CN115424458B - Pedestrian crossing time estimation method with middle safety island under pedestrian crossing - Google Patents
Pedestrian crossing time estimation method with middle safety island under pedestrian crossing Download PDFInfo
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Abstract
The invention discloses a pedestrian crossing time estimation method under a crosswalk with a middle safety island, which calculates the average queuing number of pedestrians on a road side and the safety island; calculating the change rate of waiting time of pedestrians on the lower road side and the safety island with different arrival rates according to traffic flow theory and geometric analysis; calculating the waiting time of pedestrians on the road side and the safety island according to the time difference of the pedestrians reaching the road side and the green light on the safety island and the corresponding waiting time arrival rate; calculating the time from the standing position of the road side to the entrance of the pedestrian to the crosswalk; calculating the time from entering the edge of the safety island to the queuing standing position; the total time is calculated for each time. The pedestrian crossing time estimation method under the pedestrian crosswalk with the middle safety island considers waiting time of the pedestrian in queuing and queuing dissipation processes on the road side and the safety island, and more accurately estimates the pedestrian crossing time under the pedestrian crossing under the signal control of the safety island.
Description
Technical Field
The invention belongs to the technical field of traffic management control, and particularly relates to a pedestrian crossing time estimation method under a crosswalk with a middle safety island.
Background
At present, a city ubiquitous main road is wider, for example, a bidirectional 8-lane or 12-lane road is provided, the pedestrian crossing distance is longer, a middle safety island is generally arranged to meet the past safety requirement of pedestrians, when the green light passing time cannot meet the one-time passing of the pedestrian crossing, the pedestrians are allowed to pass through the pedestrian crossing in the time of waiting for the next green light of the safety island, and two groups of signal lights are arranged to independently control the pedestrian crossing on two sides of the safety island.
The pedestrian crossing signal controls the crosswalk with the safety island, namely, two crosswalks and one safety island are crossed, the time for the pedestrian to reach the road side is uncertain, so that the pedestrian encounters queuing or non-queuing at the road side to generate waiting time, and the time for the pedestrian to encounter queuing or non-queuing waiting time at the safety island is different due to the time for the crosswalk at the road side, the signal scheme and the crosswalk crossing time, so that the pedestrian crossing time of different arrival road sides is composed of the waiting time of the road side and the safety island, the crossing time of the crosswalk and the safety island, and the current pedestrian individual crossing time method ignores the process due to the queuing and dissipation of pedestrians at the road side and the safety island, thereby greatly increasing the estimation error of the pedestrian crossing time.
Disclosure of Invention
The technical problems to be solved are as follows: the invention provides a pedestrian crossing time estimation method under a pedestrian crossing with a middle safety island, which is used for estimating the pedestrian crossing time with the middle safety island under the control of a pedestrian crossing signal according to basic pedestrian crossing information and the time difference that a pedestrian reaches the green light on the road side, and is beneficial to more accurate service level assessment and signal control optimization by considering the influence of queuing and dissipation processes of pedestrians on the road side and the safety island on the crossing time.
