CN115662133B - Intersection signal timing optimization method and device, terminal equipment and storage medium - Google Patents
Intersection signal timing optimization method and device, terminal equipment and storage medium Download PDFInfo
- Publication number
- CN115662133B CN115662133B CN202211332740.6A CN202211332740A CN115662133B CN 115662133 B CN115662133 B CN 115662133B CN 202211332740 A CN202211332740 A CN 202211332740A CN 115662133 B CN115662133 B CN 115662133B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- nth
- signal timing
- instantaneous
- signal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Abstract
The invention discloses a method, a device, a terminal device and a storage medium for optimizing intersection signal timing, which are used for constructing an ecological guiding type single intersection signal timing model by calling historical data of a target intersection for X days, obtaining an objective function of the model according to time cost and environmental ecological cost of each vehicle under each group of signal timing schemes in a signal period, and calculating an optimal solution of the objective function to obtain an optimal signal timing scheme of the model so that a traffic control system controls signal timing of the target intersection through the optimal signal timing scheme. The embodiment of the invention can comprehensively consider the time cost and the environmental ecological cost of each vehicle, reduce the negative benefits of the vehicles on the intersection, and realize low carbonization and sustainable traffic operation of the intersection from the angle of signal control.
Description
Technical Field
The present invention relates to the field of computer technologies, and in particular, to a method, an apparatus, a terminal device, and a storage medium for optimizing signal timing of an intersection.
Background
Urban traffic systems inevitably bring a series of traffic problems in the development process, such as traffic jams, energy consumption, environmental pollution and the like. Sustained traffic congestion also exacerbates vehicle fuel consumption, greenhouse gas emissions, and exhaust pollution. Researches show that the total fuel consumption in China in 2016 reaches 5.56 hundred million tons, accounting for 40% of the total fuel consumption in China, the contribution rate of a 2018 transportation system to the total consumption of energy in China is 10.7%, and the contribution rate to the direct emission of carbon dioxide in China is 73.5%. Therefore, when solving the problem of traffic jam, the transportation part also faces the challenges of high energy consumption and high pollution, and therefore, the realization of energy conservation, low carbonization and sustainability in the traffic field is particularly important.
In order to cope with the ecological environment deterioration caused by energy consumption and emission, ecological driving is proposed by European style bodies represented by the Netherlands in the beginning of the century, and the attention points in the transportation field are upgraded into energy conservation, emission reduction and ecological environment protection. In the aspect of microscopic traffic management and control, ecological driving generally means that acceleration, deceleration and idle processes of a vehicle are avoided or reduced as much as possible through technologies such as driving behavior improvement, signal timing optimization, vehicle speed guiding, path induction and the like, and energy consumption or tail gas emission in the driving process is minimized as an optimization target, so that the aim of ecological trip is fulfilled.
At present, one of the most direct ecological driving technologies is to firstly establish an energy consumption and emission estimation model based on vehicle types, road section speeds or instantaneous working conditions (positions, speeds and acceleration and deceleration) and the like, and then develop a new signal control theory which takes single index or weighted combination of energy consumption or emission as an optimization target, which is obviously different from the traditional signal control theory and method which takes traffic capacity, delay or parking times and the like as the optimization target. The existing research combines the vehicle speed guiding technology to initially establish a macroscopic model of the social cost of the car based on delay, energy consumption and emission or a cost model of single emission or energy consumption, and establishes a signal timing method taking emission or energy consumption as an optimization target on the basis.
Disclosure of Invention
The invention provides a method, a device, terminal equipment and a storage medium for optimizing intersection signal timing, which can comprehensively consider the time cost and the environmental ecological cost of each vehicle, reduce the negative benefits of vehicles on an intersection, and realize low carbonization and sustainable traffic operation of the intersection from the aspect of signal control.
In order to achieve the above object, in a first aspect, an embodiment of the present invention provides a method for optimizing signal timing of an intersection, including:
Calling historical data of the past X days of a target intersection; wherein the history data includes: the vehicle type and power type, the number of lanes, the inlet flow of each lane, the traffic flow composition condition, the number of vehicles on the vehicle, the number of vehicles on the bus, the initial position of the vehicle, the stop line position of the target intersection, the distance between the vehicle heads in constant speed running and the distance between the vehicle heads in blockage; 0<X is less than or equal to 30;
initializing the historical data, and generating traffic flow condition information in each signal period in a simulation mode; acquiring instantaneous working condition parameters of each vehicle under each group of signal timing schemes in the signal period; wherein, the instantaneous operating condition parameters include: instantaneous acceleration and instantaneous speed;
constructing an ecological guiding type single intersection signal timing model, and calculating the time cost and the environmental ecological cost of each vehicle under each group of signal timing schemes in the signal period according to traffic flow condition information and instantaneous working condition parameters in the signal period to obtain an objective function of the model;
and calculating an optimal solution of the objective function to obtain an optimal signal timing scheme of the model, so that the traffic control system controls signal timing of the target intersection through the optimal signal timing scheme.
As an improvement of the above scheme, the construction of the ecological guiding type single intersection signal timing model, according to the traffic flow condition information and the instantaneous working condition parameter in the signal period, calculates the time cost and the environmental ecological cost of each vehicle under each group of signal timing scheme in the signal period, and obtains the objective function of the model, which specifically includes:
constructing an ecological guiding type single intersection signal timing model, and calculating the time cost and the environmental ecological cost of each vehicle under each group of signal timing schemes in the signal period according to traffic flow condition information and instantaneous working condition parameters in the signal period to obtain an objective function of the model;
wherein, the calculation formula of the environmental ecological cost of the nth vehicle under each group of signal timing scheme in the signal period is as follows
Wherein C is e (n) is the environmental ecological cost of the nth vehicle under each set of signal timing schemes within the signal period; t (T) D A time for the nth vehicle to leave the target intersection; t (T) O The time for the nth vehicle to reach the target intersection is given; θ represents the power type of the nth vehicle; wherein θ=1 is a fuel vehicle, and θ=0 is an electric vehicle; Representing the instant fuel consumption rate of the nth vehicle when the nth vehicle is a fuel vehicle; c (C) 1 Is the unit price of the fuel; alpha 1 The weight coefficient of the tail gas emission treatment cost of the fuel oil vehicle is given; />For the nth vehicle being a fuelled vehicle, the instantaneous exhaust emission rate of the mth emission of the nth vehicle; wherein m=2, 3 and 4 represent CO, HC and NOx, respectively; c (C) m Representing a price per unit for the mth emission tail gas treatment; r is (r) e When the nth vehicle is an electric vehicle, the instantaneous energy consumption rate of the nth vehicle is calculated;C p is the unit price of the electric energy;
the time cost calculation formula of the nth vehicle under each group of signal timing scheme in the signal period is as follows
Wherein C is t (n) is the time cost of the nth vehicle under each set of signal timing schemes within the signal period;is the class of the nth vehicle, wherein ∈>For motor vehicles, for example, a +>Is a bus; t is t r The actual time of the nth vehicle passing through the target intersection is the actual time of the nth vehicle passing through the target intersection; n (N) 1 The average value of all the automobile passenger carrying numbers in the signal period is; n (N) 2 The average value of the passenger numbers of all buses in the signal period is obtained; t is t f Time for the nth vehicle to pass through the target intersection without obstruction; m is M 2 An average number of platform passengers waiting for the bus; m is m t The average time value of people;
the objective function of the model is
Wherein C is g Representing social comprehensive cost of the target intersection under each group of signal timing schemes in the signal period; n is the total number of vehicles in the signal period; n is the nth vehicle under each group of signal timing scheme in the signal period; alpha is an importance coefficient of the environmental ecological cost; beta is the importance coefficient of the time cost.
