CN115148036B - Bus priority implementation method under induction control - Google Patents
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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- G08G1/087—Override of traffic control, e.g. by signal transmitted by an emergency vehicle
Abstract
The application discloses a bus priority implementation method under induction control, which comprises the steps of firstly taking the detection moment of a bus approaching an intersection as a starting point, taking the moment of a bus leaving a stop line as an ending point, establishing a bus priority control domain, and then establishing a bus priority control model based on the minimum green and maximum green constraints of phases, wherein the model takes the minimum waiting time of a bus as a control target, and optimizes a green light constraint interval of a releasing phase in the bus priority control domain; and finally, sequentially executing induction control on each phase based on the phase green light constraint interval output by the model. The method provided by the application can improve the running efficiency of the bus and simultaneously give consideration to the traffic demand of the social vehicle.
Description
Technical Field
The application belongs to the technical field of urban traffic signal control, and particularly relates to a bus priority implementation method under induction control.
Background
The bus priority refers to giving more convenient priority to the bus relative to other social vehicles at the intersection by adopting a certain control strategy. The priority implementation of the bus signal can reduce the parking waiting time of the bus at the intersection, further reduce the travel time of the bus and improve the corresponding service level.
At present, public transport priority has achieved many achievements, but the public transport priority control system existing at present aims at public transport priority under fixed signal allocation, and public transport priority under induction control is studied freshly. By combining the characteristics that the induction control can automatically adjust the phase green-signal ratio according to traffic demands, if the traffic demands of social vehicles can be considered while the public traffic priority is realized, the running efficiency of the intersection can be greatly improved.
Therefore, it is very important to find a bus priority implementation method under inductive control.
Disclosure of Invention
The application aims to provide a bus priority implementation method under induction control, which realizes the bus priority and simultaneously gives consideration to the traffic demands of social vehicles.
The technical solution for realizing the purpose of the application is as follows: a bus priority implementation method under induction control comprises the following steps:
step 1, establishing a public transport priority control domain
And taking the time when the bus detection detector detects the bus signal for the first time as a starting point, and taking the time when the bus leaves the stop line as an ending point to establish a bus priority control domain. The bus priority control domain comprises the time when the bus arrives at the stop line of the intersection from the detection point and the waiting time of the bus stop after the bus detection detector detects the bus signal for the first time.
Step 2, establishing a phase green light constraint interval optimization model under inductive control for public transport priority
The model takes the least waiting time of the bus as a control target, and optimizes the green light constraint interval of the release phase in the bus priority control domain.
And step 3, performing induction control on the phases in the bus priority control queue based on the calculated upper and lower limits of the phase green light constraint.
Further, the specific implementation steps of the step 2 include:
step 2-1, constructing a bus priority control domain phase release queue;
step 2-2, calculating the demand extension of the bus priority control queue;
and 2-3, calculating a green light constraint interval of the phase in the bus priority control queue.
Further, the construction of the bus priority control domain phase release queue in step 2-1 specifically includes:
taking the current releasing phase as an initial phase, circularly adding phases into a queue according to a periodic phase releasing sequence in signal control, sequentially taking the initial releasing time of each phase to accumulate and sum until the phase at the tail end of the queue is a bus phase and the accumulated value exceeds the estimated arrival stop line time of the bus, and forming a bus priority control domain phase releasing queue;
it should be noted that, the initial release duration of each phase needs to meet the basic traffic demand of the phase, and the green light duration in the basic traffic demand of the phase is automatically calculated and obtained according to the historical traffic demand, and the calculation formula is as follows:
where q is the number of historical traffic demand cycles,for the actual green light release duration of phase i in the jth history period before, BT i Green light duration for phase i; from the above formula, BT i The phase is positioned between the minimum green light duration and the maximum green light duration of the phase;
for the first phase in the phase release queue, namely the phase currently being released, the difference between the green light duration of the basic traffic demand and the green light duration released is required to be taken as the initial release duration; if the green light duration of the released current phase exceeds the green light duration of the basic traffic demand, the initial release duration is 0.
