nmin ＝max(g c ，g p )，
wherein g c G is the shortest time for the vehicle to pass p The pedestrian is safe and crosses the street for the shortest time;
guarantee that pedestrian's special phase place sets up and plays the effect, namely:
My≥g n ≥g nmin y≥0
wherein: m represents an arbitrarily large integer value, g n For pedestrian specific phase green time, y=0 or 1.
Further, in the present invention, the actual running condition of the intersection is obtained and relevant parameters are extracted in step S400, and the bus signal priority control mathematical model is input; solving the bus signal priority control mathematical model through a genetic algorithm to obtain an optimal signal control scheme and outputting the following specific steps:
in the implementation of the invention, through the actual condition of the video recording intersection, the mathematical model is input, the problem is a nonlinear programming problem with various types of constraints, and can be solved by utilizing a genetic algorithm, and the process is shown in fig. 8, and the sensitivity is calculated.
As shown in fig. 8: starting-initializing a population-population first generation G=0-calculating fitness-selecting operation-crossing operation-mutation operation-generating a next generation population-G=G+1-judging that G=G+1 is the optimal scheme for output and ending; otherwise, returning to the step of calculating the adaptability. Specifically, the method comprises the following steps:
and S41, solving a bus signal priority control mathematical model by utilizing a genetic algorithm, and performing heuristic solving by adopting a Geatpy tool in Python language and combining actual data. Geatpy is a high-performance practical evolutionary algorithm tool kit, provides library functions for important operations in a plurality of realized evolutionary algorithms, provides an object-oriented evolutionary algorithm framework with high modularization and low coupling degree, can be used for solving single-objective optimization, multi-objective optimization, complex constraint optimization, combination optimization, hybrid coding evolutionary optimization and the like, and can be matched with frameworks such as SCOOP and the like to perform distributed computation.
In step S411, the Encoding mode is real integer Encoding 'RI', i.e. the mixed Encoding of real numbers and integers, the encoded chromosomes do not need decoding, and each bit on the chromosome represents the real value of the decision variable.
In step S412, the genetic algorithm is solved, generally starting from randomly generating initial populations, and the initial population requirements are also within the constraint-satisfying conditions. When solving the model, the randomly generated population is the green light time-long lamp group G= [ G ] meeting the signal control constraint condition 1 ，g 2 ，g 3 ，g 4 ，yg 5 ]Each g of i And y is 0 or 1 for the green light duration of the phase. The population chromosome is an arr of numpyTwo-dimensional matrices of the ay type, denoted here by G, each row representing a chromosome. Nind represents the population size, here nind=100. The chromosome length of the population is noted as Lind, where lind=6. The structure of population chromosome G is as follows:
Figure GDA0004176032040000191
the initial population setting mode is to randomly generate an initial population meeting part of feasible solutions, and then convert the initial population into the initial population meeting constraint through conversion. Because g i ∈(g imin ，g imax ) Y epsilon (0, 1) and adopting a random function to generate an initial population meeting the constraint, wherein the specific mode is as follows:
g i ＝rand(g imin ，g imax )
step S413, the fitness function is the objective function D p s (g 1 ，g 2 ，g 3 ，g 4 ，g 5 Y), the smaller the size, the higher the fitness, and the more survivable.
In step S414, the genetic operator selects the mode of roulette (Roulette Wheel Selection) by probability P i Is selected as a result of the (c) selection,
Figure GDA0004176032040000192
d in pi s For individual fitness function values, i.e., objective function values, M represents population size. Crossover uses Partial-Mapped Crossover (PMX) to exchange genes for a pair of identical start and stop segments of a chromosome. The variation being that 3 genes are randomly selected from the current nth generation population, e.g. g 1，n ，g 2，n ，g 3，n The difference (g) between two genes was taken 1，n -g 3，n ) Scaling by scaling factor F epsilon (0, 2) and adding to g 3，n Thus, a novel gene g was obtained 3，n ′。
Step S42, video shooting is carried out on the actual intersection to acquire data, related data such as traffic flow of the intersection and pedestrian flow are counted, the data are input into the established bus signal priority control mathematical model, the model established by the genetic algorithm is utilized for solving, feasibility of the method is demonstrated, and a comparison result of the method and a common webster timing method is shown in FIG. 9.