As an improvement of the above scheme, when the nth vehicle is a fuel vehicle, the instantaneous fuel consumption rate and the instantaneous exhaust emission rate of the nth vehicle are obtained by the following steps:
the calculation formula of the instant fuel consumption rate and the instant tail gas emission rate of the nth vehicle is as follows
Wherein, when m=1,for the instantaneous fuel consumption of the nth vehicle, when m is not equal to 1,/is not equal to 1>An instantaneous exhaust emission rate for an mth emission of the nth vehicle; i is a power exponent of the instantaneous speed of the nth vehicle; j is a power exponent of the instantaneous acceleration of the nth vehicle; />The regression coefficient of the nth vehicle in an acceleration state is obtained; />The regression coefficient of the nth vehicle in a deceleration state is used as the regression coefficient; v n i An i-th power of the instantaneous speed of the nth vehicle; a, a n j A power of j of the instantaneous acceleration of the nth vehicle; a, a n Is the instantaneous acceleration of the nth vehicle.
As an improvement of the above scheme, when the nth vehicle is an electric vehicle, the instantaneous energy consumption rate of the nth vehicle is obtained by the following steps:
the calculation formula of the instant energy consumption rate of the nth vehicle is as follows
Wherein q is a power exponent of the nth vehicle instantaneous speed; p is the power exponent of the instantaneous acceleration of the nth vehicle; η (eta) q，p The regression coefficient of the nth vehicle in an acceleration state is obtained; mu (mu) q，p The regression coefficient of the nth vehicle in a deceleration state is used as the regression coefficient; v n q To the power of q of the instantaneous speed of the nth vehicle; a, a n p To the power p of the instantaneous acceleration of the nth vehicle; a, a n An instantaneous acceleration for the nth vehicle; v n An instantaneous speed for the nth vehicle;the regression coefficient of the nth vehicle in a constant speed state is obtained; VSP (virtual switch plane) q To the power of the motor vehicle specific power of the nth vehicle, wherein VSP is the motor vehicle specific power of the nth vehicle and VSP=v n ×(1.1×a n +0.132)+0.000302×v n 3 ，/>Energy consumption per second of the nth vehicle in an idle state; the instantaneous speed and the instantaneous acceleration are instantaneous working condition parameters of the nth vehicle.
As an improvement of the above scheme, the acquiring the instantaneous working condition parameters of each vehicle under each set of signal timing scheme in the signal period specifically includes:
In a vehicle motion model, inputting each group of signal timing schemes of the target intersection, and simulating the motion trail of each vehicle under each group of signal timing schemes in the signal period to acquire instantaneous working condition parameters of each vehicle;
the motion model of the vehicle specifically comprises the following steps:
when the red light of the kth phase of the z-th signal period of the target intersection starts, judging whether the target vehicle is the stopped 1 st vehicle or not;
if yes, the target vehicle is a lead vehicle, and the instantaneous speed of the lead vehicle is that
In the formula, v 1 (t) is the speed of the lead vehicle at time t; v is the initial speed of the lead vehicle; t is the current moment; a, a 1 The maximum acceleration of the lead vehicle is also representative of the instantaneous acceleration of the lead vehicle;a time when a red light of a kth phase of the zth signal period starts; wherein (1)> A green light of a kth phase of the zth signal period starts; wherein (1)> At the beginning of the green light of the 1 st signal period and the 1 st phase of the target intersection, k is the kth phase of the z-th signal period of the target intersection, and l is the first phase of the z-th signal period of the target intersection >For the green light duration of the first phase, z is the z signal period of the target intersection, C z-1 A period duration of the z-1 th signal period; />A green light duration for the kth phase; />A red light duration for the kth phase;
if not, the target vehicle is a following vehicle, and the instantaneous acceleration of the following vehicle is
Wherein a is n (t) the acceleration of the (n-1) th following car at the moment t; v f Is the free flow speed; k (k) jam Is the traffic density in the stopped state; x is x n-1 (t) is the position of the first vehicle in front of the following car at the moment t, x n (t) is the position of the (n-1) th following car at the moment t; v n-1 (t) is the speed of a first vehicle in front of the following vehicle at time t; v n (t) is the speed of the (n-1) th following car at the time t;
the n-1 following car is at T n The instantaneous speed after +Deltat time is
v n (t+T n +Δt)＝v n (t+T n )+a n (t)Δt，
In the formula, v n (t+T n +Δt) is t+T for the n-1 th following car n A speed at +Δt; v n (t+T n ) At t+T for the n-1 th following car n Speed of time; t (T) n Reaction time for the n-1 th following car.
As an improvement of the above solution, the calculating the optimal solution of the objective function to obtain an optimal signal timing solution of the model, so that the traffic control system controls signal timing of the target intersection through the optimal signal timing solution specifically includes:
Calculating an optimal solution of the objective function to obtain an optimal signal timing scheme of the model so that a traffic system controls signal timing of the target intersection through the optimal signal timing scheme;
wherein the optimal solution of the objective function is
The first constraint condition of the optimal solution is that
The second constraint condition of the optimal solution is that
The third constraint condition of the optimal solution is that
C min ≤C z ≤C max ，
In the formula, minC g Minimum social composite cost for the target intersection; k is the total phase number of the z-th signal period of the target intersection; k is the kth phase of the z-th signal period of the target intersection; is thatAn effective green time for the kth phase; l (L) k A lost time for the kth phase; c (C) z A period duration of the z-th signal period;for the minimum green time of the kth phase,/-for>A green time for the kth phase; c (C) min C is the period duration of the minimum signal period of the intersection max Is the period duration of the maximum signal period of the intersection.
In a second aspect, an embodiment of the present invention provides an apparatus for optimizing signal timing of an intersection, including:
the calling module is used for calling historical data of the target intersection in the past X days; wherein the history data includes: the vehicle type and power type, the number of lanes, the inlet flow of each lane, the traffic flow composition condition, the number of vehicles on the vehicle, the number of vehicles on the bus, the initial position of the vehicle, the stop line position of the target intersection, the distance between the vehicle heads in constant speed running and the distance between the vehicle heads in blockage; x is more than 0 and less than or equal to 30;
The acquisition module is used for initializing the historical data and generating traffic flow condition information in each signal period in a simulation mode; acquiring instantaneous working condition parameters of each vehicle under each group of signal timing schemes in the signal period; wherein, the instantaneous operating condition parameters include: instantaneous acceleration and instantaneous speed;
the construction module is used for constructing an ecological guiding type single intersection signal timing model, and calculating the time cost and the environmental ecological cost of each vehicle under each group of signal timing schemes in the signal period according to the traffic flow condition information and the instantaneous working condition parameters in the signal period to obtain an objective function of the model;
the calculation module is used for calculating the optimal solution of the objective function to obtain an optimal signal timing scheme of the model so that the traffic control system controls signal timing of the target intersection through the optimal signal timing scheme.