Further, in the step 2-2, the calculation of the demand extension of the bus priority control queue specifically includes:
if the bus reaches the stop line of the intersection, the phase of the bus passes through the green light, and the bus can pass through the intersection without stopping; otherwise, the bus needs to stop and wait for the green light to pass. In order to avoid the occurrence of parking of a bus, the phase of the bus at the moment when the bus is expected to arrive at a parking line is in a green light state by prolonging the release time of each phase based on the initial release time of each phase in a phase release queue of a bus control domain. However, the release duration of each phase is limited by the maximum green of the phase, if the release of the phase at the moment that the bus is expected to reach the stop line cannot be realized through an extension strategy, the initial release duration of each phase in the phase release queue of the bus control domain is maintained, so that the bus phase after the bus stops is released as early as possible, and the red light time for waiting for the bus stop is minimized.
Based on the analysis, in a bus priority control domain phase release queue, taking the time when a bus is expected to reach a stop line as a demarcation point, and selecting the nearest bus phase before the demarcation point as a target phase; when the target phase does not exist, the extension strategy is indicated to be incapable of realizing releasing the bus phase when the bus is expected to reach the stop line; otherwise, selecting a sub-queue from the current phase to the target phase as a bus priority control queue, and calculating the demand extension quantity of the bus priority control queue in a bus control domain when the target phase is in a release state at the boundary point; judging whether the demand extension quantity is within the allowable range of the phase maximum green light duration, and if so, outputting the demand extension quantity; otherwise, the extension strategy is indicated to be incapable of realizing releasing the bus phase when the bus is expected to arrive at the stop line; when the extension strategy can not realize that the bus phase is released when the bus is expected to reach the stop line, the bus control domain phase release queue is used as a bus priority control queue, and the output demand extension amount is 0;
the extension strategy is as follows: based on the initial release time length of each phase in the phase release queue of the bus control domain, the bus phase is in a green light state when the bus is expected to arrive at the stop line by prolonging the release time length of each phase.
On the one hand, the method for calculating the demand extension of the bus priority control queue in the bus control domain comprises the following steps:
firstly, accumulating and summing the initial release time of each phase in a bus control queue, and then calculating the difference value between the estimated time of the bus reaching a stop line and the accumulated value to be used as the minimum required extension of the bus priority control queue in a bus control domain;
then, summing the minimum demand extension and the initial release duration of the target phase to obtain the maximum demand extension of the bus priority control queue in the bus control domain;
and finally judging whether the minimum demand extension is less than or equal to 0, if so, indicating the phase operation initial release duration in the bus priority control queue, so that the bus phase is in a release state at the time when the bus is expected to reach the stop line, and correcting the minimum demand extension value to be 0.
On the other hand, the method for judging whether the demand extension of the bus priority control queue in the bus control domain is within the allowable range of the phase maximum green light duration comprises the following steps:
firstly, accumulating and summing the maximum allowable release time length of the phase in a bus priority control queue, and calculating the difference value between the maximum allowable release time length and the initial release time length accumulated value in the bus priority control queue to obtain the maximum allowable extension of the bus priority control queue;
then, comparing the maximum allowable extension amount of the bus priority control queue with the maximum value of the demand extension amount calculated before, if the maximum allowable extension amount is greater than or equal to the maximum value of the demand extension amount, the demand extension amount of the bus priority control queue in the bus control domain is in the maximum green allowable range of the phase, and the output demand extension amount is [ minimum demand extension amount, maximum demand extension amount ]; otherwise, comparing the maximum allowable extension amount of the bus priority control queue with the minimum value of the demand extension amount calculated before, if the maximum allowable extension amount is more than or equal to the minimum value of the demand extension amount, the partial demand extension amount of the bus priority control queue in the bus control domain is in the phase maximum green allowable range, and the output demand extension amount is [ minimum demand extension amount, maximum allowable extension amount ]; otherwise, the demand extension amount of the bus priority control queue in the bus control domain is not in the maximum green allowable range of the phase, and the output demand extension amount is 0;
the maximum allowable release time length of each phase is generally the maximum green light time length, but for the first phase in the phase release queue, namely the current release phase, the difference between the maximum green light time length and the released green light time length is taken as the maximum allowable release time length.