The technical scheme is as follows:
a pedestrian crossing time estimation method under a pedestrian crosswalk with a middle safety island, the estimation method comprising the following steps:
s1, acquiring basic information of pedestrian crossing, wherein the basic information of pedestrian crossing comprises a road side pedestrian arrival rate r 1 First crosswalk length L 1 Length of second travelator L 2 Length L of safety island 0 The crosswalk width w, signal control parameters and pedestrian crossing traffic flow parameter information;
s2, respectively calculating the time t of the pedestrian passing through the first crosswalk, the second crosswalk and the safety island according to the basic information of the pedestrian crossing c1 、t c2 、t c0 Wherein, the method comprises the steps of, wherein,v f the pedestrian crossing speed;
s3, calculating average number of pedestrians alpha of each row when pedestrians on the road side and the safety island are in queuing according to the relation between the number of pedestrians in total queuing and the number of people in each row r1 And alpha r2 ：
Wherein C is the period length, g 1 Controlling the green light time for the pedestrian crossing road side; p (P) 2 Queuing people in the walking direction of the target pedestrians on the safety island;
s4, calculating the change rate b of the waiting time of the pedestrians on the road side 1 Rate of change b of waiting time for pedestrians in line on safety island 2 And b 3 Rate of change b 1 The pedestrian arrival rate per unit time is r 1 Difference in road side waiting time length change, b 2 And b 3 The pedestrian arrival rates on the safety island are r respectively 2 And r 1 A difference value of waiting time length change in a unit time of a pedestrian;
s5, calculating waiting time t on the pedestrian road side w1 ：
Wherein t is Side of the vehicle The time difference for the pedestrian to reach the road side and turn on from the green light;
s6, calculating waiting time t on pedestrian safety island w2 ：
Wherein t is Anan (safety) For the time difference delta t of the green light on when the pedestrian arrives at the safety island 2 For the duration of queuing completion on the safety island for pedestrians that were queued on the road side before the estimated pedestrian arrived at the safety island, Δt 3 A time period for queuing completion on the safety island for pedestrians on the road side that have not undergone queuing before the estimated pedestrian arrives at the safety island; t is t max The maximum waiting time in queuing pedestrians on the safety island is related to a pedestrian crossing scene on the safety island;
s7, calculating the duration delta t of the distance from entering the safety island to reaching the queuing standing position on the safety island c0 ：
Wherein N is Island The number of pedestrians queued before the estimated pedestrian is queued to stand from entering the security island,is an upward rounding function;
s8, calculating the time delta t from the time of entering the crosswalk to the time of queuing and standing on the pedestrian roadside c side ：
Wherein N is Side of the vehicle ＝r 1 (C+t Side of the vehicle -g 1 ) The number of pedestrians queued before standing from the entrance road side for the estimated pedestrian,obtaining the number of lines in front of pedestrians for the upward rounding function;
s9, calculating total time t for pedestrian crossing c ：
t c ＝t c1 +t c2 +Δt c0 +Δt c side +t w1 +t w2 。
Further, in step S1, signal control parameters are obtained by the annunciator, where the signal control parameters include a signal period duration C and a green light duration g at a road-side street crossing stage 1 Green light duration g2 at the street crossing stage of the safety island and green light phase difference t at two stages o The green light on the road side is lit later than the green light on the safety island by t o Second, wherein the second is;
calibrating historical traffic flow data, fitting a three-phase basic diagram of speed, density and flow by using video data or artificial data, and acquiring pedestrian crossing traffic flow parameter information based on the basic diagram, wherein the pedestrian crossing traffic flow parameter information comprises pedestrian road sides and pedestrian free flow speed v on a safety island s Free flow velocity v on pedestrian crosswalk f Pedestrian queuing congestion density k on road side and safety island j Average maximum pedestrian flow q of pedestrians from road side and safety island into crosswalk d 。