The bus signal priority control mathematical model established in the embodiment of the invention is a mathematical model, and the genetic algorithm is a heuristic solving algorithm for solving the mathematical model.
Step S421, to understand the mutual influence among the intersection signal control parameters, the sensitivity analysis is performed from the pedestrian arrival rate, the bus occupancy and the passenger carrying number.
Specifically, the pedestrian duty ratio (the intersection flow is totally converted into human) is changed for calculation. The total number of people at the intersection is kept unchanged, and the pedestrian flow rate is 10% -80%, and every 10% is used as an interval. When the pedestrian flow accounts for the total number of people at the intersection, setting the special phase for pedestrians can better reduce the delay of pedestrian crossing.
And step 422, performing sensitivity analysis on the duty ratio of the bus and the average passenger carrying number of the bus, and taking the average passenger delay as an evaluation index.
Specifically, calculating the bus arrival rate from 3% -15% (keeping the number of vehicles at the intersection to be constant), keeping the total number of vehicles at the intersection unchanged, and changing the composition ratio of the car to the bus; the intersection saturation is kept unchanged.
Finally, setting a special phase of the dynamic pedestrian by the effectiveness of the example and the sensitivity analysis so as to control the public transport signal of the intersection at the appointed place preferentially. For example, the invention sets flow threshold value for the non-pedestrian special phase and the pedestrian special phase, the bus occupation ratio is analyzed for sensitivity, the calculation result is changed from 10% -80% by changing the occupation ratio of pedestrian flow to intersection flow, the proportion of the bus occupying the intersection vehicles is changed, and the calculation delay condition is changed from 3% -15%.
The invention can demonstrate the effectiveness of the method through example demonstration and sensitivity analysis, and under the condition of ensuring the normal operation of intersections, the special phase of dynamic pedestrians is set so that the delay of people is reduced.
Exemplary apparatus
As shown in fig. 10, an embodiment of the present invention provides a device for passive priority control of bus signals considering pedestrians, including:
the priority policy comparing module 410 is configured to obtain an active priority policy and a passive priority policy, compare the active priority policy with the passive priority policy, and confirm the applicable bus signal passive priority policy;
the delay calculation module 420 is used for calibrating a simulation model according to the running condition of the intersection recorded by the video based on the passive priority strategy of the bus signal, adopting improved saturated flow rate calculation and delay calculation for the bus and the bus delay of the mixed traffic entrance to respectively obtain delay calculation models of the bus and the bus; obtaining passenger delay through the delay conversion of the car and the bus, and calculating pedestrian delay according to the arrival and departure curves of the pedestrians;
the bus signal priority control mathematical model construction module 430 is configured to indirectly calculate a pedestrian delay at the intersection through a vehicle delay based on the calculated pedestrian delay, and construct a bus signal priority control mathematical model for guaranteeing normal operation and traffic safety at the intersection as constraints with the minimum of the pedestrian delay as a target;
The solving and outputting module 440 is configured to obtain actual running conditions of the intersection, extract relevant parameters, and input the bus signal priority control mathematical model; and solving the bus signal priority control mathematical model through a genetic algorithm to obtain an optimal signal control scheme and outputting the optimal signal control scheme, wherein the method is specifically described in the embodiment of the method.
Based on the above embodiment, the present invention also provides a playing device, and a functional block diagram thereof may be shown in fig. 11. The playing device comprises a processor, a memory, a network interface and a display screen which are connected through a system bus. Wherein the processor of the playback device is configured to provide computing and control capabilities. The memory of the playing device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface of the playing device is used for communicating with an external terminal through network connection. The computer program, when executed by the processor, implements a method of passive priority control of bus signals taking pedestrians into account. The display screen of the playback device may be a liquid crystal display screen or an electronic ink display screen.