Further, the extended amount of demand of the bus priority control queue in the bus control domain is implemented to realize the guarantee of bus priority. If the demand extension quantity is distributed to each phase in the bus priority control queue according to the real-time traffic demand, the operation efficiency of the intersection can be effectively improved. Based on the method, a phase green light constraint interval calculation model facing to the demand extension distribution is established:
wherein,the green light constraint lower limit of the ith phase in the bus priority control queue is set; minT (minT) i The minimum green light time length of the ith phase in the bus priority control queue is set; DT_ext min The lower limit of the demand extension amount of the bus priority control queue is set; maxT i The maximum green light duration of the ith phase in the bus priority control queue is set; n is the phase number of the bus priority control queue; />The green light constraint upper limit of the ith phase in the bus priority control queue is set; DT_ext max The upper limit of the amount is prolonged for the demand of the bus priority control queue.
The lower limit of the demand extension of the bus priority control queue is known from the phase green light constraint lower limit calculation formula, and when the maximum green light duration of the phase operation released after the bus priority control queue cannot consume all the demand extension, the bus priority control queue must consume the rest demand extension; the upper limit of the green light constraint of the self is limited by the upper limit of the demand extension of the bus priority control queue, and the upper limit of the green light constraint cannot be smaller than the small limit of the green light constraint.
Further, in the step 3, the induction control is performed on the released phase in the bus priority control domain based on the phase green light constraint interval output by the model, specifically:
and judging whether the traffic passing requirement exists in a preset time interval after the passing duration of the phase in the bus priority control queue reaches the green light constraint lower limit, if not, switching the next phase, otherwise, prolonging a preset unit duration, continuously prolonging the phase green light according to the traffic passing requirement until the phase passing duration reaches the green light constraint upper limit, and switching the next phase.
Therefore, when the time length of actually releasing the green light by the phase in the bus priority control queue does not reach the upper limit of the green light constraint, the phase green light constraint interval calculation model can automatically distribute the residual demand extension amount to the following phase, so that the priority passing of the bus is ensured.
Compared with the prior art, the application has the remarkable advantages that:
1) The bus priority implementation method provided by the application takes the guaranteed phase basic demand green light time length as a constraint, and the phase basic demand green light time length is calculated and acquired based on the latest historical traffic demand, so that the bus priority is realized to give consideration to the traffic demand of the social vehicle.
2) The method carries out induction control based on the duration range output by the phase green light constraint interval optimization model, and the phase can dynamically adjust the green light release duration according to actual traffic demands on the premise of ensuring the prior traffic.
The application is described in further detail below with reference to the accompanying drawings.
Drawings
Fig. 1 is a flow chart of a method for implementing bus priority under inductive control of the present application.
Fig. 2 is a four-phase periodic example diagram, and fig. 2 (a) to 2 (d) are respectively phases P 1 To P 4 。
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. 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 application.
With reference to fig. 1, the application provides a bus priority implementation method under inductive control, which comprises the following steps:
step 1, control parameter initialization
The control parameters are initialized as required, including minimum green of phase, unit extension time, and maximum green.
Step 2, establishing a public transport priority control domain
And taking the time when the bus detection detector detects the bus signal for the first time as a starting point and the time when the bus leaves the stop line as an ending point, and establishing a bus priority control domain.
Step 3, calculating green light constraint interval of phase
When no bus priority needs exist, the lower limit and the upper limit of the phase green light constraint interval are respectively the minimum green and the maximum green; when bus priority demands exist, calculating the upper limit and the lower limit of a phase green light constraint interval by using a phase green light constraint interval optimization model under the induction control of the bus priority establishment, wherein the calculation steps are as follows:
step 3-1, constructing a bus priority control domain phase release queue;
taking the current releasing phase as an initial phase, circularly adding phases into a queue according to a periodic phase releasing sequence in signal control, sequentially taking the initial releasing time of each phase to accumulate and sum until the phase at the tail end of the queue is a bus phase and the accumulated value exceeds the estimated arrival stop line time of the bus, and forming a bus priority control domain phase releasing queue;
the initial release time length of each phase needs to meet the basic traffic demand of the phase, and the green light time length in the basic traffic demand of the phase is automatically calculated and acquired according to the historical traffic demand, and the calculation method is as follows:
where q is the number of historical traffic demand cycles,for the actual green light release duration of phase i in the jth history period before, BT i Green light duration for phase i; from the above formula, BT i The phase is positioned between the minimum green light duration and the maximum green light duration of the phase;
for the first phase in the phase release queue, namely the phase currently being released, the difference between the green light duration of the basic traffic demand and the green light duration released is required to be taken as the initial release duration; if the green light duration of the released current phase exceeds the green light duration of the basic traffic demand, the initial release duration is 0.