Further, in step S3, the average number of people α per line at the time of waiting for pedestrians on the road side and the safety island is calculated r1 And alpha r2 The process of (1) comprises the following steps:
s31, calculating the average number of people alpha of each row when the road side pedestrians are in line waiting r1 ：
S32, calculating time t from beginning to queue pedestrians on road side to entering crosswalk d1 ：t d1 ＝t dp1 +t dc1 WhereinTime from starting queuing to stand for first row to last row to queuing to stand, < >>Time spent queuing pedestrians for last line to enter crosswalk, +.>And->Queuing wave speed and dissipating wave speed for pedestrians respectively, r 1 For the arrival rate of the road side pedestrian, v s V is the free flow speed of the pedestrian road side f For the free flow speed k on the pedestrian crosswalk j Queuing congestion density for pedestrians, q d The average maximum traffic flow of pedestrians entering a crosswalk from a road side and a safety island;
s33, calculating the arrival rate r of the queued pedestrians on the road side to arrive at the safety island 2 ：
S34, calculating the average number of people alpha of each row when pedestrians are queued on the safety island r2 ：
Further, the queuing number P in the direction of the target pedestrian on the safety island 2 The acquisition process of (1) comprises the following steps:
a31, calculating the duration delta tau of the green light on the basis of the signal control of the safety island when the pedestrians in the first line of the road side reach the far side of the safety island 1 ：Δτ 1 ＝mod[t c1 +t c0 -(C-t o )，C]；mod[x，y]The remainder of x divided by y:
a32, calculating the duration delta tau of the green light on by the signal control of the safety island when the last line of queuing pedestrians on the road side reaches the far side of the safety island 2 ：Δτ 2 ＝mod[t c1 +t c0 +t d1 -(C-t o )，C]；
A33, calculating the time length delta tau for the green light to turn on when the pedestrian entering the crosswalk reaches the far side of the safety island when the green light at the road side is finished, wherein the green light is controlled to turn on by the safety island signal 3 ：Δτ 3 ＝mod[t c1 +t c0 +g 1 -(C-t o )，C]；
A34, determining Δτ 1 、Δτ 2 、Δτ 3 And g is equal to 2 Is combined with Deltaτ 1 、Δτ 2 、Δτ 3 、g 2 、r 1 、r 2 Calculating to obtain the number P of queuing people reaching the safety island in the walking direction of the target pedestrian 2 Wherein g 2 The green light time of the pedestrian crosswalk signal lamp at the second stage after passing through the safety island is controlled.
Further, bind Δτ 1 、Δτ 2 、Δτ 3 、g 2 、r 1 、r 2 Calculating to obtain the queuing number P of the target pedestrians reaching the safety island in the walking direction of the target pedestrians 2 Comprising the following steps:
when Deltaτ 3 <Δτ 1 ≤g 2 ≤Δτ 2 At the time P 2 ＝r 2 (Δτ 2 -g 2 )+r 1 (C-Δτ 2 )；
When Deltaτ 1 ≤g 2 ≤Δτ 2 ≤Δτ 3 At the time P 2 ＝r 2 (Δτ 2 -g 2 )+r 1 (Δτ 3 -Δτ 2 )；
When g 2 ≤Δτ 2 ≤Δτ 3 ≤Δτ 1 At the time P 2 ＝r 2 (Δτ 2 -g 2 +C-Δτ 1 )+r 1 (Δτ 3 -Δτ 2 )；
When g 2 ≤Δτ 1 ≤Δτ 2 ≤Δτ 3 At the time P 2 ＝r 1 C；
When Deltaτ 3 ≤g 2 ≤Δτ 1 ≤Δτ 2 At the time P 2 ＝r 2 (Δτ 2 -Δτ 1 )+r 1 (C-Δτ 2 )；
When Deltaτ 3 ≤Δτ 2 ≤g 2 ≤Δτ 1 At the time P 2 ＝r 2 (C-Δτ 1 )；
When g 2 ≤Δτ 3 ≤Δτ 1 ≤Δτ 2 At the time P 2 ＝r 1 (Δτ 3 -g 2 +C-Δτ 3 )+r 2 (Δτ 2 -Δτ 1 )；
When Deltaτ 2 ≤g 2 ≤Δτ 3 ≤Δτ 1 At the time P 2 ＝r 1 (Δτ 3 -g 2 )+r 2 (C-Δτ 1 )；
When Deltaτ 3 <Δτ 1 <Δτ 2 ≤g 2 At the time P 2 ＝r 1 (C-g 2 )；
When Deltaτ 1 <Δτ 2 ≤g 2 ≤Δτ 3 At the time P 2 ＝r 1 (Δτ 3 -g 2 )；
When Deltaτ 2 ≤Δτ 3 <Δτ 1 ≤g 2 At the time P 2 ＝r 2 (C-g 2 )；
When Deltaτ 1 <Δτ 2 ≤Δτ 3 <g 2 At the time P 2 ＝0。
Further, in step S4, according to traffic flow theory and geometric analysis, the following formula is adopted to calculate and obtain the change rate b of the waiting duration of pedestrians on the road side 1 Rate of change b of waiting time for pedestrians in line on safety island 2 And b 3 ：
In which the intermediate variableAnd->Respectively isPedestrian arrival rate on safety island is r 2 And r 1 Queuing wave speed; />And->Queuing wave velocity and evanescent wave velocity for pedestrians, v s V is the free flow speed of the pedestrian road side f For the free flow speed k on the pedestrian crosswalk j Queuing congestion density for pedestrians, q d The average maximum traffic flow for pedestrians to enter the crosswalk from the road side and the safety island.