It will be appreciated by those skilled in the art that the schematic block diagram shown in fig. 11 is merely a block diagram of a portion of the structure associated with the present inventive arrangements and is not limiting of the playback device to which the present inventive arrangements are applied, and that a particular playback device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
In one embodiment, a playback device is provided that includes a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by one or more processors, the one or more programs comprising instructions for:
acquiring active priority and passive priority strategies, comparing the active priority and the passive priority strategies, and confirming applicable bus signal passive priority strategies;
based on the passive priority strategy of the bus signals, calibrating a simulation model according to the running condition of the intersection recorded by videos, and adopting improved saturated flow rate calculation and delay calculation for the bus and the bus delay of the mixed traffic entrance to respectively obtain delay calculation models of the bus and the bus; obtaining passenger delay through the delay conversion of the car and the bus, and calculating pedestrian delay according to the arrival and departure curves of the pedestrians;
Based on the calculated pedestrian delay, indirectly calculating the pedestrian delay of the intersection through the vehicle delay, and constructing a bus signal priority control mathematical model which ensures the normal operation and traffic safety of the intersection as constraints by taking the minimum pedestrian delay as a target;
acquiring actual conditions and parameters of an intersection through recording video, and inputting the bus signal priority control mathematical model; and solving the bus signal priority control mathematical model through a genetic algorithm to obtain an optimal signal control scheme and outputting the optimal signal control scheme, wherein the optimal signal control scheme is specifically described above.
The method is characterized in that a double mode of theoretical characteristic comparison and vissim9.0 simulation verification is adopted, and passive priority is selected as a bus signal priority strategy by combining the characteristics of intersections of business circles and subways.
Different priority strategies are simulated for the same intersection by means of vissim9.0 software, and comprehensive selection of running conditions and delay conditions is checked.
The method comprises the steps of calculating the saturation flow rate of an intersection entrance way through a saturation flow rate measuring and calculating method, and calculating delays of a car and a bus respectively.
Wherein, the car
Figure GDA0004176032040000231
Delay of (2) and bus->
Figure GDA0004176032040000232
The delays of (1) are respectively:
Figure GDA0004176032040000233
Figure GDA0004176032040000234
wherein C represents a signal period, lambda i Indicating the green-to-signal ratio of the i-th phase,
Figure GDA0004176032040000235
Figure GDA0004176032040000236
And->
Figure GDA0004176032040000237
Flow rate ratio of car and bus, respectively, +.>
Figure GDA0004176032040000238
S ij c And S is ij b The saturation flow rates of the car and the bus, respectively, wherein,
Figure GDA0004176032040000239
Figure GDA00041760320400002310
h t0 is the average headway.
The pedestrian delay calculation under the special phase of the pedestrians and the special phase of the pedestrians is distinguished, and the purpose of correctly using the pedestrian delay model is achieved through 0-1 integer programming.
The bus delay is converted into passenger delay and pedestrian delay, the passenger delay and the pedestrian delay are converted into the minimum objective function of the average passenger delay, and constraint conditions comprise cycle duration constraint, saturation constraint, shortest green light time constraint and integer constraint of 0-1, and then the constraint is solved by means of a genetic algorithm.
The method is solved by a Geatpy toolkit in Python language, and comprises the following main processes:
the chromosome adopts an RI coding mode, and the length of each phase of the intersection is coded, so that the length of the chromosome corresponds to i phases;
constructing a chromosome G of the population, and marking the chromosome length of the population as Lind;
adopting an objective function as a fitness function;
determining genetic operators, including modes corresponding to selection, crossing and mutation;
and (5) verifying by combining the actual intersection cases.