As an improvement of the above solution, the building module is specifically configured to:
constructing an ecological guiding type single intersection signal timing model, and calculating the time cost and the environmental ecological cost of each vehicle under each group of signal timing schemes in the signal period according to traffic flow condition information and instantaneous working condition parameters in the signal period to obtain an objective function of the model;
Wherein, the calculation formula of the environmental ecological cost of the nth vehicle under each group of signal timing scheme in the signal period is as follows
Wherein C is e (n) is the environmental ecological cost of the nth vehicle under each set of signal timing schemes within the signal period; t (T) D A time for the nth vehicle to leave the target intersection; t (T) O The time for the nth vehicle to reach the target intersection is given; θ represents the power type of the nth vehicle; wherein θ=1 is a fuel vehicle, and θ=0 is an electric vehicle;representing the instant fuel consumption rate of the nth vehicle when the nth vehicle is a fuel vehicle; c (C) 1 Is the unit price of the fuel; alpha 1 The weight coefficient of the tail gas emission treatment cost of the fuel oil vehicle is given; />For the nth vehicle being a fuelled vehicle, the instantaneous exhaust emission rate of the mth emission of the nth vehicle; wherein m=2, 3 and 4 represent CO, HC and NOx, respectively; c (C) m Representing a price per unit for the mth emission tail gas treatment; r is (r) e When the nth vehicle is an electric vehicle, the instantaneous energy consumption rate of the nth vehicle is calculated; c (C) p Is the unit price of the electric energy;
the time cost calculation formula of the nth vehicle under each group of signal timing scheme in the signal period is as follows
Wherein C is t (n) is the time cost of the nth vehicle under each set of signal timing schemes within the signal period; Is the class of the nth vehicle, wherein ∈>For motor vehicles, for example, a +>Is a bus; t is t r The actual time of the nth vehicle passing through the target intersection is the actual time of the nth vehicle passing through the target intersection; n (N) 1 The average value of all the automobile passenger carrying numbers in the signal period is; n (N) 2 The average value of the passenger numbers of all buses in the signal period is obtained; t is t f Time for the nth vehicle to pass through the target intersection without obstruction; m is M 2 An average number of platform passengers waiting for the bus; m is m t The average time value of people;
the objective function of the model is
Wherein C is g Representing social comprehensive cost of the target intersection under each group of signal timing schemes in the signal period; n is the total number of vehicles in the signal period; n is the nth vehicle under each group of signal timing scheme in the signal period; alpha is an importance coefficient of the environmental ecological cost; beta is the importance coefficient of the time cost.
As an improvement of the above solution, the computing module is specifically configured to:
calculating an optimal solution of the objective function to obtain an optimal signal timing scheme of the model so that a traffic system controls signal timing of the target intersection through the optimal signal timing scheme;
Wherein the optimal solution of the objective function is
The first constraint condition of the optimal solution is that
The second constraint condition of the optimal solution is that
The third constraint condition of the optimal solution is that
C min ≤C z ≤C max ，
In the formula, minC g Minimum social composite cost for the target intersection; k is the total phase number of the z-th signal period of the target intersection; k is the kth phase of the z-th signal period of the target intersection; is thatAn effective green time for the kth phase; l (L) k A lost time for the kth phase; c (C) z A period duration of the z-th signal period;for the minimum green time of the kth phase,/-for>A green time for the kth phase; c (C) min C is the period duration of the minimum signal period of the intersection max Is the period duration of the maximum signal period of the intersection.
In a third aspect, an embodiment of the present invention correspondingly provides a terminal device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, where the processor implements the above intersection signal timing optimization method when executing the computer program.
In addition, the embodiment of the invention also provides a computer readable storage medium, which comprises a stored computer program, wherein when the computer program runs, equipment where the computer readable storage medium is located is controlled to execute the intersection signal timing optimization method.
Compared with the prior art, the method, the device, the terminal equipment and the storage medium for optimizing the signal timing of the intersection disclosed by the embodiment of the invention have the advantages that the historical data of the intersection in the past period is acquired, the traffic flow condition information in each signal period is generated in a simulation mode, the time cost and the environmental ecological cost of each vehicle are calculated, the signal timing scheme of the minimum social comprehensive cost of the intersection is obtained, and the traffic control system controls the signal timing of the intersection through the obtained signal timing scheme. Therefore, the embodiment of the invention can comprehensively consider the time cost and the environmental ecological cost of each vehicle, aims at reducing the social comprehensive cost of the vehicles, and realizes low carbonization and sustainability of traffic operation at intersections from the aspect of signal control.
Drawings
FIG. 1 is a schematic flow chart of an intersection signal timing optimization method provided by an embodiment of the invention;
fig. 2 is a schematic structural diagram of an apparatus for optimizing signal timing of an intersection according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that the terms "comprises" and "comprising," along with any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Referring to fig. 1, fig. 1 is a flowchart of an intersection signal timing optimization method according to an embodiment of the present invention, where the intersection signal timing optimization method includes steps S11 to S14:
s11: calling historical data of the past X days of a target intersection; wherein the history data includes: the vehicle type and power type, the number of lanes, the inlet flow of each lane, the traffic flow composition condition, the number of vehicles on the vehicle, the number of vehicles on the bus, the initial position of the vehicle, the stop line position of the target intersection, the distance between the vehicle heads in constant speed running and the distance between the vehicle heads in blockage; 0<X is less than or equal to 30;
it should be noted that the historical data may be obtained from a traffic control system or obtained from a cloud database. The traffic flow is formed by the ratio of the automobile to the bus and the ratio of the fuel oil vehicle to the electric vehicle.
S12: initializing the historical data, and generating traffic flow condition information in each signal period in a simulation mode; acquiring instantaneous working condition parameters of each vehicle under each group of signal timing schemes in the signal period; wherein, the instantaneous operating condition parameters include: instantaneous acceleration and instantaneous speed;
s13: constructing an ecological guiding type single intersection signal timing model, and calculating the time cost and the environmental ecological cost of each vehicle under each group of signal timing schemes in the signal period according to traffic flow condition information and instantaneous working condition parameters in the signal period to obtain an objective function of the model;
the time cost and the environmental ecological cost form social comprehensive cost, the social comprehensive cost is used for representing the sum of time and energy consumption born by traffic bodies in travel activities and various cost of tail gas treatment input by governments, and the weight of the total cost is calibrated by adopting an entropy weight method.
S14: and calculating an optimal solution of the objective function to obtain an optimal signal timing scheme of the model, so that the traffic control system controls signal timing of the target intersection through the optimal signal timing scheme.
Optionally, the constructing an ecological guiding type single intersection signal timing model, calculating the time cost and the environmental ecological cost of each vehicle under each group of signal timing schemes in the signal period according to the traffic flow condition information and the instantaneous working condition parameters in the signal period, and obtaining an objective function of the model specifically includes:
Constructing an ecological guiding type single intersection signal timing model, and calculating the time cost and the environmental ecological cost of each vehicle under each group of signal timing schemes in the signal period according to traffic flow condition information and instantaneous working condition parameters in the signal period to obtain an objective function of the model;
wherein, the calculation formula of the environmental ecological cost of the nth vehicle under each group of signal timing scheme in the signal period is as follows
Wherein C is e (n) is the environmental ecological cost of the nth vehicle under each set of signal timing schemes within the signal period; t (T) D A time for the nth vehicle to leave the target intersection; t (T) O The time for the nth vehicle to reach the target intersection is given; θ represents the power type of the nth vehicle; wherein θ=1 is a fuel vehicle, and θ=0 is an electric vehicle;representing the instant fuel consumption rate of the nth vehicle when the nth vehicle is a fuel vehicle; c (C) 1 Is the unit price of the fuel; alpha 1 The weight coefficient of the tail gas emission treatment cost of the fuel oil vehicle is given; />For the nth vehicle being a fuelled vehicle, the instantaneous exhaust emission rate of the mth emission of the nth vehicle; wherein m=2, 3 and 4 represent CO, HC and NOx, respectively; c (C) m Representing a price per unit for the mth emission tail gas treatment; r is (r) e When the nth vehicle is an electric vehicle, the instantaneous energy consumption rate of the nth vehicle is calculated; c (C) p Is the unit price of the electric energy;
the time cost calculation formula of the nth vehicle under each group of signal timing scheme in the signal period is as follows
Wherein C is t (n) is the time cost of the nth vehicle under each set of signal timing schemes within the signal period;is the class of the nth vehicle, wherein ∈>For motor vehicles, for example, a +>Is a bus; t is t r The actual time of the nth vehicle passing through the target intersection is the actual time of the nth vehicle passing through the target intersection; n (N) 1 The average value of all the automobile passenger carrying numbers in the signal period is; n (N) 2 The average value of the passenger numbers of all buses in the signal period is obtained; t is t f Time for the nth vehicle to pass through the target intersection without obstruction; m is M 2 An average number of platform passengers waiting for the bus; m is m t The average time value of people;
the objective function of the model is
Wherein C is g Representing social comprehensive cost of the target intersection under each group of signal timing schemes in the signal period; n is the total number of vehicles in the signal period; n is the nth vehicle under each group of signal timing scheme in the signal period; alpha is an importance coefficient of the environmental ecological cost; beta is the importance coefficient of the time cost.