The beneficial effects are that:
according to the pedestrian crossing time estimation method under the pedestrian crossing with the middle safety island, the basic time for the pedestrian to pass through the pedestrian crossing and the safety island is calculated according to basic pedestrian crossing information (the information such as geometrical information, signal control information and arrival rate of the pedestrian crossing); calculating the average queuing number of each row of pedestrians on the road side and the safety island according to the relation between the total queuing number and the queuing number of each row; calculating the change rate of waiting time of pedestrians on the lower road side and the safety island with different arrival rates according to traffic flow theory and geometric analysis; calculating the waiting time of pedestrians on the road side and the safety island according to the time difference of the pedestrians reaching the road side and the green light on the safety island and the corresponding waiting time arrival rate; calculating the time from the standing position of the road side to the entrance of the pedestrian to the crosswalk; calculating the time from entering the edge of the safety island to the queuing standing position; the total time is calculated for each time. According to the pedestrian crossing time estimation method with the middle safety island, waiting time of pedestrians in queuing and queuing dissipation processes on the road side and the safety island is considered, the signal control pedestrian crossing time with the safety island is estimated more accurately, and more accurate service level estimation and signal control optimization are facilitated.
Drawings
FIG. 1 is a flow chart of a pedestrian crossing time estimation method under a crosswalk with a middle safety island according to an embodiment of the invention;
fig. 2 is an exemplary diagram of a pedestrian crossing time estimation scenario under a crosswalk with a security island.
Detailed Description
The following examples will provide those skilled in the art with a more complete understanding of the invention, but are not intended to limit the invention in any way.
Fig. 1 is a flowchart of a pedestrian crossing time estimation method under a crosswalk with a middle safety island according to an embodiment of the invention. According to basic pedestrian crossing information (crosswalk geometric information, signal control information, arrival rate and the like), the estimation method calculates basic time for pedestrians to cross crosswalk and safety island; calculating the average queuing number of pedestrians on the road side and the safety island according to the relation between the queuing number of pedestrians and the queuing demand: calculating the change rate of waiting time of pedestrians on the lower road side and the safety island with different arrival rates according to traffic flow theory and geometric analysis; calculating the waiting time of pedestrians on the road side and the safety island according to the time difference of the pedestrians reaching the road side and the green light on the safety island and the corresponding waiting time arrival rate; calculating the time from the standing position of the road side to the entrance of the pedestrian to the crosswalk; calculating the time from entering the edge of the safety island to the queuing standing position; the total time is calculated for each time. The method for estimating the time of crossing of a crosswalk downlink with a middle safety island by signal control is provided, the specific process is shown in figure 1, and the method comprises the following steps:
step 1, basic information of pedestrian crossing is obtained: arrival rate r of pedestrian at road side 1 Signal period duration C, green light duration g at road-side street crossing stage 1 Green light duration g of safety island in street crossing stage 2 Two-stage green light phase difference t o (the green light on the road side is lit later than the green light on the safety island by t o Second); the pedestrian crossing traffic flow parameter information comprises: pedestrian free flow velocity v on pedestrian roadside and safety island s Free flow velocity v on pedestrian crosswalk f Pedestrian queuing congestion density k on road side and safety island j Average maximum flow q of pedestrians entering crosswalk from road side and safety island d The method comprises the steps of carrying out a first treatment on the surface of the The signal control parameter information is obtained by a signal machine, and the traffic flow parameter information is obtained by historical traffic flow dataCalibration acquisitions are performed where fitting basis map acquisitions are applied, using video data or artificial data to fit a three-phase basis map of speed, density and flow. Acquisition of v through base graph s 、v f And k j Maximum average flow rate q d By video traffic acquisition, e.g. here suggested value v s =1.16 m/s, v f =1.45 m/s, k j Row=1.1/m, q d =0.45 lines/sec.