Step 3-2, calculating the demand extension of the bus priority control queue;
in a bus priority control domain phase release queue, taking the time when a bus is expected to reach a stop line as a demarcation point, and selecting the nearest bus phase before the demarcation point as a target phase; when the target phase does not exist, the extension strategy is indicated to be incapable of realizing releasing the bus phase when the bus is expected to reach the stop line; otherwise, selecting a sub-queue from the current phase to the target phase as a bus priority control queue, and calculating the demand extension quantity of the bus priority control queue in a bus control domain when the target phase is in a release state at the boundary point; judging whether the demand extension quantity is within the allowable range of the phase maximum green light duration, and if so, outputting the demand extension quantity; otherwise, the extension strategy is indicated to be incapable of realizing releasing the bus phase when the bus is expected to arrive at the stop line; when the extension strategy can not realize that the bus phase is released when the bus is expected to reach the stop line, the bus control domain phase release queue is used as a bus priority control queue, and the output demand extension amount is 0; the extension strategy is as follows: based on the initial release time length of each phase in the phase release queue of the bus control domain, the bus phase is in a green light state when the bus is expected to arrive at the stop line by prolonging the release time length of each phase.
The method for calculating the demand extension quantity of the bus priority control queue in the bus control domain comprises the following steps: firstly, accumulating and summing the initial release time of each phase in a bus control queue, and then calculating the difference value between the estimated time of the bus reaching a stop line and the accumulated value to be used as the minimum required extension of the bus priority control queue in a bus control domain; then, summing the minimum demand extension and the initial release duration of the target phase to obtain the maximum demand extension of the bus priority control queue in the bus control domain; and finally judging whether the minimum demand extension is less than or equal to 0, if so, indicating the phase operation initial release duration in the bus priority control queue, and enabling the bus phase to be in a release state at the moment that the bus is expected to reach the stop line, wherein the minimum demand extension value is 0.
The method for judging whether the demand extension amount of the bus priority control queue in the bus control domain is within the maximum green allowable range of the phase is as follows: firstly, accumulating and summing the maximum allowable release time length of the phase in a bus priority control queue, and calculating the difference value between the maximum allowable release time length and the initial release time length accumulated value in the bus priority control queue to obtain the maximum allowable extension of the bus priority control queue; then, comparing the maximum allowable extension amount of the bus priority control queue with the maximum demand extension amount calculated before, if the maximum allowable extension amount is greater than or equal to the maximum demand extension amount, the demand extension amount of the bus priority control queue in the bus control domain is in the phase maximum green allowable range, and the output demand extension amount is [ minimum demand extension amount, maximum demand extension amount ]; otherwise, comparing the maximum allowable extension amount of the bus priority control queue with the minimum demand extension amount calculated before, if the maximum allowable extension amount is greater than or equal to the minimum demand extension amount, then the partial demand extension amount of the bus priority control queue in the bus control domain is in the phase maximum green allowable range, and the output demand extension amount is [ the minimum demand extension amount, the maximum allowable extension amount ]; otherwise, the demand extension amount of the bus priority control queue in the bus control domain is not in the maximum green allowable range of the phase, and the output demand extension amount is 0. The demand extension is schematically shown in fig. 2.
The maximum allowable release time length of each phase generally takes the maximum green time length, but for the first phase in the phase release queue, namely the current release phase, the difference between the maximum green time length and the released green time length is taken as the maximum allowable release time length.
