CN116153065B - Intersection traffic signal refined optimization method and device under vehicle-road cooperative environment - Google Patents
Intersection traffic signal refined optimization method and device under vehicle-road cooperative environment Download PDFInfo
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Abstract
The invention belongs to the field of vehicle-road cooperative traffic control, and provides a method and a device for precisely optimizing traffic signals of intersections under a vehicle-road cooperative environment. Initializing the starting time of a current control period to be 0, dividing the vehicle on each lane into a vehicle queue based on the state of the vehicle entering a control area, and obtaining the vehicle queue information considered by the current control period and the initial state of the vehicle according to the vehicle queue dividing result; according to the initial state information of the vehicles, calculating the earliest arrival intersection time of the head vehicle and the last vehicle of each motorcade and the motorcade head time interval of each motorcade in a tight following state to form motorcade characteristics; obtaining parameters of a signal timing scheme of a current control period based on the fleet characteristics and the signal timing optimization model; the parameters of the signal timing scheme include the phase order, and the start time and duration of each phase.
Description
Technical Field
The invention belongs to the field of vehicle-road cooperative traffic control, and particularly relates to a method and a device for precisely optimizing traffic signals of intersections under a vehicle-road cooperative environment.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
With the rapid increase of traffic demand, intersection congestion is increasingly serious, and the overall traffic efficiency of the urban traffic network is severely restricted. The intersection is an area where traffic flows in different directions are converged and separated, complex interaction exists among traffic elements, traffic signals serve as a main regulation and control means of the urban intersection, road weights are distributed to the traffic flows in different directions according to a certain sequence, the passing efficiency of vehicles is improved as much as possible on the basis of avoiding vehicle collision, and whether the control strategy is reasonable or not directly determines the running efficiency of the intersection.
The traditional intersection traffic signal control method mainly comprises fixed signal control, induction signal control and self-adaptive signal control. The fixed signal control mainly establishes a signal control strategy according to the historical flow data, so that the fixed signal control cannot adapt to the random change of traffic conditions; the induction control and the self-adaptive control dynamically adjust the signal timing scheme according to the traffic state data acquired in real time by vehicle detection, so that the system can adapt to the dynamic change of the traffic state. However, the inventor finds that the induction signal control and the adaptive control generally adjust the phase duration under a certain rule, and cannot realize fine adjustment of various parameters such as phase starting time, phase sequence and the like from the global angle.
Disclosure of Invention
In order to solve the technical problems in the background art, the invention provides a method and a device for precisely optimizing an intersection traffic signal in a vehicle-road cooperative environment, which are used for obtaining detailed characteristics of a vehicle team by considering the following behavior of vehicles and the influence of the traffic signal according to real-time vehicle track data, wherein the detailed characteristics comprise the arrival time of the vehicle team and the headway of the vehicle team, and on the basis, parameters such as phase combination, phase sequence, phase starting time and phase duration are optimized, so that the utilization efficiency of intersection resources can be further improved, and the running condition of the intersection is further improved.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
The first aspect of the invention provides a refined optimization method for traffic signals of intersections in a vehicle-road cooperative environment.
A refined optimization method for traffic signals of intersections under a vehicle-road cooperative environment comprises the following steps:
Initializing the starting time of the current control period to be 0, dividing the vehicle on each lane into a vehicle queue based on the state of the vehicle entering the control region, and obtaining the vehicle queue information considered by the current control period and the initial state of the vehicle according to the vehicle queue dividing result;
according to the initial state information of the vehicles, calculating the earliest arrival intersection time of the head vehicle and the last vehicle of each motorcade and the motorcade head time interval of each motorcade in a tight following state to form motorcade characteristics;
obtaining parameters of a signal timing scheme of a current control period based on the fleet characteristics and the signal timing optimization model; the parameters of the signal timing scheme include the phase order, and the start time and duration of each phase.
As one embodiment, the initial state of the vehicle includes the number of vehicles in the fleet, the initial position of each vehicle, the distance from the intersection, and the initial speed.