It should be noted that the unit price of fuel oil, the unit price of exhaust treatment and the unit price of electric energy in the process of calculating the environmental ecological cost can be obtained by inquiring the environmental protection tax amount table.
Specifically, when the nth vehicle is a fuel vehicle, the instantaneous fuel consumption rate and the instantaneous exhaust emission rate of the nth vehicle are obtained through the following steps:
the calculation formula of the instant fuel consumption rate and the instant tail gas emission rate of the nth vehicle is as follows
Wherein, when m=1,for the instantaneous fuel consumption of the nth vehicle, when m is not equal to 1,/is not equal to 1>An instantaneous exhaust emission rate for an mth emission of the nth vehicle; i is a power exponent of the instantaneous speed of the nth vehicle; j is a power exponent of the instantaneous acceleration of the nth vehicle; />The regression coefficient of the nth vehicle in an acceleration state is obtained; />The regression coefficient of the nth vehicle in a deceleration state is used as the regression coefficient; v n i An i-th power of the instantaneous speed of the nth vehicle; a, a n j A power of j of the instantaneous acceleration of the nth vehicle; a, a n Is the instantaneous acceleration of the nth vehicle.
Specifically, when the nth vehicle is an electric vehicle, the instantaneous energy consumption rate of the nth vehicle is obtained through the following steps:
The calculation formula of the instant energy consumption rate of the nth vehicle is as follows
Wherein q is a power exponent of the nth vehicle instantaneous speed; p is the power exponent of the instantaneous acceleration of the nth vehicle; η (eta) q，p The regression coefficient of the nth vehicle in an acceleration state is obtained; mu (mu) q，p The regression coefficient of the nth vehicle in a deceleration state is used as the regression coefficient; v n q To the power of q of the instantaneous speed of the nth vehicle; a, a n p To the power p of the instantaneous acceleration of the nth vehicle; a, a n An instantaneous acceleration for the nth vehicle; v n An instantaneous speed for the nth vehicle;the regression coefficient of the nth vehicle in a constant speed state is obtained; VSP (virtual switch plane) q To the power of the motor vehicle specific power of the nth vehicle, wherein VSP is the motor vehicle specific power of the nth vehicle and VSP=v n ×(1.1×a n +0.132)+0.000302×v n 3 ，/>Energy consumption per second of the nth vehicle in an idle state; the instantaneous speed and the instantaneous acceleration are instantaneous working condition parameters of the nth vehicle.
Optionally, the acquiring the instantaneous working condition parameters of each vehicle under each set of signal timing schemes in the signal period specifically includes:
in a vehicle motion model, inputting each group of signal timing schemes of the target intersection, and simulating the motion trail of each vehicle under each group of signal timing schemes in the signal period to acquire instantaneous working condition parameters of each vehicle;
The motion model of the vehicle specifically comprises the following steps:
when the red light of the kth phase of the z-th signal period of the target intersection starts, judging whether the target vehicle is the stopped 1 st vehicle or not;
if yes, the target vehicle is a lead vehicle, and the instantaneous speed of the lead vehicle is that
In the formula, v 1 (t) is the speed of the lead vehicle at time t; v is the initial speed of the lead vehicle; t is the current moment; a, a 1 The maximum acceleration of the lead vehicle is also representative of the instantaneous acceleration of the lead vehicle;a time when a red light of a kth phase of the zth signal period starts; wherein (1)> A green light of a kth phase of the zth signal period starts; wherein (1)> At the beginning of the green light of the 1 st signal period and the 1 st phase of the target intersection, k is the kth phase of the z-th signal period of the target intersection, and l is the first phase of the z-th signal period of the target intersection>For the green light duration of the first phase, z is the z signal period of the target intersection, C z-1 Is saidThe period duration of the z-1 th signal period; />A green light duration for the kth phase; />A red light duration for the kth phase;
If not, the target vehicle is a following vehicle, and the instantaneous acceleration of the following vehicle is
Wherein a is n (t) the acceleration of the (n-1) th following car at the moment t; v f Is the free flow speed; k (k) jam Is the traffic density in the stopped state; x is x n-1 (t) is the position of the first vehicle in front of the following car at the moment t, x n (t) is the position of the (n-1) th following car at the moment t; v n-1 (t) is the speed of a first vehicle in front of the following vehicle at time t; v n (t) is the speed of the (n-1) th following car at the time t;
the n-1 following car is at T n The instantaneous speed after +Deltat time is
v n (t+T n +Δt)＝v n (t+T n )+a n (t)Δt，
In the formula, v n (t+T n +Δt) is t+T for the n-1 th following car n A speed at +Δt; v n (t+T n ) At t+T for the n-1 th following car n Speed of time; t (T) n Reaction time for the n-1 th following car.
The acceleration of the different kinds of vehicles is different, and the n-1 following vehicle is the n-th vehicle.
Optionally, the calculating the optimal solution of the objective function, to obtain an optimal signal timing scheme of the model, so that the traffic control system controls signal timing of the target intersection through the optimal signal timing scheme specifically includes:
Calculating an optimal solution of the objective function to obtain an optimal signal timing scheme of the model so that a traffic system controls signal timing of the target intersection through the optimal signal timing scheme;
wherein the optimal solution of the objective function is
The first constraint condition of the optimal solution is that
The second constraint condition of the optimal solution is that
The third constraint condition of the optimal solution is that
C min ≤C z ≤C max ，
In the formula, minC g Minimum social composite cost for the target intersection; k is the total phase number of the z-th signal period of the target intersection; k is the kth phase of the z-th signal period of the target intersection; is thatAn effective green time for the kth phase; l (L) k A lost time for the kth phase; c (C) z A period duration of the z-th signal period;for the minimum green time of the kth phase,/-for>A green time for the kth phase; c (C) min C is the period duration of the minimum signal period of the intersection max Is the period duration of the maximum signal period of the intersection.
It should be noted that, the first constraint condition of the optimal solution indicates that the sum of the green light time and the period loss time of each phase is equal to the period duration; the second constraint condition of the optimal solution represents the shortest green lamp time of the phase meeting the requirements of traffic flow safety traffic considering pedestrians and the like; the third constraint of the optimal solution indicates that the maximum minimum period requirement is met. Determining the minimum green time of each entrance according to the intersection canalization information, wherein the minimum green time value of each entrance is equal to the length required by the pedestrians to safely cross the street; and determining the maximum period and the minimum period of the signal timing scheme according to the traffic flow parameter information of the intersection, wherein the determination of the maximum period and the minimum period can be determined by expert experience. Each signal cycle contains a plurality of signal timing schemes; all feasible signal period and green light time combination obtained signal timing schemes are all feasible schemes; all possible signal periods lie between the maximum signal period and the minimum signal period.
According to the intersection signal timing optimization method provided by the embodiment of the invention, the historical data of the intersection in the past period is acquired, the traffic flow condition information in each signal period is generated through simulation, the time cost and the environmental ecological cost of each vehicle are calculated, and the signal timing scheme of the minimum social comprehensive cost of the intersection is obtained, so that the traffic control system controls the signal timing of the intersection through the obtained signal timing scheme. Therefore, the embodiment of the invention can comprehensively consider the time cost and the environmental ecological cost of each vehicle, aims at reducing the social comprehensive cost of the vehicles, and realizes low carbonization and sustainability of traffic operation at intersections from the aspect of signal control.