Step 3-3, calculating a green light constraint interval of the phase in the bus priority control queue;
calculating a phase green light constraint interval according to the following model:
wherein,the green light constraint lower limit of the ith phase in the bus priority control queue is set; minT (minT) i The minimum green light time length of the ith phase in the bus priority control queue is set; DT_ext min The lower limit of the demand extension amount of the bus priority control queue is set; maxT i The maximum green light duration of the ith phase in the bus priority control queue is set; n is the phase number of the bus priority control queue; />The green light constraint upper limit of the ith phase in the bus priority control queue is set; DT_ext max The upper limit of the amount is prolonged for the demand of the bus priority control queue.
Step 4, executing induction control based on upper and lower limits of phase green light constraint
And judging whether the traffic passing requirement exists in a preset time interval after the passing duration of the phase in the bus priority control queue reaches the green light constraint lower limit, if not, switching the next phase, otherwise, prolonging a preset unit duration, continuously prolonging the phase green light according to the traffic passing requirement until the phase passing duration reaches the green light constraint upper limit, and switching the next phase.
As a specific example, in one embodiment, the present application is further validated.
Take the four-phase period of fig. 2 as an example, wherein the phase P 3 The bus phase is 15s in minimum green and 25s in maximum green, and the basic required time length of the four phases is 20s for convenience of explanation.
Let it be at phase P 4 When the bus is released for 16 seconds, the bus detection detector detects that the bus approaches the intersection for the first time, the bus is 500m away from the stop line, and the speed is 10m/s, so that the bus is pre-arrangedThe time to stop line is 50s.
Constructing a bus control domain phase release queueRecording the accumulated value of the initial release time length of each phase in the release queue as alpha; first, the phase P currently being released 4 Added to the queue as the start phase, at this time, < >>α=20-16=4s; because of not satisfying->The phase of the tail end is the public transport phase P 3 And alpha is greater than or equal to 60s of the predicted arrival stop line time of the bus, and continuously adding the phase P into the queue according to the phase release sequence shown in figure 2 1 At this time, the->α=4+20=24 s; similarly, the addition of phases to the queue in the phase release order shown in FIG. 2 is continued until +.>The phase of the tail end is the public transport phase P 3 And alpha is more than or equal to 60s, and finally, < + >>α＝4+20+20+20＝64s。
Searching bus priority control queueIn the bus control domain phase release queue +.>In the method, the 50s of the bus predicted to reach the stop line is taken as the demarcation point, and the nearest bus phase before the demarcation point, namely the phase P, is selected 3 As the target phase, selectThe front-release phase to target phase sub-queue as +.>In this case +.>
And calculating the demand extension quantity of the bus priority control queue. Calculating the difference value between the estimated time of bus reaching the stop line and the accumulated value of the initial releasing time length of each phase in the control queue, and taking the difference value as the minimum required extension DT_ext of the bus priority control queue in the bus control domain min =50- (4+20+20) = -14s; then, summing the minimum demand extension and the initial release duration of the target phase to obtain the maximum demand extension DT_ext of the bus priority control queue in the bus control domain max -14+20=6s; finally, due to DT_ext min < 0, corrected minimum required extension dt_ext min =0. Then, calculating the maximum allowable extension quantity delta et= ((25-16) +25+25+25) - ((20-16) +20+20+20) =20s of the bus priority control queue; comparing the maximum allowable extension of the bus priority control queue with the previously calculated maximum demand extension, since ΔEt > DT_ext max The output demand extension is [0,6 ]]。
And calculating a green light constraint interval of the phase in the bus priority control queue. For phase P 4 Calculating the green light constraint lower limit according to the green light constraint calculation model, wherein the green light constraint lower limit is as follows:
the upper limit of green light constraint isSo phase P 4 Green light time length is (15 s,25 s), phase P 4 The current release time length is 16s, when no vehicle is in need or the release time length reaches 25s, the next phase is switched, namely P 1 。
Let the phase P 4 The actual release time is 23s.