As an embodiment, the division of the motorcade on each lane follows the principle that:
Only one fleet is considered per lane in one control cycle;
The fleet on each lane can only contain vehicles that have entered the control area;
The headway between vehicles in the fleet is less than a given threshold.
As one embodiment, the traffic signal optimization model is targeted to minimize the total travel time of the vehicle:
Wherein T is the total travel time of all vehicles at the intersection; And/> Is a weight coefficient,/>；/>Is the number of vehicles in the fleet; /(I)For each phase start time; /(I)The time interval is the time interval of the motorcade; /(I)To waste green light time; Is a collection of intersection fleet vehicles.
The second aspect of the invention provides a refined and optimized device for traffic signals of intersections in a vehicle-road cooperative environment.
An intersection traffic signal refinement optimizing device under a vehicle-road cooperation environment, which comprises:
the vehicle queue dividing module is used for initializing the starting time of the current control period to be 0, dividing the vehicle in each lane into vehicle queues based on the state of the vehicle entering the control area, and obtaining the vehicle queue information considered by the current control period and the initial state of the vehicle according to the vehicle queue dividing result;
The motorcade feature construction module is used for calculating the earliest arrival time of the head vehicle and the last vehicle of each motorcade and the motorcade head time interval in a tight following state of each motorcade according to the initial state information of the vehicles to form motorcade features;
The parameter optimization module is used for obtaining parameters of a signal timing scheme of the current control period based on the fleet characteristics and the signal timing optimization model; the parameters of the signal timing scheme include the phase order, and the start time and duration of each phase.
As one embodiment, the initial state of the vehicle includes the number of vehicles in the fleet, the initial position of each vehicle, the distance from the intersection, and the initial speed.
As an embodiment, the division of the motorcade on each lane follows the principle that:
Only one fleet is considered per lane in one control cycle;
The fleet on each lane can only contain vehicles that have entered the control area;
The headway between vehicles in the fleet is less than a given threshold.
As one embodiment, the traffic signal optimization model is targeted to minimize the total travel time of the vehicle:
Wherein T is the total travel time of all vehicles at the intersection; And/> Is a weight coefficient,/>；/>Is the number of vehicles in the fleet; /(I)For each phase start time; /(I)The time interval is the time interval of the motorcade; /(I)To waste green light time; Is a collection of intersection fleet vehicles.
A third aspect of the present invention provides a computer-readable storage medium.
A computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of the intersection traffic signal refinement optimization method in a vehicular cooperative environment as described above.
A fourth aspect of the invention provides an electronic device.
An electronic device comprising a memory, a processor and a computer program stored in the memory and operable on the processor, wherein the processor when executing the program implements the steps in the intersection traffic signal refinement optimization method under the vehicle-road cooperative environment as described above.
Compared with the prior art, the invention has the beneficial effects that:
(1) The invention provides a refined optimization method for traffic signals of intersections in a network environment, which adopts a signal timing scheme based on motion, realizes optimization of various parameters such as phase combination, phase sequence, phase duration, phase starting time and the like according to real-time vehicle track data by constructing a signal timing optimization model, overcomes the problems of single regulation parameters and poor flexibility of the traditional signal control method, can further improve the utilization efficiency of intersection resources, and further improves the running condition of the intersections.
(3) According to the invention, the problems of complex model, low calculation efficiency and the like possibly caused by the fine control of the traffic signals are considered, the vehicles are divided into the virtual vehicle queues, and the analysis relation between the characteristics of the vehicle queues and the timing parameters of the signals is established based on the interaction relation between the vehicles and the traffic signals, so that the complexity of the provided model is not influenced by the number of the vehicles, and the calculation efficiency of the model is greatly improved.
Additional aspects of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
Fig. 1 is a schematic view of an intersection according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of fleet partitioning according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a signal timing scheme according to an embodiment of the present invention.
Fig. 4 is a comparison of travel time of a vehicle according to an embodiment of the present invention.
Fig. 5 is a comparison chart of signal period variation in an embodiment of the present invention.