The method is characterized in that the ratio of pedestrian traffic to intersection traffic is changed, the calculation result is changed from 10% -80%, the proportion of the bus to intersection vehicles is changed, and the calculation delay condition is changed from 3% -15%.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
In summary, the invention discloses a bus signal passive priority control method, a device, a playing device and a storage medium considering pedestrians, which are used for comparing an active priority strategy with a passive priority strategy, selecting an applicable bus signal passive priority strategy by means of vissim9.0 simulation software, calibrating a simulation model by using vissim9.0 according to the running condition of a video recorded intersection, calculating the delay of a car and a bus of a mixed traffic entrance lane, adopting improved saturated flow rate calculation and delay calculation to respectively obtain delay calculation models of the car and the bus, converting the delay calculation models into passenger delay, and distinguishing whether a special phase of the pedestrian exists or not by using 0-1 according to the arrival and departure curves of the pedestrian to obtain a pedestrian delay model; on the basis, the green light time of each phase is taken as a variable, a mathematical model which aims at minimizing the delay of people and takes the saturation, the shortest green light time and the period constraint which ensure the normal operation of an intersection as constraint conditions is established, the model is solved by utilizing a genetic algorithm, the solution is solved by means of a Geatpy toolkit in Python, and the sensitivity analysis of a special phase threshold value and a public transport proportion is carried out by combining with example verification. The invention improves the delay calculation of the hybrid vehicle, adopts the special phase of the dynamic pedestrian, and establishes the signal control model by taking the average delay as the target, thereby effectively reducing the average delay.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (5)

1. A method for passive priority control of bus signals considering pedestrians, the method comprising:
acquiring active priority and passive priority strategies, comparing the active priority and the passive priority strategies, and confirming applicable bus signal priority strategies;
the step of acquiring the active priority policy and the passive priority policy, comparing the active priority policy and the passive priority policy, and confirming the applicable bus signal priority policy comprises the following steps:
the control strategy of bus signal priority comprises an active priority control strategy and a passive priority control strategy;
according to the characteristics of pedestrians and buses at intersections of a large business district and a large passenger flow subway station, selecting a passive priority strategy, adopting vissim9.0 software to simulate the intersections, and proving the rationality of the selected strategy according to the simulated running condition and output indexes;
Based on a passive priority strategy of bus signals, calibrating a simulation model according to the running condition of an intersection recorded by videos, and adopting improved saturated flow rate calculation and delay calculation for the buses and the bus delays of the mixed traffic entrance to respectively obtain delay calculation models of the buses and the buses; obtaining passenger delay through the delay conversion of the car and the bus, and calculating pedestrian delay according to the arrival and departure curves of the pedestrians;
calibrating a simulation model according to the running condition of the video recorded intersection by using the vissims 9.0;
improved mixed traffic flow saturation flow rate calculation: respectively calculating the vehicle flow delays under the condition of mixed running of the car and the bus; under the condition of traffic flow mixing, the traffic flow type is converted according to the traffic composition proportion, and the arrival rate q is calculated by delay calculation of social traffic flow c All are converted into small car flows, and the arrival rate q is calculated by calculating delay of the bus flows b All are converted into bus flows;
the bus signal passive priority strategy is based, a simulation model is calibrated according to the running condition of a video recorded intersection, improved saturated flow rate calculation and delay calculation are adopted for the bus and bus delay of a mixed traffic entrance, and delay calculation models of the bus and the bus are respectively obtained; the step of obtaining the passenger delay through the conversion of the car and the bus delay and calculating the pedestrian delay according to the arrival and departure curves of the pedestrian comprises the following steps:
Calculating the delay of the buses and the delay of the buses in the mixed running state in the traffic flow of the buses and the buses in the mixed running state respectively;
pedestrian delays include delays in pedestrian-specific phases and common pedestrian-crossing phase delays;
based on the calculated pedestrian delay, indirectly calculating the pedestrian delay of the intersection through the vehicle delay, and constructing a bus signal priority control mathematical model which ensures the normal operation and traffic safety of the intersection as constraints by taking the minimum pedestrian delay as a target;
the step of constructing a bus signal priority control mathematical model for guaranteeing normal operation and traffic safety of the intersection as constraints by indirectly calculating the pedestrian delay of the intersection through the vehicle delay and taking the minimum pedestrian delay as a target comprises the following steps of:
the intersection people average delay is indirectly calculated through the vehicle delay, and the calculation formula is as follows:
Figure FDA0004184809830000021
the variable is denoted as x= [ g ] 1 ，g 2 ，g 3 ，g 4 ，g 5 ，y]，g i For the duration of the phase green light, y is 0 or 1, and the specific expression of the bus signal priority control mathematical model is shown as follows;
Figure FDA0004184809830000031
wherein D is b Indicating total delay of passengers of bus, D c Indicating a total delay for the car occupants,
D p Representing total delay of pedestrians crossing street, P b Indicating the total amount of passengers in the bus, P c Representing the total amount of passengers on the car, P p Is the total amount of pedestrians crossing the street;
acquiring actual running conditions of intersections, extracting relevant parameters, and inputting the bus signal priority control mathematical model; solving the bus signal priority control mathematical model through a genetic algorithm to obtain an optimal signal control scheme and outputting the optimal signal control scheme; video shooting is carried out on the actual intersection to acquire data, data related to traffic flow and pedestrian flow of the intersection are counted, and the data are input into the established bus signal priority control mathematical model;
car
Figure FDA0004184809830000032
Delay of (2) and bus->
Figure FDA0004184809830000033
The delays of (1) are respectively:
Figure FDA0004184809830000034
Figure FDA0004184809830000035
wherein C represents a signal period, lambda i Indicating the green-to-signal ratio of the i-th phase,
Figure FDA0004184809830000041
Figure FDA0004184809830000042
and->
Figure FDA0004184809830000043
Flow rate ratio of car and bus, respectively, +.>
Figure FDA0004184809830000044
S ij c And S is ij b The saturation flow rates of the car and the bus, respectively, wherein,
Figure FDA0004184809830000045
Figure FDA0004184809830000046
h t0 is the average headway;
the saturation flow rate calculation formula of the inlet channel is:
Figure FDA0004184809830000047
wherein f c Forming correction coefficients for the vehicle;
vehicle composition correction factor f c Calculated by:
Figure FDA0004184809830000048
wherein h is t0 The average headway is:
h t0 ＝ρ b 2 ×t b+b +ρ c 2 ×t c+c +ρ b ×ρ c ×t b+c +ρ c ×ρ b ×t c+b the method comprises the steps of carrying out a first treatment on the surface of the Wherein, the liquid crystal display device comprises a liquid crystal display device,
ρ b for the proportion of buses, ρ c For car proportion, t b+b Is to follow the bus, t c+c Following car for car, t b+c Is to follow the car for buses, t c+b The average headway of the bus and the bus is the average headway of the bus and the bus;
the total delay calculation formula of the bus with mixed traffic flow is as follows:
Figure FDA0004184809830000051
the constraint conditions include:
setting the signal period C within a range, namely 15n < C < 220, wherein n is the number of phases; ensure the whole passing of the intersection by the saturation x of the vehicle p As a constraint, namely: x is x p Less than or equal to 0.95; the pedestrian safety crossing and the normal passing of the vehicle are ensured, and the shortest green lamp duration is set, namely: g nmin ＝max(g c ，g p ) Wherein g c G is the shortest time for the vehicle to pass p The pedestrian is safe and crosses the street for the shortest time; guarantee that pedestrian's special phase place sets up and plays the effect, namely: my is greater than or equal to g n ≥g nmin y is more than or equal to 0; wherein: m represents an arbitrarily large integer value, g n For pedestrian specific phase green time, y=0 or 1.