Switching to phase P 1 And releasing, and reconstructing a bus priority control queue according to the predicted arrival time of the bus, wherein the steps are the same as the above. At this time, the estimated time of bus arrival at the stop line is 43s, and the minimum demand extension DT_ext is calculated min =0, maximum required extension dt_ext max =3s. According to green light constraint calculation model, phase P 1 The lower limit of green light constraint isThe upper limit of the green light constraint is +.>So phase P 1 The green light has a duration of (15 s,23 s), when P 1 After the release time length reaches 15s, ending when no vehicle passing requirement exists or the release time length reaches 23s, and switching the next phase P 2 。
Let P be 1 The actual release time is 19s.
Switching to phase P 2 And releasing, and reconstructing a bus priority control queue according to the predicted arrival time of the bus, wherein the steps are the same as the above. At this time, the estimated arrival time of the bus is 24s, and the minimum demand extension DT_ext is calculated min =0, maximum required extension dt_ext max =4s. According to green light constraint calculation model, phase P 2 The lower limit of green light constraint isThe lower limit of the green light constraint is +.>So phase P 2 The green light has a duration of (15 s,24 s), when P 2 After the release time length reaches 15s, the vehicle is not required to pass or the release time length reaches 24s, the next phase P is switched 3 。
Let P be 2 The actual release time is 22s.
Switching to phase P 3 Let go, the estimated arrival time of the bus is 2s, phase P 3 The green light time length is(15 s,25 s) can realize that buses pass through the intersection without stopping.
The foregoing has outlined and described the basic principles, features, and advantages of the present application. It will be understood by those skilled in the art that the foregoing embodiments are not intended to limit the application, and the above embodiments and descriptions are meant to be illustrative only of the principles of the application, and that various modifications, equivalent substitutions, improvements, etc. may be made within the spirit and scope of the application without departing from the spirit and scope of the application.
Claims (4)
1. The bus priority implementation method under the induction control is characterized by comprising the following steps of:
step 1, taking the time when a bus detection detector detects a bus signal for the first time as a starting point and the time when a bus leaves a stop line as an ending point, and establishing a bus priority control domain;
step 2, in a bus priority control domain, establishing a phase green light constraint interval optimization model under induction control for bus priority, wherein the model takes the minimum waiting time of a bus as a control target, and calculates a green light constraint interval of a release phase in the bus priority control domain in real time;
the specific implementation steps comprise:
step 2-1, constructing a bus priority control domain phase release queue; the method comprises the following steps:
taking the current releasing phase as an initial phase, circularly adding phases into a queue according to a periodic phase releasing sequence in signal control, sequentially taking the initial releasing time of each phase to accumulate and sum until the phase at the tail end of the queue is a bus phase and the accumulated value exceeds the estimated arrival stop line time of the bus, and forming a bus priority control domain phase releasing queue;
the initial release time length of each phase needs to meet the basic traffic demand of the phase, and the green light time length in the basic traffic demand of the phase is automatically calculated and obtained according to the historical traffic demand, and the calculation formula is as follows:
where q is the number of historical traffic demand cycles,for the actual green light release duration of phase i in the jth history period before, BT i Green light duration for phase i; from the above formula, BT i The phase is positioned between the minimum green light duration and the maximum green light duration of the phase;
for the first phase in the phase release queue, namely the current releasing phase, taking the difference value between the green light duration of the basic traffic demand and the released green light duration as the initial release duration; if the green light duration of the released current phase exceeds the green light duration of the basic traffic demand, the initial release duration is valued as 0;
step 2-2, calculating the demand extension of the bus priority control queue; the method specifically comprises the following steps:
in a bus priority control domain phase release queue, taking the time when a bus is expected to reach a stop line as a demarcation point, and selecting the nearest bus phase before the demarcation point as a target phase; when the target phase does not exist, the extension strategy is indicated to be incapable of realizing releasing the bus phase when the bus is expected to reach the stop line; otherwise, selecting a sub-queue from the current phase to the target phase as a bus priority control queue, and calculating the demand extension quantity of the bus priority control queue in a bus control domain when the target phase is in a release state at the boundary point; judging whether the demand extension quantity is within the allowable range of the phase maximum green light duration, and if so, outputting the demand extension quantity; otherwise, the extension strategy is indicated to be incapable of realizing releasing the bus phase when the bus is expected to arrive at the stop line; when the extension strategy can not realize that the bus phase is released when the bus is expected to reach the stop line, the bus control domain phase release queue is used as a bus priority control queue, and the output demand extension amount is 0;