Fig. 6 is a schematic diagram illustrating implementation of a signal timing scheme of an intersection according to an embodiment of the present invention.
Fig. 7 is a flowchart of a method for optimizing traffic signals at intersections in a vehicle-road cooperative environment according to an embodiment of the present invention.
Detailed Description
The invention will be further described with reference to the drawings and examples.
It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
Example 1
FIG. 1 is a schematic view of an intersection according to an embodiment of the present invention. Referring to fig. 7, the method for optimizing traffic signals at intersections according to the present embodiment specifically includes the following steps:
step 1: initializing the starting time of the current control period to be 0, dividing the vehicle in each lane into vehicle queues based on the state of the vehicle entering the control area, wherein (i, j) is used for representing the vehicle queue entering an exit road j from an entrance road i, and n is used for representing the vehicle number in the vehicle queue; and obtaining the fleet information considered in the current control period and the initial state of the vehicle according to the fleet dividing result.
In the implementation process, the vehicles on each lane are divided into vehicle groups, each lane only considers one vehicle group, and the headway among the vehicles in the vehicle group is not more than a given threshold valueAs shown in fig. 2; according to the fleet dividing result, collecting fleet information considered in the current control period and the initial state of the vehicles, including the number/> of the vehicles in the fleet (i, j)Initial position/>, per vehicleDistance from intersection/>And initial velocity/>。
Step 2: according to the initial state information of the vehicles, calculating the earliest arrival intersection time of the head vehicle and the last vehicle of each vehicle team and the head time of the vehicle team in the tight following state of each vehicle team。
Calculating the earliest arrival time of the head car and the last car of each motorcade according to the initial state information of the vehiclesAndAnd calculating the train head time distance of each train in a tightly following state to obtain train characteristics.
Step 3: obtaining parameters of a signal timing scheme of a current control period based on the fleet characteristics and the signal timing optimization model; the parameters of the signal timing scheme include phase order, phase combination, and respective phase start times and durations.
Taking the fleet characteristics as input, calculating various parameters of a signal timing scheme by using a signal timing optimization model, wherein the parameters comprise phase sequence and various phase starting timeAnd duration/>. And executing the calculated signal timing scheme until the end, and entering the next control period.
The intersection described in this embodiment adopts traffic flow as shown in table 1, emptying time epsilon=2 s, and the signal timing optimization method provided by the present invention is used, wherein the signal timing scheme obtained by optimization in one control period is shown in fig. 3.
TABLE 1 basic traffic flow
Referring to fig. 2, the method for dividing the vehicle fleet at the intersection in the traffic signal optimizing method provided in the present embodiment specifically includes the following steps:
For efficient signal control, the invention does not consider a left-turn straight lane, but allows a straight right-turn lane to exist, the vehicle has changed lanes to corresponding lanes before entering a control area, i.e. the intersection control area is a channeling area, the vehicle is not allowed to overtake and change lanes, the length of the control area is L, the vehicle number n is progressively increased from adjacent to the intersection to the upstream, Representing the head of a fleet,/>The position of the vehicle n at the time t is represented, the position of the vehicle at the time when the vehicle just enters the control area is 0, and the position of the vehicle reaching the intersection stop line is L;
At the beginning of each control period, the controller identifies the vehicles to be considered in the current control period, and the following principles are required to be followed to realize the division of the vehicle fleet on each lane:
(1) Only one fleet is considered per lane in one control cycle;
(2) The fleet on each lane can only contain vehicles that have entered the control area;
(3) The headway between vehicles in a fleet should be less than a given threshold ；
The fleet characteristic analysis method based on the vehicle track data takes the fleet on each lane as an analysis object, and the fleet characteristic mainly comprises the fleet arrival time and the fleet headway, and specifically comprises the following steps:
The vehicles considered on each lane form a fleet, the vehicle set in the fleet is represented by N, the time of the fleet reaching the intersection is the time of the head vehicle of the fleet reaching the intersection, and any vehicle can arrive at any vehicle without considering the influence of traffic signals and vehicles in front Always tending to reach the intersection in the fastest way;