2. The method for controlling the bus signal of the pedestrian according to claim 1, wherein the actual running condition of the intersection is obtained, relevant parameters are extracted, and the mathematical model of controlling the bus signal of the pedestrian is input; solving the bus signal priority control mathematical model through a genetic algorithm, and obtaining and outputting an optimal signal control scheme comprises the following steps:
heuristic solving of a bus signal priority control mathematical model is carried out by combining the real data through a Geatpy tool in the Python language;
Video shooting is carried out on the actual intersection to acquire data, data related to traffic flow and pedestrian flow of the intersection are counted, and the bus signal priority control mathematical model is input and solved;
respectively carrying out sensitivity analysis from the pedestrian arrival rate, the bus occupancy rate and the passenger carrying number, and taking the average delay as an evaluation index;
setting a special phase of a dynamic pedestrian through the effectiveness of the example and the sensitivity analysis so as to carry out bus signal priority control on an appointed local intersection;
the solving process through the Geatpy toolkit in the Python language comprises the following steps:
the chromosome adopts an RI coding mode, and the length of each phase of the intersection is coded, so that the length of the chromosome corresponds to i phases;
constructing a chromosome G of the population, and marking the chromosome length of the population as Lind;
adopting an objective function as a fitness function;
determining genetic operators, including modes corresponding to selection, crossing and mutation;
and (5) verifying by combining the actual intersection cases.
3. A device for passive priority control of a bus signal in consideration of pedestrians, the device comprising:
the priority policy comparison and selection module is used for acquiring active priority and passive priority policies, comparing the active priority and the passive priority policies and confirming applicable bus signal priority policies;
The step of acquiring the active priority policy and the passive priority policy, comparing the active priority policy and the passive priority policy, and confirming the applicable bus signal priority policy comprises the following steps:
the control strategy of bus signal priority comprises an active priority control strategy and a passive priority control strategy;
according to the characteristics of pedestrians and buses at intersections of a large business district and a large passenger flow subway station, selecting a passive priority strategy, adopting vissim9.0 software to simulate the intersections, and proving the rationality of the selected strategy according to the simulated running condition and output indexes;
the delay calculation module is used for calibrating a simulation model according to the running condition of the intersection recorded by the video based on the passive priority strategy of the bus signal, adopting improved saturated flow rate calculation and delay calculation for the bus and the bus delay of the mixed traffic entrance to respectively obtain delay calculation models of the bus and the bus; obtaining passenger delay through the delay conversion of the car and the bus, and calculating pedestrian delay according to the arrival and departure curves of the pedestrians;
calibrating a simulation model according to the running condition of the video recorded intersection by using the vissims 9.0;
improved mixed traffic flow saturation flow rate calculation: respectively calculating the vehicle flow delays under the condition of mixed running of the car and the bus; under the condition of traffic flow mixing, the traffic flow type is converted according to the traffic composition proportion, and the arrival rate q is calculated by delay calculation of social traffic flow c All are converted into small car flows, and the arrival rate q is calculated by calculating delay of the bus flows b All are converted into bus flows;
the bus signal passive priority strategy is based, a simulation model is calibrated according to the running condition of a video recorded intersection, improved saturated flow rate calculation and delay calculation are adopted for the bus and bus delay of a mixed traffic entrance, and delay calculation models of the bus and the bus are respectively obtained; the step of obtaining the passenger delay through the conversion of the car and the bus delay and calculating the pedestrian delay according to the arrival and departure curves of the pedestrian comprises the following steps:
calculating the delay of a bus and a car at a mixed running port of an intersection respectively, and calculating the delay of the bus and the delay of the car in a mixed running state in traffic flow of the bus and the car respectively;