the extension strategy is as follows: based on the initial release time length of each phase in the phase release queue of the bus control domain, the bus phase is in a green light state when the bus is expected to arrive at the stop line by prolonging the release time length of each phase;
step 2-3, calculating a green light constraint interval of the phase in the bus priority control queue; the calculation model is as follows:
wherein,the green light constraint lower limit of the ith phase in the bus priority control queue is set; minT (minT) i The minimum green light time length of the ith phase in the bus priority control queue is set; DT_ext min The lower limit of the demand extension amount of the bus priority control queue is set; maxT i The maximum green light duration of the ith phase in the bus priority control queue is set; n is the phase number of the bus priority control queue; />The green light constraint upper limit of the ith phase in the bus priority control queue is set; DT_ext max The upper limit of the demand extension amount of the bus priority control queue is prolonged;
and step 3, based on the phase green light constraint interval output by the model, performing induction control on the released phase in the public transportation priority control domain.
2. The method for implementing bus priority under induction control according to claim 1, wherein the calculation process of the demand extension of the bus priority control queue in the bus control domain is as follows:
accumulating and summing the initial release time length of each phase in the bus priority control queue, and then calculating the difference value between the estimated time of the bus reaching the stop line and the accumulated value to be used as the minimum demand extension of the bus priority control queue in the bus control domain;
summing the minimum demand extension and the initial release duration of the target phase to obtain the maximum demand extension of the bus priority control queue in the bus control domain;
and judging whether the minimum demand extension amount is less than or equal to 0, if so, indicating the phase operation initial release duration in the bus priority control queue, namely enabling the bus phase to be in a release state at the moment that the bus is expected to reach the stop line, and correcting the value of the minimum demand extension amount to be 0.
3. The method for implementing bus priority under inductive control according to claim 2, wherein the specific process of determining whether the required extension is within the allowable range of the phase maximum green light duration is as follows:
accumulating and summing the maximum allowable release time length of the phase in the bus priority control queue, and then calculating the difference value between the maximum allowable release time length and the initial release time length accumulated value in the bus priority control queue to obtain the maximum allowable extension of the bus priority control queue;
comparing the maximum allowable extension amount of the bus priority control queue with the previously calculated maximum demand extension amount, if the maximum allowable extension amount is greater than or equal to the maximum demand extension amount, the demand extension amount of the bus priority control queue in the bus control domain is within the allowable range of the phase maximum green light duration, and the output demand extension amount is [ minimum demand extension amount, maximum demand extension amount ]; otherwise, comparing the maximum allowable extension amount of the bus priority control queue with the minimum demand extension amount calculated before, if the maximum allowable extension amount is greater than or equal to the minimum demand extension amount, then the partial demand extension amount of the bus priority control queue in the bus control domain is within the allowable range of the phase maximum green light duration, and the output demand extension amount is [ the minimum demand extension amount, the maximum allowable extension amount ]; otherwise, the demand extension amount of the bus priority control queue in the bus control domain is not in the allowable range of the phase maximum green light duration, and the output demand extension amount is 0;
the maximum allowable release time length of each phase is generally the maximum green light time length, but for the first phase in the phase release queue, namely the current release phase, the difference between the maximum green light time length and the released green light time length is taken as the maximum allowable release time length.
4. The method for implementing bus priority under inductive control according to claim 3, wherein in step 3, the inductive control is performed on the released phases in the bus priority control domain based on the phase green light constraint interval output by the model, specifically:
and judging whether the traffic passing requirement exists in a preset time interval after the passing duration of the phase in the bus priority control queue reaches the green light constraint lower limit, if not, switching the next phase, otherwise, prolonging a preset unit duration, continuously prolonging the phase green light according to the traffic passing requirement until the phase passing duration reaches the green light constraint upper limit, and switching the next phase.
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