If the initial distance between the vehicle n and the intersection When larger, it is first expressed as maximum acceleration/>Accelerating to maximum speedAfter which the maximum vehicle speed/>The vehicle runs at a constant speed until reaching an intersection, and the running time of the acceleration section and the constant speed section is/>, respectivelyAndThe earliest arrival time is equal to the sum of the two driving times,/>The method can be obtained by solving the following equation set;
At an initial distance When smaller, vehicle n cannot accelerate to maximum vehicle speed/>Vehicle at maximum acceleration/>The acceleration is kept until the vehicle reaches an intersection, and the two conditions are combined, so that the vehicle/>Is the earliest time of arrival of (2);
the green light time length required by the motorcade to pass through the intersection is equal to the first vehicle in the motorcade without considering the green light time length loss before the motorcade arrives at the intersection ) And last vehicle (/ >)) The headway at the intersection, denoted by H, is the headway of the fleet and the number of vehicles in the fleet/>And the following state of the vehicle in the fleet is related, and the following state of the vehicle is influenced by the traffic flow level and the traffic signal at the same time;
Using Representing the time when the fleet head vehicle passes through the intersection, which is related to the signal light status when the fleet arrives at the intersection;
When the fleet arrives at the intersection during the green light, i.e. The time for the fleet's head vehicles to pass through the intersection is equal to their earliest arrival time,/>However, there is a waste of green light time equal to the difference between the arrival time of the fleet and the start time of the green light,/>；
When a fleet arrives at an intersection during a red light, i.e.The motorcade needs to park and wait, and the time for the head vehicle of the motorcade to pass through the intersection is equal to the green light starting time S,/>At this time, no time length wasting green light exists,/>；
By combining the two cases, the following unified expression forms can be obtained:
when all vehicles have the same power performance, the vehicles are influenced by the front vehicles, namely that the vehicles in front of the motorcade are influenced by traffic signals, otherwise, the rear vehicles cannot catch up with the front vehicles, so that the motorcade only has two conditions of a tight following state and a sparse free flow state when passing through an intersection;
when a fleet of vehicles passes through an intersection in a sparse traffic state, the last vehicle can pass through the intersection in a free-stream state with the earliest arrival time at the intersection At this time, the headway of the fleet may be expressed as/>；
When the motorcade passes through the intersection in a tight following state, the headway of the motorcade is as followsThe sum of the headway between vehicles in the tight following state can be calculated by a New following model, and the real vehicle has/>；
The two conditions are combined to obtain a unified expression form of the headway of the motorcade:
the calculation process of the vehicle travel time at the intersection specifically comprises the following steps:
The starting time of each control period is initialized to be 0 moment, and the travel time of the vehicle is equal to the time of the vehicle passing through the intersection;
Representing a collection of vehicles in a fleet of vehicles driving from entrance lane i into exit lane j, the travel time of the fleet's head vehicles being equal to For arbitrary following vehicles/>N belongs to the collection of vehicles in the fleet that driven from entrance lane i into exit lane j with element 1 removed. Time of its passage through intersections/>Equal to the time of passing the intersection by the preceding vehicle/>The sum of the headway between the two can obtain the following recurrence relation:
Wherein, For vehicle n and vehicle/>Is not smaller than the headway of the two in a tight following state;
Motorcade of vehicles Total travel time/>Equal to the sum of the travel times of all vehicles:
the second term on the right side of the formula is the sum of the headway of all vehicles in the fleet, taking an upper limit:
the combination of the vehicle teams at the intersections is And then the total travel time T of all vehicles at the intersection can be obtained:
the traffic signal optimization model takes the minimum total travel time of the vehicle as an objective function, and an equivalent objective function can be obtained:
Wherein, And/>Is used for restoring the relative size relation of the two parts as a weight coefficient, wherein/>Reasonable value can be obtained through simulation test;
Fig. 4 is a vehicle travel time comparison of the present embodiment, and fig. 5 is a signal cycle change comparison of the present embodiment. The signal timing optimization model provided by the embodiment takes the total travel time of the intersection vehicles as an objective function, and the optimization model also meets some constraint conditions including phase duration constraint, conflict phase sequence constraint and emptying time constraint.