pedestrian delays include delays in pedestrian-specific phases and common pedestrian-crossing phase delays;
the bus signal priority control mathematical model construction module is used for indirectly calculating the pedestrian delay of the intersection through the vehicle delay based on the calculated pedestrian delay, and constructing a bus signal priority control mathematical model which ensures the normal operation and the traffic safety of the intersection as constraints by taking the minimum pedestrian delay as a target;
The step of constructing a bus signal priority control mathematical model for guaranteeing normal operation and traffic safety of the intersection as constraints by indirectly calculating the pedestrian delay of the intersection through the vehicle delay and taking the minimum pedestrian delay as a target comprises the following steps of:
the intersection people average delay is indirectly calculated through the vehicle delay, and the calculation formula is as follows:
Figure FDA0004184809830000091
the variable is denoted as x= [ g ] 1 ，g 2 ，g 3 ，g 4 ，g 5 ，y]，g i For the duration of the phase green light, y is 0 or 1, and the specific expression of the bus signal priority control mathematical model is shown as follows;
Figure FDA0004184809830000092
wherein D is b Indicating total delay of passengers of bus, D c Indicating a total delay for the car occupants,
D p representing total delay of pedestrians crossing street, P b Indicating the total amount of passengers in the bus, P c Representing the total amount of passengers on the car, P p Is the total amount of pedestrians crossing the street;
the solving and outputting module is used for acquiring actual running conditions of the intersections, extracting relevant parameters and inputting the bus signal priority control mathematical model; solving the bus signal priority control mathematical model through a genetic algorithm to obtain an optimal signal control scheme and outputting the optimal signal control scheme;
video shooting is carried out on the actual intersection to acquire data, data related to traffic flow and pedestrian flow of the intersection are counted, and the data are input into the established bus signal priority control mathematical model;
Car
Figure FDA0004184809830000093
Delay of (2) and bus->
Figure FDA0004184809830000094
The delays of (1) are respectively:
Figure FDA0004184809830000101
Figure FDA0004184809830000102
/>
wherein C represents a signal period, lambda i Indicating the green-to-signal ratio of the i-th phase,
Figure FDA0004184809830000103
Figure FDA0004184809830000104
and->
Figure FDA0004184809830000105
Flow rate ratio of car and bus, respectively, +.>
Figure FDA0004184809830000106
S ij c And S is ij b The saturation flow rates of the car and the bus, respectively, wherein,
Figure FDA0004184809830000107
Figure FDA0004184809830000108
h t0 is the average headway;
the saturation flow rate calculation formula of the inlet channel is:
Figure FDA0004184809830000109
wherein f c Forming correction coefficients for the vehicle;
vehicle composition correction factor f c Calculated by:
Figure FDA0004184809830000111
wherein h is t0 The average headway is:
h t0 ＝ρ b 2 ×t b+b +ρ c 2 ×t c+c +ρ b ×ρ c ×t b+c +ρ c ×ρ b ×t c+b the method comprises the steps of carrying out a first treatment on the surface of the Wherein ρ is b For the proportion of buses, ρ c For car proportion, t b+b Is to follow the bus, t c+c Following car for car, t b+c Is to follow the car for buses, t c+b The average headway of the bus and the bus is the average headway of the bus and the bus;
the total delay calculation formula of the bus with mixed traffic flow is as follows:
Figure FDA0004184809830000112
the constraint conditions include:
setting the signal period C to be within a range, i.e., 15n < C < 220, where nIs the number of phases; ensure the whole passing of the intersection by the saturation x of the vehicle p As a constraint, namely: x is x p The pedestrian safety crossing and the normal passing of the vehicle are ensured not more than 0.95, and the shortest green lamp duration is set, namely: g nmin ＝max(g c ，g p ) Wherein g c G is the shortest time for the vehicle to pass p The pedestrian is safe and crosses the street for the shortest time; guarantee that pedestrian's special phase place sets up and plays the effect, namely: m is M y ≥g n ≥g nmin y is more than or equal to 0; wherein: m represents an arbitrarily large integer value, g n For pedestrian specific phase green time, y=0 or 1.
4. A playback device comprising a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured for execution by one or more processors, the one or more programs comprising means for performing the method of any one of claims 1-2.
5. A non-transitory computer readable storage medium, wherein instructions in the storage medium, when executed by a processor of a playback device, enable the playback device to perform the method of any one of claims 1-2.
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