Step 2, respectively calculating the time t of the pedestrian passing through the first crosswalk, the second crosswalk and the safety island c1 、t c2 And t c0 Wherein, the method comprises the steps of, wherein,v f the pedestrian crossing speed is obtained by the step 1.
Step 3, calculating the average number of people alpha of each row when pedestrians on road sides and in safety island wait in queuing r1 And alpha r2 . The step 3 specifically comprises the following steps:
step 3.1, calculating the average number of people alpha of each row when the road side pedestrians are in queuing r1 According to the formulaAcquiring; wherein C is the period length, g 1 The green light time is controlled for the pedestrian crossing road side.
Step 3.2, calculating time t from when the road side pedestrian starts queuing to when the pedestrian enters the crosswalk d1 ，t d1 According to formula t d1 ＝t dp1 +t dc1 Obtained by the method, whereinThe time from when the first row of pedestrians starts to line up to when the last row lines up,time spent queuing pedestrians for last line to enter crosswalk, +.>Andqueuing wave speed and dissipating wave speed for pedestrians respectively, r 1 For the arrival rate of the road side pedestrian, v s V is the free flow speed of the pedestrian road side f For the free flow speed k on the pedestrian crosswalk j Queuing congestion density for pedestrians, q d The average maximum traffic flow for pedestrians to enter the crosswalk from the road side and the safety island.
Step 3.3, calculating the arrival rate r of the pedestrians in the road side queuing to arrive at the safety island 2 ，r 2 According to the formulaAnd (5) obtaining.
Step 3.4, calculating the average number of people alpha of each row when pedestrians in the safety island are queued waiting rc Wherein, the liquid crystal display device comprises a liquid crystal display device,acquisition, P 2 For the number of people in line in the walking direction of the target pedestrian on the safety island, wherein P 2 Obtained according to the corresponding formula of Table 1, and according to FIG. 2, Δτ can be calculated 3 <Δτ 1 ≤g 2 ≤Δτ 2 P is then 2 ＝r 2 (Δτ 2 -g 2 )+r 1 (C-Δτ 2 )。
TABLE 1 queuing people in the direction of target pedestrian travel on the safety island
Remarks: Δτ 1 ＝mod[t c1 +t c0 -(C-t°)，C]，Δτ 2 ＝mod[t c1 +t c0 +t d1 -(C-t°)，C]And Deltaτ 3 ＝mod[t c1 +t c0 +g 1 -(C-t°)，C]，mod[x，y]The function is the remainder of x divided by y.
Step 4, calculating the change rate b of the waiting time of the roadside pedestrian 1 (arrival rate of pedestrian in unit time r) 1 Difference of road side waiting time length change), and the rate of change b of the waiting time length of pedestrians in line on the safety island 2 And b 3 (b 2 And b 3 The pedestrian arrival rates on the safety island are r respectively 2 And r 1 Difference in waiting time length change per unit time of pedestrian): wherein, the liquid crystal display device comprises a liquid crystal display device, wherein the intermediate variable->And->The pedestrian arrival rates on the safety island are r respectively 2 And r 1 Queuing wave speed.