As can be seen from fig. 6, the present embodiment requires that the fleet considered in each control period can pass through the intersection in the current control period, and the required green light duration should be not less than the sum of the fleet headway and the wasted green light duration, where the fleet headway and the wasted green light duration are given by the following formulas:
for conflicting phases And/>The green light phases cannot overlap, and the sequence of the corresponding green light phases is as follows:
In the method, in the process of the invention, For the set of conflicting phases,/>And/>A variable of 0-1, representing the order of the two phases,Indicating that phase u precedes phase v; conversely, the order is reversed.
A certain clearing time is reserved between the conflict phases to avoid vehicle conflict, and the clearing time is ensured by the following constraint:
wherein M is a very large positive number, Is the empty time.
Example two
The embodiment provides a refined optimizing device of intersection traffic signal under car road collaborative environment, it includes:
(1) The vehicle queue dividing module is used for initializing the starting time of the current control period to be 0, dividing the vehicle queue of the vehicle on each lane based on the state of the vehicle entering the control area, and obtaining the vehicle queue information considered by the current control period and the initial state of the vehicle according to the vehicle queue dividing result.
The initial states of the vehicles comprise the number of the vehicles in the motorcade, the initial position of each vehicle, the distance from the intersection and the initial speed.
In some embodiments, the fleet partitions on each lane follow the principle of:
Only one fleet is considered per lane in one control cycle;
The fleet on each lane can only contain vehicles that have entered the control area;
The headway between vehicles in the fleet is less than a given threshold.
(2) The motorcade characteristic construction module is used for calculating the earliest arrival intersection time of the head vehicle and the last vehicle of each motorcade and the motorcade head time interval of each motorcade in a tight following state according to the initial state information of the vehicles to form motorcade characteristics.
(3) The parameter optimization module is used for obtaining parameters of a signal timing scheme of the current control period based on the fleet characteristics and the signal timing optimization model; the parameters of the signal timing scheme include the phase order, and the start time and duration of each phase.
The traffic signal optimization model takes the minimum total travel time of the vehicle as an objective function:
Wherein T is the total travel time of all vehicles at the intersection; And/> Is a weight coefficient,/>；/>Is the number of vehicles in the fleet; /(I)For each phase start time; /(I)The time interval is the time interval of the motorcade; /(I)To waste green light time; Is a collection of intersection fleet vehicles.
It should be noted that, each module in the embodiment corresponds to each step in the first embodiment one to one, and the implementation process is the same, which is not described here.
Example III
The present embodiment provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps in the intersection traffic signal refinement optimization method in a vehicular-road cooperative environment as described above.
Example IV
The embodiment provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the steps in the method for optimizing the traffic signal of the intersection under the vehicle-road cooperation environment when executing the program.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. A method for precisely optimizing traffic signals of intersections in a vehicle-road cooperative environment is characterized by comprising the following steps:
Initializing the starting time of the current control period to be 0, dividing the vehicle on each lane into a vehicle queue based on the state of the vehicle entering the control region, and obtaining the vehicle queue information considered by the current control period and the initial state of the vehicle according to the vehicle queue dividing result;
according to the initial state information of the vehicles, calculating the earliest arrival intersection time of the head vehicle and the last vehicle of each motorcade and the motorcade head time interval of each motorcade in a tight following state to form motorcade characteristics;
obtaining parameters of a signal timing scheme of a current control period based on the fleet characteristics and the signal timing optimization model; the parameters of the signal timing scheme comprise phase sequence, each phase starting time and duration;
The initial state of the vehicles comprises the number of the vehicles in the motorcade, the initial position of each vehicle, the distance from the intersection and the initial speed;
the division of the motorcade on each lane follows the principle that:
Only one fleet is considered per lane in one control cycle;
The fleet on each lane can only contain vehicles that have entered the control area;
The headway between vehicles in the fleet is less than a given threshold;