Referring to fig. 2, fig. 2 is a schematic structural diagram of an intersection signal timing optimization device according to an embodiment of the present invention, where the intersection signal timing optimization device includes:
a retrieving module 21, configured to retrieve historical data of past X days of the target intersection; wherein the history data includes: the vehicle type and power type, the number of lanes, the inlet flow of each lane, the traffic flow composition condition, the number of vehicles on the vehicle, the number of vehicles on the bus, the initial position of the vehicle, the stop line position of the target intersection, the distance between the vehicle heads in constant speed running and the distance between the vehicle heads in blockage; 0<X is less than or equal to 30;
The obtaining module 22 is configured to initialize the historical data, and simulate and generate traffic flow condition information in each signal period; acquiring instantaneous working condition parameters of each vehicle under each group of signal timing schemes in the signal period; wherein, the instantaneous operating condition parameters include: instantaneous acceleration and instantaneous speed;
the construction module 23 is configured to construct an ecologically oriented single intersection signal timing model, calculate a time cost and an environmental ecology cost of each vehicle under each group of signal timing schemes in the signal period according to traffic flow condition information and instantaneous working condition parameters in the signal period, and obtain an objective function of the model;
the calculating module 24 is configured to calculate an optimal solution of the objective function, and obtain an optimal signal timing scheme of the model, so that the traffic control system controls signal timing of the target intersection through the optimal signal timing scheme.
Optionally, the construction module 23 is specifically configured to:
constructing an ecological guiding type single intersection signal timing model, and calculating the time cost and the environmental ecological cost of each vehicle under each group of signal timing schemes in the signal period according to traffic flow condition information and instantaneous working condition parameters in the signal period to obtain an objective function of the model;
Wherein, the calculation formula of the environmental ecological cost of the nth vehicle under each group of signal timing scheme in the signal period is as follows
Wherein C is e (n) is the environmental ecological cost of the nth vehicle under each set of signal timing schemes within the signal period; t (T) D A time for the nth vehicle to leave the target intersection; t (T) O The time for the nth vehicle to reach the target intersection is given; θ represents the power type of the nth vehicle; wherein θ=1 is a fuel vehicle, and θ=0 is an electric vehicle;representing the instant fuel consumption rate of the nth vehicle when the nth vehicle is a fuel vehicle; c (C) 1 Is the unit price of the fuel; alpha 1 The weight coefficient of the tail gas emission treatment cost of the fuel oil vehicle is given; />For the nth vehicle being a fuelled vehicle, the instantaneous exhaust emission rate of the mth emission of the nth vehicle; wherein m=2, 3 and 4 represent CO, HC and NOx, respectively; c (C) m Representing a price per unit for the mth emission tail gas treatment; r is (r) e When the nth vehicle is an electric vehicle, the instantaneous energy consumption rate of the nth vehicle is calculated; c (C) p Is the unit price of the electric energy;
the time cost calculation formula of the nth vehicle under each group of signal timing scheme in the signal period is as follows
Wherein C is t (n) is the time cost of the nth vehicle under each set of signal timing schemes within the signal period; Is the class of the nth vehicle, wherein ∈>For motor vehicles, for example, a +>Is a bus; t is t r The actual time of the nth vehicle passing through the target intersection is the actual time of the nth vehicle passing through the target intersection; n (N) 1 The average value of all the automobile passenger carrying numbers in the signal period is; n (N) 2 The average value of the passenger numbers of all buses in the signal period is obtained; t is t f Time for the nth vehicle to pass through the target intersection without obstruction; m is M 2 An average number of platform passengers waiting for the bus; m is m t The average time value of people;
the objective function of the model is
Wherein C is g Representing social comprehensive cost of the target intersection under each group of signal timing schemes in the signal period; n is the total number of vehicles in the signal period; n is the nth vehicle under each group of signal timing scheme in the signal period; alpha is an importance coefficient of the environmental ecological cost; beta is the importance coefficient of the time cost.
Specifically, when the nth vehicle is a fuel vehicle, the instantaneous fuel consumption rate and the instantaneous exhaust emission rate of the nth vehicle are obtained through the following steps:
the calculation formula of the instant fuel consumption rate and the instant tail gas emission rate of the nth vehicle is as follows
Wherein, when m=1, For the instantaneous fuel consumption of the nth vehicle, when m is not equal to 1,/is not equal to 1>An instantaneous exhaust emission rate for an mth emission of the nth vehicle; i is the instant of the nth vehicleA power of speed exponent; j is a power exponent of the instantaneous acceleration of the nth vehicle; />The regression coefficient of the nth vehicle in an acceleration state is obtained; />The regression coefficient of the nth vehicle in a deceleration state is used as the regression coefficient; v n i An i-th power of the instantaneous speed of the nth vehicle; a, a n j A power of j of the instantaneous acceleration of the nth vehicle; a, a n Is the instantaneous acceleration of the nth vehicle.
Specifically, when the nth vehicle is an electric vehicle, the instantaneous energy consumption rate of the nth vehicle is obtained through the following steps:
the calculation formula of the instant energy consumption rate of the nth vehicle is as follows
Wherein q is a power exponent of the nth vehicle instantaneous speed; p is the power exponent of the instantaneous acceleration of the nth vehicle; η (eta) q，p The regression coefficient of the nth vehicle in an acceleration state is obtained; mu (mu) q，p The regression coefficient of the nth vehicle in a deceleration state is used as the regression coefficient; v n q To the power of q of the instantaneous speed of the nth vehicle; a, a n p To the power p of the instantaneous acceleration of the nth vehicle; a, a n An instantaneous acceleration for the nth vehicle; v n An instantaneous speed for the nth vehicle;the regression coefficient of the nth vehicle in a constant speed state is obtained; VSP (virtual switch plane) q To the power of the motor vehicle specific power of the nth vehicle, wherein VSP is the motor vehicle specific power of the nth vehicle and VSP=v n ×(1.1×a n +0.132)+0.000302×v n 3 ，/>Energy consumption per second of the nth vehicle in an idle state; the instantaneous speed and the instantaneous acceleration are instantaneous working condition parameters of the nth vehicle.
Optionally, the acquiring the instantaneous working condition parameters of each vehicle under each set of signal timing schemes in the signal period specifically includes:
in a vehicle motion model, inputting each group of signal timing schemes of the target intersection, and simulating the motion trail of each vehicle under each group of signal timing schemes in the signal period to acquire instantaneous working condition parameters of each vehicle;
the motion model of the vehicle specifically comprises the following steps:
when the red light of the kth phase of the z-th signal period of the target intersection starts, judging whether the target vehicle is the stopped 1 st vehicle or not;
if yes, the target vehicle is a lead vehicle, and the instantaneous speed of the lead vehicle is that
In the formula, v 1 (t) is the speed of the lead vehicle at time t; v is the initial speed of the lead vehicle; t is the current moment; a, a 1 The maximum acceleration of the lead vehicle is also representative of the instantaneous acceleration of the lead vehicle;a time when a red light of a kth phase of the zth signal period starts; wherein (1)> Green light start for the kth phase of the zth signal periodIs a time of day; wherein (1)> At the beginning of the green light of the 1 st signal period and the 1 st phase of the target intersection, k is the kth phase of the z-th signal period of the target intersection, and l is the first phase of the z-th signal period of the target intersection>For the green light duration of the first phase, z is the z signal period of the target intersection, C z-1 A period duration of the z-1 th signal period; />A green light duration for the kth phase; />A red light duration for the kth phase;
if not, the target vehicle is a following vehicle, and the instantaneous acceleration of the following vehicle is
Wherein a is n (t) the acceleration of the (n-1) th following car at the moment t; v f Is the free flow speed; k (k) jam Is the traffic density in the stopped state; x is x n-1 (t) is the position of the first vehicle in front of the following car at the moment t, x n (t) is the position of the (n-1) th following car at the moment t; v n-1 (t) is the speed of a first vehicle in front of the following vehicle at time t; v n (t) is that the (n-1) th following car is inSpeed at time t;
the n-1 following car is at T n The instantaneous speed after +Deltat time is
v n (t+T n +Δt)＝v n (t+T n )+a n (t)Δt，
In the formula, v n (t+T n +Δt) is t+T for the n-1 th following car n A speed at +Δt; v n (t+T n ) At t+T for the n-1 th following car n Speed of time; t (T) n Reaction time for the n-1 th following car.