Step 5, calculating waiting time t of pedestrian road side w1 Whereint Side of the vehicle For the time difference that the green light is on when the pedestrian arrives at the roadside, the dotted line in fig. 2 is the target pedestrian to be estimated, since 0 is less than or equal to t Side of the vehicle ≤t d1 Then t w1 ＝(C-g 1 )+(C+t Side of the vehicle -g 1 )b 1 。
Step 6, calculating waiting time t of pedestrian safety island w2 . The step 6 specifically comprises the following steps:
step 6.1, determining pedestrian crossing scene of the safety island (matching accords with Table 1), as shown in FIG. 2, delta tau 3 <Δτ 1 ≤g 2 ≤Δτ 2 。
Step 6.2, judging the maximum waiting in the pedestrians queued in the safety islandDuration t max ＝C-g 2 。
Step 6.3, calculating the waiting time t of the pedestrian safety island w2 WhereinWherein t is Anan (safety) For the time difference delta t of the green light on when the pedestrian arrives at the safety island 2 For the duration of queuing completion on the safety island for pedestrians that were queued on the road side before the estimated pedestrian arrived at the safety island, Δt 3 A time period for queuing completion on the safety island for pedestrians on the road side that have not undergone queuing before the estimated pedestrian arrives at the safety island; referring to FIG. 2, Δt can be calculated 2 ＝t Anan (safety) -g 2 ，Δt 3 =0, then t w2 ＝C-g 2 +(t Anan (safety) -g } )b 2 。
Step 7, calculating the time delta t of the pedestrian reaching the queuing standing position on the safety island from the distance of entering the safety island c0 ，Wherein N is Island Queuing the number of pedestrians before queuing to stand for the estimated pedestrian from entering the safety island, < >>Obtaining the number of lines in front of pedestrians for the upward rounding function; referring to FIG. 2, it can be calculated that
Step 8, calculating the time delta t from the time of entering the crosswalk to the time of queuing and standing at the side of the pedestrian road c side ，Wherein N is Side of the vehicle ＝r 1 (C+t Side of the vehicle -g 1 ) Queuing up to stand for estimated pedestrian from entrance road sideNumber of pedestrians queued->And obtaining the number of lines in front of the pedestrian for the upward rounding function.
Step 9, calculating the total time t of pedestrian crossing c ，t c ＝t c1 +t c2 +Δt c0 +Δt c side +t w1 +t w2 Carry over step 2 to step 7 to result in
The above embodiments are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereto, and any modification made on the basis of the technical scheme according to the technical idea of the present invention falls within the protection scope of the present invention.
Claims (4)
1. A pedestrian crossing time estimation method with a middle safety island, characterized by comprising the following steps:
s1, acquiring basic information of pedestrian crossing, wherein the basic information of pedestrian crossing comprises a road side pedestrian arrival rate r 1 First crosswalk length L 1 Length of second travelator L 2 Length L of safety island 0 The crosswalk width w, signal control parameters and pedestrian crossing traffic flow parameter information;
s2, respectively calculating the time t of the pedestrian passing through the first crosswalk, the second crosswalk and the safety island according to the basic information of the pedestrian crossing c1 、t c2 、t c0 Wherein, the method comprises the steps of, wherein,v f the pedestrian crossing speed;
s3, calculating average number of pedestrians alpha of each row when pedestrians on the road side and the safety island are in queuing waiting according to the relation between the number of pedestrians in total queuing and the number of people in each row r1 And alpha r2 ：
Wherein C is the period length, g 1 Controlling the green light time for the pedestrian crossing road side; p (P) 2 Queuing people in the walking direction of the target pedestrians on the safety island;