The traffic signal optimization model takes the minimum total travel time of the vehicle as an objective function:
Wherein T is the total travel time of all vehicles at the intersection; And/> Is a weight coefficient,/>；/>Is the number of vehicles in the fleet; /(I)For each phase start time; /(I)The time interval is the time interval of the motorcade; /(I)To waste green light time; /(I)A collection of intersection fleet vehicles;
The motorcade considered in each control period passes through the intersection in the current control period, the required green light time length is not less than the sum of the motorcade time length and the waste green light time length, and the motorcade time length and the waste green light time length are respectively as follows:
representing a duration; /(I) Representing the headway of the fleet as it passes through the intersection in a tight following condition; Representing the earliest arrival time of the last vehicle of each fleet; /(I) Representing the earliest arrival time of each fleet head;
Arbitrary vehicle Earliest time of arrival/>The expression of (2) is:
Wherein, Representing the initial distance of vehicle n from the intersection,/>Representing a maximum vehicle speed; /(I)Representing the maximum acceleration;
for conflicting phases And/>The green light phases cannot overlap, and the sequence of the corresponding green light phases is as follows:
In the method, in the process of the invention, For the set of conflicting phases,/>And/>Is a 0-1 variable, representing the order of the two phases,/>Indicating that phase u precedes phase v; conversely, the order is reversed.
2. The utility model provides a traffic signal refines optimizing apparatus under car way collaborative environment which characterized in that includes:
the vehicle queue dividing module is used for initializing the starting time of the current control period to be 0, dividing the vehicle in each lane into vehicle queues based on the state of the vehicle entering the control area, and obtaining the vehicle queue information considered by the current control period and the initial state of the vehicle according to the vehicle queue dividing result;
The motorcade feature construction module is used for calculating the earliest arrival time of the head vehicle and the last vehicle of each motorcade and the motorcade head time interval in a tight following state of each motorcade according to the initial state information of the vehicles to form motorcade features;
the parameter optimization module is used for obtaining parameters of a signal timing scheme of the current control period based on the fleet characteristics and the signal timing optimization model; the parameters of the signal timing scheme comprise phase sequence, each phase starting time and duration;
The initial state of the vehicles comprises the number of the vehicles in the motorcade, the initial position of each vehicle, the distance from the intersection and the initial speed;
the division of the motorcade on each lane follows the principle that:
Only one fleet is considered per lane in one control cycle;
The fleet on each lane can only contain vehicles that have entered the control area;
The headway between vehicles in the fleet is less than a given threshold;
The traffic signal optimization model takes the minimum total travel time of the vehicle as an objective function:
Wherein T is the total travel time of all vehicles at the intersection; And/> Is a weight coefficient,/>；/>Is the number of vehicles in the fleet; /(I)For each phase start time; /(I)The time interval is the time interval of the motorcade; /(I)To waste green light time; /(I)A collection of intersection fleet vehicles;
The motorcade considered in each control period passes through the intersection in the current control period, the required green light time length is not less than the sum of the motorcade time length and the waste green light time length, and the motorcade time length and the waste green light time length are respectively as follows:
representing a duration; /(I) Representing the headway of the fleet as it passes through the intersection in a tight following condition; Representing the earliest arrival time of the last vehicle of each fleet; /(I) Representing the earliest arrival time of each fleet head;
Arbitrary vehicle Earliest time of arrival/>The expression of (2) is:
Wherein, Representing the initial distance of vehicle n from the intersection,/>Representing a maximum vehicle speed; /(I)Representing the maximum acceleration;
for conflicting phases And/>The green light phases cannot overlap, and the sequence of the corresponding green light phases is as follows:
In the method, in the process of the invention, For the set of conflicting phases,/>And/>Is a 0-1 variable, representing the order of the two phases,/>Indicating that phase u precedes phase v; conversely, the order is reversed.
3. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the steps of the intersection traffic signal refinement optimization method in a vehicular cooperative environment as claimed in claim 1.
4. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor, when executing the program, implements the steps of the intersection traffic signal refinement optimization method in a vehicular cooperative environment as defined in claim 1.
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