Optionally, the calculating module 24 is specifically configured to:
calculating an optimal solution of the objective function to obtain an optimal signal timing scheme of the model so that a traffic system controls signal timing of the target intersection through the optimal signal timing scheme;
wherein the optimal solution of the objective function is
The first constraint condition of the optimal solution is that
The second constraint condition of the optimal solution is that
The third constraint condition of the optimal solution is that
C min ≤C z ≤C max ，
In the formula, minC g Minimum social composite cost for the target intersection; k is the total phase number of the z-th signal period of the target intersection; k is the kth phase of the zth signal period of the target intersectionA bit; is thatAn effective green time for the kth phase; l (L) k A lost time for the kth phase; c (C) z A period duration of the z-th signal period; For the minimum green time of the kth phase,/-for>A green time for the kth phase; c (C) min C is the period duration of the minimum signal period of the intersection max Is the period duration of the maximum signal period of the intersection.
The intersection signal timing optimization device provided by the embodiment of the invention can realize all the processes of the intersection signal timing optimization method of the embodiment, and the functions and the realized technical effects of each module in the device are respectively corresponding to the functions and the realized technical effects of the intersection signal timing optimization method of the embodiment and are not repeated here.
The embodiment of the invention correspondingly provides a terminal device, which comprises: a processor, a memory, and a computer program stored in the memory and executable on the processor. The steps in the above intersection signal timing optimization method embodiment are implemented when the processor executes the computer program. Alternatively, the processor may implement the functions of each module in the above-described intersection signal timing optimization device embodiment when executing the computer program.
The computer program may be divided into one or more modules, which are stored in the memory and executed by the processor to accomplish the present invention, for example. The one or more modules may be a series of computer program instruction segments capable of performing specific functions for describing the execution of the computer program in the terminal device.
The terminal equipment can be computing equipment such as a desktop computer, a notebook computer, a palm computer, a cloud server and the like. The terminal device may include, but is not limited to, a processor, a memory. It will be appreciated by those skilled in the art that the schematic diagram is merely an example of a terminal device and does not constitute a limitation of the terminal device, and may include more or less components than illustrated, or may combine certain components, or different components, e.g., the terminal device may further include an input-output device, a network access device, a bus, etc.
The processor may be a central processing unit, but also other general purpose processors, digital signal processors, application specific integrated circuits, field programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, which is a control center of the terminal device, and which connects various parts of the entire terminal device using various interfaces and lines.
The memory may be used to store the computer program and/or module, and the processor may implement various functions of the terminal device by running or executing the computer program and/or module stored in the memory and invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program (such as a sound playing function, an image playing function, etc.) required for at least one function, and the like; the storage data area may store data (such as audio data, phonebook, etc.) created according to the use of the handset, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart memory card, at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.
Wherein the terminal device integrated modules may be stored in a computer readable storage medium if implemented in the form of software functional units and sold or used as a stand alone product. Based on such understanding, the present invention may implement all or part of the flow of the method of the above embodiment, or may be implemented by instructing related hardware by a computer program, where the computer program may be stored in a computer readable storage medium, and the computer program may implement the steps of each of the method embodiments described above when executed by a processor. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash disk, a removable hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory, a random access memory, an electrical carrier wave signal, a telecommunication signal, a software distribution medium, and so forth.
It should be noted that the above-described apparatus embodiments are merely illustrative, and the units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, in the drawings of the embodiment of the device provided by the invention, the connection relation between the modules represents that the modules have communication connection, and can be specifically implemented as one or more communication buses or signal lines. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
The embodiment of the invention also provides a computer readable storage medium, which comprises a stored computer program, wherein the computer program is used for controlling equipment where the computer readable storage medium is located to execute the intersection signal timing optimization method according to the embodiment.
In summary, the embodiment of the invention discloses an intersection signal timing optimization device, terminal equipment and storage medium, which are used for generating traffic flow condition information in each signal period in a simulation way by retrieving historical data of the intersection in the past for a period of time, calculating time cost and environmental ecological cost of each vehicle, and obtaining a signal timing scheme of the minimum social comprehensive cost of the intersection, so that a traffic control system controls signal timing of the intersection through the obtained signal timing scheme. Therefore, the embodiment of the invention can comprehensively consider the time cost and the environmental ecological cost of each vehicle, aims at reducing the social comprehensive cost of the vehicles, and realizes low carbonization and sustainability of traffic operation at intersections from the aspect of signal control.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that changes and modifications may be made without departing from the principles of the invention, such changes and modifications are also intended to be within the scope of the invention.
Claims (8)
1. A method for optimizing intersection signal timing, comprising:
calling historical data of the past X days of a target intersection; wherein the history data includes: the vehicle type and power type, the number of lanes, the inlet flow of each lane, the traffic flow composition condition, the number of vehicles on the vehicle, the number of vehicles on the bus, the initial position of the vehicle, the stop line position of the target intersection, the distance between the vehicle heads in constant speed running and the distance between the vehicle heads in blockage; 0<X is less than or equal to 30;
initializing the historical data, and generating traffic flow condition information in each signal period in a simulation mode; acquiring instantaneous working condition parameters of each vehicle under each group of signal timing schemes in the signal period; wherein, the instantaneous operating condition parameters include: instantaneous acceleration and instantaneous speed;
constructing an ecological guiding type single intersection signal timing model, and calculating the time cost and the environmental ecological cost of each vehicle under each group of signal timing schemes in the signal period according to traffic flow condition information and instantaneous working condition parameters in the signal period to obtain an objective function of the model;
calculating an optimal solution of the objective function to obtain an optimal signal timing scheme of the model so that a traffic control system controls signal timing of the target intersection through the optimal signal timing scheme;
The method for constructing the ecological guiding type single intersection signal timing model comprises the steps of calculating the time cost and the environmental ecological cost of each vehicle under each group of signal timing schemes in the signal period according to traffic flow condition information and instantaneous working condition parameters in the signal period to obtain an objective function of the model, wherein the objective function comprises the following steps:
constructing an ecological guiding type single intersection signal timing model, and calculating the time cost and the environmental ecological cost of each vehicle under each group of signal timing schemes in the signal period according to traffic flow condition information and instantaneous working condition parameters in the signal period to obtain an objective function of the model;
wherein, the calculation formula of the environmental ecological cost of the nth vehicle under each group of signal timing scheme in the signal period is as follows
Wherein C is e (n) is the environmental ecological cost of the nth vehicle under each set of signal timing schemes within the signal period; t (T) D A time for the nth vehicle to leave the target intersection; t (T) O The time for the nth vehicle to reach the target intersection is given; θ represents the power type of the nth vehicle; wherein θ=1 is a fuel vehicle, and θ=0 is an electric vehicle;representing the instant fuel consumption rate of the nth vehicle when the nth vehicle is a fuel vehicle; c (C) 1 Is the unit price of the fuel; alpha 1 The weight coefficient of the tail gas emission treatment cost of the fuel oil vehicle is given; />For the nth vehicleAn instantaneous exhaust emission rate of an mth emission of the nth vehicle when the vehicle is fuelled; wherein m=2, 3 and 4 represent CO, HC and NOx, respectively; c (C) m Representing a price per unit for the mth emission tail gas treatment; r is (r) e When the nth vehicle is an electric vehicle, the instantaneous energy consumption rate of the nth vehicle is calculated; c (C) p Is the unit price of the electric energy;
the time cost calculation formula of the nth vehicle under each group of signal timing scheme in the signal period is as follows
Wherein C is t (n) is the time cost of the nth vehicle under each set of signal timing schemes within the signal period;is the class of the nth vehicle, wherein ∈>For motor vehicles, for example, a +>Is a bus; t is t r The actual time of the nth vehicle passing through the target intersection is the actual time of the nth vehicle passing through the target intersection; n (N) 1 The average value of all the automobile passenger carrying numbers in the signal period is; n (N) 2 The average value of the passenger numbers of all buses in the signal period is obtained; t is t f Time for the nth vehicle to pass through the target intersection without obstruction; m is M 2 An average number of platform passengers waiting for the bus; m is m t The average time value of people;
The objective function of the model is
In the middle of，C g Representing social comprehensive cost of the target intersection under each group of signal timing schemes in the signal period; n is the total number of vehicles in the signal period; n is the nth vehicle under each group of signal timing scheme in the signal period; alpha is an importance coefficient of the environmental ecological cost; beta is the importance coefficient of the time cost.