s4, calculating the change rate b of the waiting time of the pedestrians on the road side 1 Rate of change b of waiting time for pedestrians in line on safety island 2 And b 3 Rate of change b 1 The pedestrian arrival rate per unit time is r 1 Difference in road side waiting time length change, b 2 And b 3 The pedestrian arrival rates on the safety island are r respectively 2 And r 1 A difference value of waiting time length change in a unit time of a pedestrian;
s5, calculating waiting time t on the pedestrian road side w1 ：
Wherein t is Side of the vehicle The time difference for the pedestrian to reach the road side and turn on from the green light;
s6, calculating waiting time t on pedestrian safety island w2 ：
Wherein t is Anan (safety) For the time difference delta t of the green light on when the pedestrian arrives at the safety island 2 For the duration of queuing completion on the safety island for pedestrians that were queued on the road side before the estimated pedestrian arrived at the safety island, Δt 3 For rows that have not undergone queuing on the road side before the estimated pedestrian arrives at the security islandThe time length for people to queue up on the safety island; t is t max The maximum waiting time in queuing pedestrians on the safety island is related to a pedestrian crossing scene on the safety island;
s7, calculating the duration delta t of the distance from entering the safety island to reaching the queuing standing position on the safety island c0 ：
Wherein N is Island The number of pedestrians queued before the estimated pedestrian is queued to stand from entering the security island,is an upward rounding function; k (k) j Queuing a congestion density for pedestrians;
s8, calculating the time delta t from the time of entering the crosswalk to the time of queuing and standing on the pedestrian roadside c side ：
Wherein N is Side of the vehicle ＝r 1 (C+t Side of the vehicle -g 1 ) The number of pedestrians queued before standing from the entrance road side for the estimated pedestrian,obtaining the number of lines in front of pedestrians for the upward rounding function;
s9, calculating total time t for pedestrian crossing c ：
t c ＝t c1 +t c2 +Δt c0 +Δt c side +t w1 +t w2 ；
In step S1, signal control parameters are obtained through a signal machine, wherein the signal control parameters comprise signal period duration C and green light duration g at the road-side street crossing stage 1 Green light duration g of street crossing stage of safety island 2 Green light phase difference t of two stages o The green light on the road side is lit later than the green light on the safety island by t o Second, wherein the second is;
calibrating historical traffic flow data, fitting a three-phase basic diagram of speed, density and flow by using video data or artificial data, and acquiring pedestrian crossing traffic flow parameter information based on the basic diagram, wherein the pedestrian crossing traffic flow parameter information comprises pedestrian road sides and pedestrian free flow speed v on a safety island s Free flow velocity v on pedestrian crosswalk f Pedestrian queuing congestion density k on road side and safety island j Average maximum pedestrian flow q of pedestrians from road side and safety island into crosswalk d ；
In step S4, according to traffic flow theory and geometric analysis, the change rate b of the waiting time of pedestrians on the road side is calculated by adopting the following formula 1 Rate of change b of waiting time for pedestrians in line on safety island 2 And b 3 ：
In which the intermediate variableAnd->The pedestrian arrival rates on the safety island are r respectively 2 And r 1 Queuing wave speed; />And->Queuing wave velocity and evanescent wave velocity for pedestrians, v s V is the free flow speed of the pedestrian road side f For the free flow speed k on the pedestrian crosswalk j Queuing congestion density for pedestrians, q d The average maximum traffic flow for pedestrians to enter the crosswalk from the road side and the safety island.
2. The method for estimating a pedestrian crossing time under a pedestrian crosswalk with an intermediate safety island according to claim 1, wherein in step S3, an average number of people α per line at the time of waiting in line of pedestrians on the road side and the safety island is calculated r1 And alpha r2 The process of (1) comprises the following steps:
s31, calculating the average number of people alpha of each row when the road side pedestrians are in line waiting r1 ：
S32, calculating time t from beginning to queue pedestrians on road side to entering crosswalk d1 ：t d1 ＝t dp1 +t dc1 WhereinTime from starting queuing to stand for first row to last row to queuing to stand, < >>Time spent queuing pedestrians for last line to enter crosswalk, +.>And->Queuing wave speed and dissipating wave speed for pedestrians respectively, r 1 For the arrival rate of the road side pedestrian, v s V is the free flow speed of the pedestrian road side f For the free flow speed k on the pedestrian crosswalk j Queuing congestion density for pedestrians, q d The average maximum traffic flow of pedestrians entering a crosswalk from a road side and a safety island;
s33, calculating the arrival rate r of the queued pedestrians on the road side to arrive at the safety island 2 ：
S34, calculating the average number of people alpha of each row when pedestrians are queued on the safety island r2 ：
3. The method for estimating the time of crossing a pedestrian under a pedestrian with an intermediate safety island according to claim 2, wherein the target pedestrian traveling direction reaches the number of people P queued in the safety island 2 The acquisition process of (1) comprises the following steps:
a31, calculating the duration delta tau of the green light on the basis of the signal control of the safety island when the pedestrians in the first line of the road side reach the far side of the safety island 1 ：Δτ 1 ＝mod[t c1 +t c0 -(C-t o ),C]；mod[x,y]A remainder of x divided by y;
a32, calculating the duration delta tau of the green light on by the signal control of the safety island when the last line of queuing pedestrians on the road side reaches the far side of the safety island 2 ：Δτ 2 ＝mod[t c1 +t c0 +t d1 -(C-t o ),C]；
A33, calculating the time length delta tau for the green light to turn on when the pedestrian entering the crosswalk reaches the far side of the safety island when the green light at the road side is finished, wherein the green light is controlled to turn on by the safety island signal 3 ：Δτ 3 ＝mod[t c1 +t c0 +g 1 -(C-t o ),C]；
A34, determining Δτ 1 、Δτ 2 、Δτ 3 And g is equal to 2 Is combined with Deltaτ 1 、Δτ 2 、Δτ 3 、g 2 、r 1 、r 2 Calculating to obtain the queuing number P of people reaching the safety island in the walking direction of the target pedestrian 2 Wherein g 2 The green light time of the crosswalk signal lamp at the second stage is controlled after the pedestrian passes through the safety island; t is t o For the phase difference of the green lights in two stages, the green light on the road side is lighted later than the green light on the safety island by t o Second.
4. A crosswalk pedestrian crossing time estimation method with an intermediate safety island according to claim 3, in combination with Δτ 1 、Δτ 2 、Δτ 3 、g 2 、r 1 、r 2 Calculating to obtain the queuing number P of people reaching the safety island in the walking direction of the target pedestrian 2 Comprising the following steps:
when Deltaτ 3 ＜Δτ 1 ≤g 2 ≤Δτ 2 At the time P 2 ＝r 2 (Δτ 2 -g 2 )+r 1 (C-Δτ 2 )；
When Deltaτ 1 ≤g 2 ≤Δτ 2 ≤Δτ 3 At the time P 2 ＝r 2 (Δτ 2 -g 2 )+r 1 (Δτ 3 -Δτ 2 )；
When g 2 ≤Δτ 2 ≤Δτ 3 ≤Δτ 1 At the time P 2 ＝r 2 (Δτ 2 -g 2 +C-Δτ 1 )+r 1 (Δτ 3 -Δτ 2 )；
When g 2 ≤Δτ 1 ≤Δτ 2 ≤Δτ 3 At the time P 2 ＝r 1 C；
When Deltaτ 3 ≤g 2 ≤Δτ 1 ≤Δτ 2 At the time P 2 ＝r 2 (Δτ 2 -Δτ 1 )+r 1 (C-Δτ 2 )；
When Deltaτ 3 ≤Δτ 2 ≤g 2 ≤Δτ 1 At the time P 2 ＝r 2 (C-Δτ 1 )；
When g 2 ≤Δτ 3 ≤Δτ 1 ≤Δτ 2 At the time P 2 ＝r 1 (Δτ 3 -g 2 +C-Δτ 3 )+r 2 (Δτ 2 -Δτ 1 )；
When Deltaτ 2 ≤g 2 ≤Δτ 3 ≤Δτ 1 At the time P 2 ＝r 1 (Δτ 3 -g 2 )+r 2 (C-Δτ 1 )；
When Deltaτ 3 ＜Δτ 1 ＜Δτ 2 ≤g 2 At the time P 2 ＝r 1 (C-g 2 )；
When Deltaτ 1 ＜Δτ 2 ≤g 2 ≤Δτ 3 At the time P 2 ＝r 1 (Δτ 3 -g 2 )；
When Deltaτ 2 ≤Δτ 3 ＜Δτ 1 ≤g 2 At the time P 2 ＝r 2 (C-g 2 )；
When Deltaτ 1 ＜Δτ 2 ≤Δτ 3 ＜g 2 At the time P 2 ＝0。
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