2. The intersection signal timing optimization method according to claim 1, wherein the nth vehicle is a fuel vehicle, and the instantaneous fuel consumption rate and the instantaneous exhaust emission rate of the nth vehicle are obtained by the steps of:
the calculation formula of the instant fuel consumption rate and the instant tail gas emission rate of the nth vehicle is as follows
Wherein, when m=1,for the instantaneous fuel consumption of the nth vehicle, when m is not equal to 1,/is not equal to 1>An instantaneous exhaust emission rate for an mth emission of the nth vehicle; i is a power exponent of the instantaneous speed of the nth vehicle; j is a power exponent of the instantaneous acceleration of the nth vehicle; />The regression coefficient of the nth vehicle in an acceleration state is obtained; />The regression coefficient of the nth vehicle in a deceleration state is used as the regression coefficient; v n i An i-th power of the instantaneous speed of the nth vehicle; a, a n j For the nth vehicleTo the power of j of the instantaneous acceleration of (a); a, a n Is the instantaneous acceleration of the nth vehicle.
3. The intersection signal timing optimization method according to claim 1, wherein when the nth vehicle is an electric vehicle, the instantaneous energy consumption rate of the nth vehicle is obtained by the following steps:
the calculation formula of the instant energy consumption rate of the nth vehicle is as follows
Wherein q is a power exponent of the nth vehicle instantaneous speed; p is the power exponent of the instantaneous acceleration of the nth vehicle; η (eta) q,p The regression coefficient of the nth vehicle in an acceleration state is obtained; mu (mu) q,p The regression coefficient of the nth vehicle in a deceleration state is used as the regression coefficient; v n q To the power of q of the instantaneous speed of the nth vehicle; a, a n p To the power p of the instantaneous acceleration of the nth vehicle; a, a n An instantaneous acceleration for the nth vehicle; v n An instantaneous speed for the nth vehicle;the regression coefficient of the nth vehicle in a constant speed state is obtained; VSP (virtual switch plane) q To the power of the motor vehicle specific power of the nth vehicle, wherein VSP is the motor vehicle specific power of the nth vehicle and VSP=v n ×(1.1×a n +0.132)+0.000302×v n 3 ，/>Energy consumption per second of the nth vehicle in an idle state; the instantaneous speed and the instantaneous acceleration are instantaneous working condition parameters of the nth vehicle.
4. The intersection signal timing optimization method as set forth in claim 1, wherein the obtaining the instantaneous operating condition parameters of each vehicle under each set of signal timing schemes in the signal period specifically includes:
in a vehicle motion model, inputting each group of signal timing schemes of the target intersection, and simulating the motion trail of each vehicle under each group of signal timing schemes in the signal period to acquire instantaneous working condition parameters of each vehicle;
the motion model of the vehicle specifically comprises the following steps:
when the red light of the kth phase of the z-th signal period of the target intersection starts, judging whether the target vehicle is the stopped 1 st vehicle or not;
if yes, the target vehicle is a lead vehicle, and the instantaneous speed of the lead vehicle is that
In the formula, v 1 (t) is the speed of the lead vehicle at time t; v is the initial speed of the lead vehicle; t is the current moment; a, a 1 The maximum acceleration of the lead vehicle is also representative of the instantaneous acceleration of the lead vehicle;a time when a red light of a kth phase of the zth signal period starts; wherein (1)> A green light of a kth phase of the zth signal period starts; wherein (1) > At the beginning of the green light of the 1 st signal period and the 1 st phase of the target intersection, k is the kth phase of the z-th signal period of the target intersection, and l is the first phase of the z-th signal period of the target intersection>For the green light duration of the first phase, z is the z signal period of the target intersection, C z-1 A period duration of the z-1 th signal period;a green light duration for the kth phase; />A red light duration for the kth phase;
if not, the target vehicle is a following vehicle, and the instantaneous acceleration of the following vehicle is
Wherein a is n (t) is the acceleration of the (n-1) th following car at the time t; v f Is the free flow speed; k (k) jam Is the traffic density in the stopped state; x is x n-1 (t) is the position of the first vehicle in front of the following car at the moment t, x n (t) is the position of the (n-1) th following car at the moment t; v n-1 (t) is the speed of a first vehicle in front of the following vehicle at time t; v n (t) is the speed of the (n-1) th following car at the time t;
the n-1 following car is at T n The instantaneous speed after +Deltat time is
v n (t+T n +Δt)＝v n (t+T n )+a n (t)Δt，
In the formula, v n (t+T n +Δt) is t+T for the n-1 th following car n A speed at +Δt; v n (t+T n ) At t+T for the n-1 th following car n Speed of time; t (T) n Reaction time for the n-1 th following car.
5. The intersection signal timing optimization method as set forth in claim 4, wherein the calculating the optimal solution of the objective function to obtain the optimal signal timing scheme of the model, so that the traffic control system controls the signal timing of the objective intersection through the optimal signal timing scheme, specifically includes:
calculating an optimal solution of the objective function to obtain an optimal signal timing scheme of the model so that a traffic system controls signal timing of the target intersection through the optimal signal timing scheme;
wherein the optimal solution of the objective function is
The first constraint condition of the optimal solution is that
The second constraint condition of the optimal solution is that
The third constraint condition of the optimal solution is that
C min ≤C z ≤C max ，
In the formula, minC g For the target intersectionIs the minimum social comprehensive cost of (1); k is the total phase number of the z-th signal period of the target intersection; k is the kth phase of the z-th signal period of the target intersection; is thatAn effective green time for the kth phase; l (L) k A lost time for the kth phase; c (C) z A period duration of the z-th signal period; For the minimum green time of the kth phase,/-for>A green time for the kth phase; c (C) min C is the period duration of the minimum signal period of the intersection max Is the period duration of the maximum signal period of the intersection.
6. An intersection signal timing optimization device, comprising:
the calling module is used for calling historical data of the target intersection in the past X days; wherein the history data includes: the vehicle type and power type, the number of lanes, the inlet flow of each lane, the traffic flow composition condition, the number of vehicles on the vehicle, the number of vehicles on the bus, the initial position of the vehicle, the stop line position of the target intersection, the distance between the vehicle heads in constant speed running and the distance between the vehicle heads in blockage; x is more than 0 and less than or equal to 30;
the acquisition module is used for initializing the historical data and generating traffic flow condition information in each signal period in a simulation mode; acquiring instantaneous working condition parameters of each vehicle under each group of signal timing schemes in the signal period; wherein, the instantaneous operating condition parameters include: instantaneous acceleration and instantaneous speed;
the construction module is used for constructing an ecological guiding type single intersection signal timing model, and calculating the time cost and the environmental ecological cost of each vehicle under each group of signal timing schemes in the signal period according to the traffic flow condition information and the instantaneous working condition parameters in the signal period to obtain an objective function of the model;
The calculation module is used for calculating the optimal solution of the objective function to obtain an optimal signal timing scheme of the model so that the traffic control system controls signal timing of the target intersection through the optimal signal timing scheme;
the construction module is specifically configured to:
constructing an ecological guiding type single intersection signal timing model, and calculating the time cost and the environmental ecological cost of each vehicle under each group of signal timing schemes in the signal period according to traffic flow condition information and instantaneous working condition parameters in the signal period to obtain an objective function of the model;
wherein, the calculation formula of the environmental ecological cost of the nth vehicle under each group of signal timing scheme in the signal period is as follows
Wherein C is e (n) is the environmental ecological cost of the nth vehicle under each set of signal timing schemes within the signal period; t (T) D A time for the nth vehicle to leave the target intersection; t (T) O The time for the nth vehicle to reach the target intersection is given; θ represents the power type of the nth vehicle; wherein θ=1 is a fuel vehicle, and θ=0 is an electric vehicle;representing the instant fuel consumption rate of the nth vehicle when the nth vehicle is a fuel vehicle; c (C) 1 Is the unit price of the fuel; alpha 1 The weight coefficient of the tail gas emission treatment cost of the fuel oil vehicle is given; />When the nth vehicle is a fuel vehicle, the nth vehicle isInstantaneous exhaust emission rate of m emissions; wherein m=2, 3 and 4 represent CO, HC and NOx, respectively; c (C) m Representing a price per unit for the mth emission tail gas treatment; r is (r) e When the nth vehicle is an electric vehicle, the instantaneous energy consumption rate of the nth vehicle is calculated; c (C) p Is the unit price of the electric energy;
the time cost calculation formula of the nth vehicle under each group of signal timing scheme in the signal period is as follows
Wherein C is t (n) is the time cost of the nth vehicle under each set of signal timing schemes within the signal period;is the class of the nth vehicle, wherein ∈>For motor vehicles, for example, a +>Is a bus; t is t r The actual time of the nth vehicle passing through the target intersection is the actual time of the nth vehicle passing through the target intersection; n (N) 1 The average value of all the automobile passenger carrying numbers in the signal period is; n (N) 2 The average value of the passenger numbers of all buses in the signal period is obtained; t is t f Time for the nth vehicle to pass through the target intersection without obstruction; m is M 2 An average number of platform passengers waiting for the bus; m is m t The average time value of people;
The objective function of the model is
Wherein C is g Representing the target intersectionSocial comprehensive cost of each group of signal timing schemes in the signal period; n is the total number of vehicles in the signal period; n is the nth vehicle under each group of signal timing scheme in the signal period; alpha is an importance coefficient of the environmental ecological cost; beta is the importance coefficient of the time cost.
7. A terminal device comprising a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the intersection signal timing optimization method according to any one of claims 1-5 when executing the computer program.
8. A computer readable storage medium, characterized in that the computer readable storage medium comprises a stored computer program, wherein the computer program, when run, controls a device in which the computer readable storage medium is located to perform the intersection signal timing optimization method according to any one of claims 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211332740.6A CN115662133B (en) | 2022-10-28 | 2022-10-28 | Intersection signal timing optimization method and device, terminal equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211332740.6A CN115662133B (en) | 2022-10-28 | 2022-10-28 | Intersection signal timing optimization method and device, terminal equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115662133A CN115662133A (en) | 2023-01-31 |
| CN115662133B true CN115662133B (en) | 2023-07-25 |
Family
ID=84992862
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211332740.6A Active CN115662133B (en) | 2022-10-28 | 2022-10-28 | Intersection signal timing optimization method and device, terminal equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115662133B (en) |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9978270B2 (en) * | 2014-07-28 | 2018-05-22 | Econolite Group, Inc. | Self-configuring traffic signal controller |
| CN105243855B (en) * | 2015-09-28 | 2017-08-22 | 大连理工大学 | A kind of intersection signal timing designing method for reducing automotive emission |
| CN111710176B (en) * | 2020-06-08 | 2021-11-09 | 同济大学 | Intersection signal-vehicle track cooperative control method under cooperative vehicle and road environment |
| CN113920760B (en) * | 2021-10-18 | 2022-08-09 | 广东工业大学 | Traffic signal lamp timing optimization method considering complex microenvironment characteristics |
| CN114495527B (en) * | 2022-02-23 | 2023-10-27 | 长安大学 | Internet-connected intersection vehicle road collaborative optimization method and system in mixed traffic environment |
-
2022
- 2022-10-28 CN CN202211332740.6A patent/CN115662133B/en active Active
Non-Patent Citations (1)
| Title |
|---|
| 基于遗传算法的交叉口信号控制多目标优化;李振龙;董文会;韩建龙;朱明浩;;计算机应用(第S2期);第82-84、88页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115662133A (en) | 2023-01-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110675629B (en) | Big data-based highway congestion prediction and active prevention and control method | |
| CN107919014B (en) | Taxi running route optimization method for multiple passenger mileage | |
| CN113312752B (en) | Traffic simulation method and device for main road priority control intersection | |
| CN113415288B (en) | Sectional type longitudinal vehicle speed planning method, device, equipment and storage medium | |
| CN110942627A (en) | Road network coordination signal control method and device for dynamic traffic | |
| CN113312760B (en) | Network online motor vehicle right-turn track planning method and device based on traffic simulation | |
| CN113299078B (en) | Multi-mode traffic trunk line signal coordination control method and device based on multi-agent cooperation | |
| CN112562377A (en) | Passenger vehicle real-time scheduling method based on random opportunity constraint | |
| CN111369814B (en) | Bus road and bus cooperative control method and device and terminal equipment | |
| CN110910642A (en) | Bus route analysis method considering hybrid traffic system | |
| CN115662133B (en) | Intersection signal timing optimization method and device, terminal equipment and storage medium | |
| Mou et al. | Reliability optimization model of stop-skipping bus operation with capacity constraints | |
| CN113674546A (en) | Sumo simulation-based highway management and control method under V2X environment | |
| Hao et al. | Improving schedule adherence based on dynamic signal control and speed guidance in connected bus system | |
| CN113268857B (en) | Urban expressway interweaving area microscopic traffic simulation method and device based on multiple intelligent agents | |
| CN110363320A (en) | A kind of method, apparatus of predictive estimation arrival time and calculate equipment | |
| CN115454082A (en) | Vehicle obstacle avoidance method and system, computer readable storage medium and electronic device | |
| CN114036411A (en) | Route planning method, device, equipment and medium | |
| Caligaris et al. | Model predictive control for multiclass freeway traffic | |
| Xiao et al. | A novel bus scheduling model based on passenger flow and bus travel time prediction using the improved cuckoo search algorithm | |
| CN115171408B (en) | Traffic signal optimization control method | |
| CN113077641B (en) | Decision mapping method and device for bus on-the-way control and storage medium | |
| CN108898268B (en) | Order-based fuel-saving metering method for trip along windmill | |
| CN112862262B (en) | Park unmanned vehicle scheduling method, terminal equipment and storage medium | |
| CN116884212A (en) | Method and device for cooperatively controlling speed of diversion section of expressway and electronic equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |