CN116311992A - Main line coordination control method, device, equipment and medium for road intersection group - Google Patents

Main line coordination control method, device, equipment and medium for road intersection group Download PDF

Info

Publication number
CN116311992A
CN116311992A CN202211711442.8A CN202211711442A CN116311992A CN 116311992 A CN116311992 A CN 116311992A CN 202211711442 A CN202211711442 A CN 202211711442A CN 116311992 A CN116311992 A CN 116311992A
Authority
CN
China
Prior art keywords
intersection
parameters
controlled
parameter
flow
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.)
Pending
Application number
CN202211711442.8A
Other languages
Chinese (zh)
Inventor
张军
陈俊德
章庆
朱大安
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanjing Hurys Intelligent Technology Co Ltd
Original Assignee
Nanjing Hurys Intelligent Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Nanjing Hurys Intelligent Technology Co Ltd filed Critical Nanjing Hurys Intelligent Technology Co Ltd
Priority to CN202211711442.8A priority Critical patent/CN116311992A/en
Publication of CN116311992A publication Critical patent/CN116311992A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G08G1/081—Plural intersections under common control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
    • 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

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses a trunk line coordination control method, a trunk line coordination control device, trunk line coordination control equipment and a trunk line coordination control medium for a road intersection group. The method comprises the following steps: acquiring road parameters, flow parameters and vehicle speed parameters of adjacent intersections to be controlled in a road intersection group; determining the association degree of adjacent intersections to be controlled according to the road parameters and the flow parameters; determining the speed distribution characteristics of adjacent intersections to be controlled according to the speed parameters; and determining whether the adjacent intersection to be controlled has the trunk line coordination control condition according to the association degree and the vehicle speed distribution characteristics so as to perform trunk line coordination control on the adjacent intersection to be controlled. According to the technical scheme, the urban intersection group is subjected to regional management and control, and the accuracy of the road trunk line coordination control is improved, so that the urban road network passing efficiency is effectively improved.

Description

Main line coordination control method, device, equipment and medium for road intersection group
Technical Field
The present invention relates to the technical field of trunk coordination control of road intersection groups, and in particular, to a method, an apparatus, a device, and a medium for trunk coordination control of a road intersection group.
Background
With the continuous development of economy, more and more people choose to drive instead of walk, but more and more vehicles put more and more pressure on current traffic.
The important reason for urban traffic jam formation is that the intersection group in the supersaturated state in the road network is in a locking state, so that the traffic state of the surrounding road network is rapidly deteriorated. There is a need for a method that can quickly perform trunk coordination control to address traffic congestion.
Disclosure of Invention
The invention provides a trunk line coordination control method, a trunk line coordination control device, trunk line coordination control equipment and a trunk line coordination control medium for a road intersection group, which are used for solving the problem that normal traffic can be recovered only after a long time is required when the intersection group in a supersaturated state of a road network is in a locking state.
According to an aspect of the present invention, there is provided a trunk line coordination control method of a road intersection group, the method comprising:
acquiring road parameters, flow parameters and vehicle speed parameters of adjacent intersections to be controlled in a road intersection group;
determining the association degree of adjacent intersections to be controlled according to the road parameters and the flow parameters;
determining the speed distribution characteristics of adjacent intersections to be controlled according to the speed parameters;
and determining whether the adjacent intersection to be controlled has the trunk line coordination control condition according to the association degree and the vehicle speed distribution characteristics so as to perform trunk line coordination control on the adjacent intersection to be controlled.
According to another aspect of the present invention, there is provided a trunk line coordination control device of a road intersection group, the device including:
the parameter acquisition module is used for acquiring road parameters, flow parameters and vehicle speed parameters of adjacent intersections to be controlled in the road intersection group;
the association degree determining module is used for determining association degree of adjacent intersections to be controlled according to the road parameters and the flow parameters;
the distribution characteristic determining module is used for determining the speed distribution characteristics of the adjacent intersections to be controlled according to the speed parameters;
and the trunk coordination control module is used for determining whether the adjacent intersection to be controlled has trunk coordination control conditions according to the association degree and the vehicle speed distribution characteristics so as to perform trunk coordination control on the adjacent intersection to be controlled.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the trunk coordination control method of the road intersection group of any of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute a trunk coordination control method of a road intersection group according to any of the embodiments of the present invention.
According to the technical scheme, the association degree of the adjacent intersections to be controlled is determined by acquiring the road parameters and the flow parameters of the adjacent intersections to be controlled in the road intersection group, so that the determination result of the association degree is accurate. The vehicle speed distribution characteristics of the adjacent intersections to be controlled are determined according to the vehicle speed parameters, and whether the adjacent intersections to be controlled have the main line coordination control conditions or not is determined according to the association degree and the vehicle speed distribution characteristics, so that the main line coordination control result is accurate, the judging process is clear, the judging method can be used repeatedly, and the universality is high. The intersection group association degree model can be formed by executing the steps for a plurality of times, and the urban intersection group is divided into areas for controlling, so that the urban road network passing efficiency is effectively improved.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a trunk coordination control method of a road intersection group according to a first embodiment of the present invention;
fig. 2 is a flowchart of another trunk coordination control method for a road intersection group according to the second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a trunk coordination control device for a road intersection group according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device for implementing a trunk coordination control method of a road intersection group according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "candidate," "target," and the like in the description and claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and 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 but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
Fig. 1 is a flowchart of a trunk coordination control method for a road intersection group, where the method may be implemented by a trunk coordination control device for a road intersection group, and the trunk coordination control device for a road intersection group may be implemented in hardware and/or software, and may be configured in an electronic device with data processing capability, where the flowchart is applicable to determining a relationship between adjacent intersections to be controlled and performing trunk coordination control in time when a road network is in a supersaturated state. As shown in fig. 1, the method includes:
S110, acquiring road parameters, flow parameters and vehicle speed parameters of adjacent intersections to be controlled in the road intersection group.
The road intersection group may be a group formed by combining road intersections that can be connected to each other. The adjacent intersections to be controlled may be two adjacent intersections waiting for trunk coordination control. The road parameters may be parameters describing the road properties between adjacent intersections to be controlled, including, but not limited to, the distance between adjacent intersections to be controlled, road speed limit, number of single-way roads, and road surface condition. The flow parameters can be parameters for counting the traffic flows of the upstream and downstream intersections in the adjacent intersections to be controlled, the traffic flows of different single-way roads, and the like. The vehicle speed parameter may be a parameter describing a running speed of a road running vehicle between adjacent intersections to be controlled, an average running speed, and the like.
The important reason for urban traffic jam formation is that the intersection group in the supersaturated state in the road network is in a locking state and cannot be adjusted, so that the traffic state of the surrounding road network is deteriorated. Therefore, the main line coordination control is needed to be carried out on the intersections with congestion or the intersections leading to the intersections with congestion, so that the normal operation of traffic is helped to be restored.
However, not all adjacent intersections to be controlled can still perform trunk coordination control under the condition that traffic jam occurs or other adjacent intersections to be controlled occur, so that the condition of the adjacent intersections to be controlled needs to be detected, and whether the current condition of the adjacent intersections to be controlled supports trunk coordination control is judged.
When traffic jam occurs at the intersection, selecting an adjacent intersection to be controlled, which belongs to the same road intersection group as the road intersection group to which the intersection belongs, and acquiring information such as road parameters, flow parameters, vehicle speed parameters and the like of the adjacent intersection to be controlled.
And S120, determining the association degree of the adjacent intersections to be controlled according to the road parameters and the flow parameters.
The degree of association may be a degree of association to account for traffic conditions between adjacent intersections to be controlled.
After the road parameters and the flow parameters are acquired, the road traffic state between the adjacent intersections to be controlled can be determined according to the acquired road parameters and the flow parameters, and then the association degree of the adjacent intersections to be controlled is determined.
The association degree of the adjacent intersections to be controlled is determined through the road parameters and the flow parameters, and the association degree of the road traffic between the adjacent intersections to be controlled can be accurately judged.
In an alternative scheme, the road parameters comprise a distance parameter and a speed limit parameter of an adjacent intersection to be controlled; the flow parameters include an outflow flow parameter of an upstream intersection, an inflow flow parameter of a downstream intersection, and a queuing parameter of the downstream intersection of a target direction in an adjacent intersection to be controlled.
The distance parameter may be a distance length between adjacent intersections to be controlled, and the speed limit parameter may be a speed limit value of vehicle travel specified in a connection road of the adjacent intersections to be controlled. The outflow rate parameter of the upstream intersection may be an outflow rate of the upstream intersection from the vehicle emission direction in the adjacent intersection to be controlled, wherein the outflow rate may be a number of vehicles flowing out in a period of time. The inflow flow parameter of the downstream intersection may be an inflow flow from the downstream intersection in the vehicle receiving direction in the adjacent intersection to be controlled, wherein the inflow flow may be a number of vehicles flowing in a period of time. The queuing parameter for a downstream intersection may be the number of vehicles exiting an upstream intersection queued at the downstream intersection.
In an alternative scheme, the association degree of the adjacent intersections to be controlled is determined according to the road parameters and the flow parameters, and the method comprises the steps of A1-A3:
And A1, determining road attribute parameters of adjacent intersections to be controlled according to the distance parameters and the speed limiting parameters.
And A2, determining upstream and downstream circulation parameters of the adjacent intersections to be controlled according to the outflow flow parameters of the upstream intersections, the inflow flow parameters of the downstream intersections and the queuing parameters of the downstream intersections.
And step A3, determining the association degree of the adjacent intersections to be controlled according to the road attribute parameters and the upstream and downstream flow parameters.
The road attribute parameter may be road attribute information that there is only a small possibility of a change in the road between adjacent intersections to be controlled. The upstream and downstream flow parameters may be flow data information that may vary over time or sampling period between adjacent intersections to be controlled.
After the distance parameter and the speed limiting parameter are obtained, the distance parameter and the speed limiting parameter only have small possibility of changing along with different detection periods, so the parameter can be regarded as a fixed parameter, and the road attribute parameter of the adjacent intersection to be controlled is determined according to the distance parameter and the speed limiting parameter.
After the outflow flow parameter of the upstream intersection, the inflow flow parameter of the downstream intersection and the queuing parameter of the downstream intersection are obtained, the outflow flow parameter of the upstream intersection, the inflow flow parameter of the downstream intersection and the queuing parameter of the downstream intersection have a larger possibility of changing along with different detection periods, so that the parameters can be regarded as non-fixed parameters, and the upstream and downstream flow parameters of the adjacent intersection to be controlled are determined according to the obtained outflow flow parameter of the upstream intersection, the obtained inflow flow parameter of the downstream intersection and the obtained queuing parameter of the downstream intersection.
After the road attribute parameters and the upstream and downstream flow parameters are determined, the road traffic condition of the adjacent intersection to be controlled can be determined, and then the association degree of the adjacent intersection to be controlled is determined.
In an alternative scheme, obtaining an outflow flow parameter of an upstream intersection, an inflow flow parameter of a downstream intersection and a queuing parameter of the downstream intersection of adjacent intersections to be controlled, wherein the steps comprise the following steps of:
and B1, acquiring a candidate outflow flow parameter of an upstream intersection of an adjacent intersection to be controlled in a candidate time period, and an inflow flow parameter of a downstream intersection of the adjacent intersection to be controlled and a queuing parameter of the downstream intersection in the time period to be controlled.
And B2, taking the maximum outflow flow parameter in the candidate outflow flow parameters as the outflow flow parameter of the upstream intersection.
The candidate time period may be a preset time period for detecting the candidate outflow traffic of the upstream intersection of the adjacent intersection to be controlled. The candidate outflow-flow parameter may be a candidate outflow-flow of an upstream intersection of the adjacent intersections to be controlled, which is detected at each candidate time period. The time period to be controlled may be a candidate time period to which the association degree determination is to be made.
When detecting the outflow rate of the upstream intersection of the adjacent intersection to be controlled, the difference between the outflow rates of the upstream outflow rates in different periods may be larger, so that a larger error may occur in determining the association degree if only one detection result is used. The maximum outflow parameter of the candidate outflow parameters will be selected as the outflow parameter of the upstream intersection.
The inflow flow parameters of the downstream intersection of the adjacent intersection to be controlled and the queuing parameters of the downstream intersection are difficult to accurately predict due to certain randomness of the data sizes in different detection periods, if the same method is used for the outflow flow of the upstream intersection of the adjacent intersection to be controlled, the maximum value is selected as a final detection result, a larger error is caused in the determination result of the association degree, so that the detection is performed in the time period to be controlled, which belongs to the determination of the association degree, and further the accuracy of the final determination result is ensured to be higher.
In one alternative, the degree of association of adjacent intersections to be controlled is determined according to the following formula:
Figure BDA0004026325620000071
wherein ,
Figure BDA0004026325620000072
m represents a road attribute parameter, L represents a distance parameter, and V represents a speed limit parameter;
Figure BDA0004026325620000073
n represents upstream and downstream flow parameters, Q 1 Representing the outflow flow parameter of the upstream intersection, Q 2 And (3) representing inflow flow parameters of the downstream intersection, q representing queuing parameters of the downstream intersection, and I representing association degree of adjacent intersections to be controlled.
After the road attribute parameter, the distance parameter, the speed limit parameter, the outflow flow parameter of the upstream intersection, the inflow flow parameter of the downstream intersection and the queuing parameter of the downstream intersection are determined, the association degree can be calculated according to a formula.
First, the road attribute parameter can be obtained according to the road attribute parameter and the distance parameter, and the road attribute parameter is only less likely to change. And secondly, calculating the upstream and downstream circulation parameters which can have larger changes according to the acquired outflow flow parameters of the upstream intersection, inflow flow parameters of the downstream intersection and queuing parameters of the downstream intersection.
And multiplying the upstream and downstream circulation parameters and the road attribute parameters to obtain the association degree of the adjacent intersections to be controlled.
S130, determining the speed distribution characteristics of the adjacent intersections to be controlled according to the speed parameters.
When the association degree of adjacent intersections to be controlled is determined, the radar can be used for detecting the speed of the running vehicle in the time period to be controlled to obtain a speed parameter, the distribution condition of the speed of the running vehicle in the time period to be controlled is determined according to the speed parameter, and then the speed distribution characteristic is determined.
And S140, determining whether the adjacent intersection to be controlled has the trunk line coordination control condition according to the association degree and the vehicle speed distribution characteristics so as to perform trunk line coordination control on the adjacent intersection to be controlled.
The trunk coordination control condition may be a condition requirement for judging whether or not the adjacent intersections to be controlled are capable of trunk coordination control. The trunk line coordination control can be a control method for improving the problems of traffic jam and the like of the adjacent intersections to be controlled by adjusting the traffic light display time of the adjacent intersections to be controlled.
After the association degree and the vehicle speed distribution characteristics are determined, the association degree and the vehicle speed distribution characteristics are compared with the trunk line coordination control conditions to determine whether the adjacent intersections to be controlled have the trunk line coordination control conditions. And if the association degree and the vehicle speed distribution characteristics meet the main line coordination control conditions, determining that the adjacent intersection to be controlled can be subjected to main line coordination control, and performing main line coordination control on the adjacent intersection to be controlled.
By determining whether the adjacent intersections to be controlled have the trunk line coordination control conditions according to the association degree and the vehicle speed distribution characteristics, the trunk line coordination control result is accurate, the judging process is clear, and the judging method can be used repeatedly and has strong universality.
According to the technical scheme, the association degree of the adjacent intersections to be controlled is determined by acquiring the road parameters and the flow parameters of the adjacent intersections to be controlled in the road intersection group, so that the determination result of the association degree is accurate. The vehicle speed distribution characteristics of the adjacent intersections to be controlled are determined according to the vehicle speed parameters, and whether the adjacent intersections to be controlled have the main line coordination control conditions or not is determined according to the association degree and the vehicle speed distribution characteristics, so that the main line coordination control result is accurate, the judging process is clear, the judging method can be used repeatedly, and the universality is high. The intersection group association degree model can be formed by executing the steps for a plurality of times, and the urban intersection group is divided into areas for controlling, so that the urban road network passing efficiency is effectively improved.
Example two
Fig. 2 is a flowchart of another trunk coordination control method for a road intersection group according to the second embodiment of the present invention, where the present embodiment determines, based on the foregoing embodiment, whether an adjacent intersection to be controlled has trunk coordination control conditions according to the association degree and the vehicle speed distribution feature, so as to further optimize a process of trunk coordination control for the adjacent intersection to be controlled, and the present embodiment may be combined with each of the alternatives in the foregoing one or more embodiments. As shown in fig. 2, the method includes:
S210, acquiring road parameters, flow parameters and vehicle speed parameters of adjacent intersections to be controlled in the road intersection group.
In one alternative, the flow parameters include an outflow flow parameter of an upstream intersection, and an inflow flow parameter of a downstream intersection of the target direction in the adjacent intersection to be controlled.
S220, determining the association degree of the adjacent intersections to be controlled according to the road parameters and the flow parameters.
S230, determining the speed distribution characteristics of the adjacent intersections to be controlled according to the speed parameters.
And S240, if the association degree is smaller than a preset association degree threshold value, and the vehicle speed distribution characteristics meet the normal distribution characteristics and the number of vehicles in a preset vehicle speed range meets preset conditions, determining that the adjacent intersection to be controlled has the trunk line coordination control conditions so as to perform trunk line coordination control on the adjacent intersection to be controlled.
The preset association threshold value may be a preset maximum association value for determining that the association degree of the adjacent intersection to be controlled meets the main line coordination control condition, and the preset vehicle speed range may be a preset speed range value for determining that the vehicle speed of the running vehicle running upstream to downstream of the adjacent intersection to be controlled meets the main line coordination control condition.
After the association degree of the adjacent intersection to be controlled is determined, the association degree is compared with a preset association degree threshold value, and if the association degree is smaller than the preset association degree threshold value, the association degree of the adjacent intersection to be controlled is indicated to accord with the main line coordination control condition.
After the vehicle speed distribution feature is obtained, whether the vehicle speed distribution feature meets the front-to-front distribution feature is detected, and if the vehicle speed distribution feature meets the front-to-front distribution feature and the number of vehicles in a preset vehicle speed range meets a preset condition, the condition that the vehicle speed of the running vehicle between the adjacent intersections to be controlled meets the main line coordination control condition is indicated.
And after determining that the adjacent intersection to be controlled has the trunk line coordination control condition, carrying out trunk line coordination control on the adjacent intersection to be controlled.
And comparing the correlation, the vehicle speed distribution characteristics and the number of vehicles in a preset vehicle speed range with the trunk line coordination control conditions to judge whether the adjacent intersection to be controlled has the trunk line coordination control conditions, so that the judgment result of the trunk line coordination control conditions is more accurate, and the judgment process is clearer.
In an alternative, before determining whether the adjacent intersection to be controlled has the trunk line coordination control condition according to the association degree and the vehicle speed distribution characteristics, the method further comprises the steps of C1-C3:
And C1, respectively acquiring the green-to-signal ratio parameters and the saturated flow parameters of the upstream intersection and the downstream intersection.
And C2, determining the flow saturation of the adjacent intersection to be controlled according to the outflow flow parameter, the green-to-signal ratio parameter and the saturation flow parameter of the upstream intersection and the inflow flow parameter, the green-to-signal ratio parameter and the saturation flow parameter of the downstream intersection.
And C3, judging whether the flow saturation meets the saturation condition.
The green-to-green ratio may be the ratio of the time at which the intersection has a green light in one cycle to the cycle. The saturated flow parameter may be the maximum flow that the adjacent intersection to be controlled can allow to pass without traffic light restriction during the period. The flow saturation may be a flow saturation state of the adjacent intersection to be controlled in a period of counting data such as a green-to-signal ratio of the adjacent intersection to be controlled.
When the association degree and the vehicle speed distribution characteristics are determined, green-to-signal ratio parameters and saturated flow parameters of an upstream intersection and a downstream intersection are also obtained, and then the flow saturation degree of an adjacent intersection to be controlled is judged according to the outflow flow parameters, the green-to-signal ratio parameters and the saturated flow parameters of the upstream intersection and the inflow flow parameters, the green-to-signal ratio parameters and the saturated flow parameters of the downstream intersection, so that the specific flow which can be realized by the adjacent intersection to be controlled is judged.
And comparing the determined flow saturation of the adjacent intersection to be controlled with the saturation condition, and judging whether the flow saturation of the adjacent intersection to be controlled meets the saturation condition.
In one alternative, the flow saturation of the adjacent intersection to be controlled is determined according to the following formula:
Figure BDA0004026325620000111
Figure BDA0004026325620000112
wherein ,x1 Representing the saturation of the flow of the upstream intersection of the adjacent intersections to be controlled, x 2 Representing the saturation of the flow of the downstream intersection in the adjacent intersection to be controlled, Q 1 Represents the outflow flow parameter of the upstream intersection lambda 1 A green-to-green ratio parameter representing an upstream intersection, S 1 Representing the saturation flow parameter of the upstream intersection,Q 2 representing the inflow flow parameters of the downstream intersection lambda 2 A green-to-green ratio parameter representing a downstream intersection, S 2 Representing the saturation flow parameter of the downstream intersection.
And calculating the flow saturation of the upstream intersection and the flow saturation of the downstream intersection of the adjacent intersection to be controlled according to a formula after determining the outflow flow parameter of the upstream intersection, the green-letter ratio parameter of the upstream intersection, the saturation flow parameter of the upstream intersection, the inflow flow parameter of the downstream intersection, the green-letter ratio parameter of the downstream intersection and the saturation flow parameter of the downstream intersection.
And obtaining the saturation flow parameter of the upstream intersection by dividing the outflow flow parameter of the upstream intersection by the multiplier of the green signal ratio parameter of the upstream intersection and the saturation flow parameter of the upstream intersection.
And obtaining the saturation flow parameter of the downstream intersection by dividing the inflow flow parameter of the downstream intersection by the multiplier of the green signal ratio parameter of the downstream intersection and the saturation flow parameter of the downstream intersection.
According to the technical scheme, the adjacent intersections to be controlled are determined to have the trunk coordination control conditions by judging the association degree, the vehicle speed distribution characteristics and the number of vehicles in the preset vehicle speed range, so that the trunk coordination control is carried out on the adjacent intersections to be controlled, the judging result of the trunk coordination control conditions is more accurate, and the judging process is clearer.
Example III
Fig. 3 is a schematic structural diagram of a trunk coordination control device for a road intersection group according to a third embodiment of the present invention. The method and the device are applicable to the situation that when the road network is in a supersaturated state, the relation between adjacent intersections to be controlled is determined, and trunk coordination control is timely carried out. The trunk coordination control device of the road intersection group can be realized in a form of hardware and/or software, and can be configured in electronic equipment with data processing capability. As shown in fig. 3, the trunk line coordination control device of the road intersection group of the present embodiment may include: a parameter acquisition module 310, a relevance determination module 320, a distribution feature determination module 330, and a trunk coordination control module 340.
wherein ：
the parameter obtaining module 310 is configured to obtain a road parameter, a flow parameter and a vehicle speed parameter of an adjacent intersection to be controlled in the road intersection group;
the association determining module 320 is configured to determine association between adjacent intersections to be controlled according to the road parameter and the flow parameter;
a distribution feature determining module 330, configured to determine a vehicle speed distribution feature of an adjacent intersection to be controlled according to a vehicle speed parameter;
and the trunk coordination control module 340 is configured to determine whether the adjacent intersection to be controlled has trunk coordination control conditions according to the association degree and the vehicle speed distribution characteristics, so as to perform trunk coordination control on the adjacent intersection to be controlled.
Based on the above embodiment, optionally, the association degree determining module 320 includes:
the road parameters comprise distance parameters and speed limiting parameters of adjacent intersections to be controlled; the flow parameters include an outflow flow parameter of an upstream intersection, an inflow flow parameter of a downstream intersection, and a queuing parameter of the downstream intersection of a target direction in an adjacent intersection to be controlled.
Based on the above embodiment, optionally, the association degree determining module 320 includes:
the attribute parameter acquisition unit is used for determining road attribute parameters of adjacent intersections to be controlled according to the distance parameters and the speed limiting parameters;
The circulation parameter acquisition unit is used for determining upstream and downstream circulation parameters of adjacent intersections to be controlled according to the outflow flow parameters of the upstream intersections, the inflow flow parameters of the downstream intersections and the queuing parameters of the downstream intersections;
and the association degree determining unit is used for determining the association degree of the adjacent intersections to be controlled according to the road attribute parameters and the upstream and downstream flow parameters.
On the basis of the above embodiment, optionally, the circulation parameter obtaining unit includes:
the data parameter determining subunit is used for obtaining the candidate outflow flow parameters of the upstream intersection of the adjacent intersection to be controlled in the candidate time period, the inflow flow parameters of the downstream intersection of the adjacent intersection to be controlled in the time period to be controlled and the queuing parameters of the downstream intersection;
and the flow parameter determining subunit is used for taking the maximum outflow flow parameter in the candidate outflow flow parameters as the outflow flow parameter of the upstream intersection.
On the basis of the above embodiment, optionally, the association degree determining unit is specifically configured to:
and determining the association degree of adjacent intersections to be controlled according to the following formula:
Figure BDA0004026325620000131
wherein ,
Figure BDA0004026325620000132
m represents a road attribute parameter, L represents a distance parameter, and V represents a speed limit parameter;
Figure BDA0004026325620000133
n represents upstream and downstream flow parameters, Q 1 Representing the outflow flow parameter of the upstream intersection, Q 2 And (3) representing inflow flow parameters of the downstream intersection, q representing queuing parameters of the downstream intersection, and I representing association degree of adjacent intersections to be controlled.
Based on the above embodiment, the trunk coordination control module 340 is optional, and specifically is configured to:
if the association degree is smaller than a preset association degree threshold value, the vehicle speed distribution characteristics meet the normal distribution characteristics, and the number of vehicles in a preset vehicle speed range meets the preset conditions, it is determined that the adjacent intersections to be controlled have trunk line coordination control conditions.
On the basis of the above embodiment, optionally, the flow parameters include an outflow flow parameter of an upstream intersection and an inflow flow parameter of a downstream intersection of the target directions in the adjacent intersections to be controlled.
On the basis of the above embodiment, optionally, before the trunk coordination control module 340, further includes:
the data acquisition module is used for respectively acquiring the green-to-signal ratio parameters and the saturated flow parameters of the upstream intersection and the downstream intersection;
the flow saturation acquisition module is used for determining the flow saturation of the adjacent intersection to be controlled according to the outflow flow parameter, the green-to-blue ratio parameter and the saturation flow parameter of the upstream intersection and the inflow flow parameter, the green-to-blue ratio parameter and the saturation flow parameter of the downstream intersection;
And the condition judging module is used for judging whether the flow saturation meets the saturation condition.
On the basis of the above embodiment, optionally, the flow saturation obtaining module is specifically configured to:
and determining the flow saturation of the adjacent intersection to be controlled according to the following formula:
Figure BDA0004026325620000141
Figure BDA0004026325620000142
wherein ,x1 Represents the saturation of the flow of the upstream intersection of the adjacent intersections to be controlled, Q 1 Represents the outflow flow parameter of the upstream intersection lambda 1 A green-to-green ratio parameter representing an upstream intersection, S 1 Representing the saturation flow parameter of the upstream intersection, Q 2 Representing the inflow flow parameters of the downstream intersection lambda 2 A green-to-green ratio parameter representing a downstream intersection, S 2 Representing the saturation flow parameter of the downstream intersection.
The trunk coordination control device of the road intersection group provided by the embodiment of the invention can execute the trunk coordination control method of the road intersection group provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
The data acquisition, storage, use, processing and the like in the technical scheme meet the relevant regulations of national laws and regulations, and the public sequence is not violated.
Example IV
According to embodiments of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.
Fig. 4 shows a schematic diagram of the structure of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 4, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as the trunk coordination control method of the road intersection group.
In some embodiments, the trunk coordination control method of the road intersection group may be implemented as a computer program, which is tangibly embodied in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the trunk coordination control method of the road junction group described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the trunk coordination control method of the road intersection group in any other suitable manner (e.g., by means of firmware).
Various implementations of the systems and techniques described here above can be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application specific reference products (ASSPs), systems On Chip (SOCs), complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims (10)

1. A trunk line coordination control method of a road intersection group, comprising:
acquiring road parameters, flow parameters and vehicle speed parameters of adjacent intersections to be controlled in a road intersection group;
determining the association degree of the adjacent intersections to be controlled according to the road parameters and the flow parameters;
determining the speed distribution characteristics of the adjacent intersections to be controlled according to the speed parameters;
And determining whether the adjacent intersection to be controlled has the trunk line coordination control condition according to the association degree and the vehicle speed distribution characteristics so as to perform trunk line coordination control on the adjacent intersection to be controlled.
2. The method according to claim 1, characterized in that the road parameters comprise a distance parameter and a speed limit parameter of the adjacent intersection to be controlled; the flow parameters comprise the outflow flow parameters of an upstream intersection, the inflow flow parameters of a downstream intersection and the queuing parameters of the downstream intersection in the target direction in the adjacent intersections to be controlled;
correspondingly, determining the association degree of the adjacent intersections to be controlled according to the road parameters and the flow parameters comprises the following steps:
determining road attribute parameters of the adjacent intersections to be controlled according to the distance parameters and the speed limiting parameters;
determining upstream and downstream circulation parameters of the adjacent intersections to be controlled according to the outflow flow parameters of the upstream intersections, the inflow flow parameters of the downstream intersections and the queuing parameters of the downstream intersections;
and determining the association degree of the adjacent intersections to be controlled according to the road attribute parameters and the upstream and downstream flow parameters.
3. The method according to claim 2, wherein obtaining the outflow parameters of the upstream intersection, the inflow parameters of the downstream intersection, and the queuing parameters of the downstream intersection of the adjacent intersections to be controlled comprises:
acquiring a candidate outflow flow parameter of an upstream intersection of the adjacent intersection to be controlled in a candidate time period, and an inflow flow parameter of a downstream intersection of the adjacent intersection to be controlled and a queuing parameter of the downstream intersection in the time period;
and taking the largest outflow flow parameter in the candidate outflow flow parameters as the outflow flow parameter of the upstream intersection.
4. A method according to claim 2 or 3, wherein the degree of association of the adjacent intersections to be controlled is determined according to the formula:
Figure FDA0004026325610000021
wherein ,
Figure FDA0004026325610000022
m represents the road attribute parameter, L represents the distance parameter, and V represents the speed limit parameter;
Figure FDA0004026325610000023
n represents the upstream and downstream flow parameters, Q 1 Representing the outflow flow parameter of the upstream intersection, Q 2 And (3) representing the inflow flow parameters of the downstream intersection, q representing the queuing parameters of the downstream intersection, and I representing the association degree of adjacent intersections to be controlled.
5. The method of claim 1, wherein determining whether the adjacent intersection to be controlled has trunk coordination control conditions based on the association and the vehicle speed distribution characteristics comprises:
and if the association degree is smaller than a preset association degree threshold value, the vehicle speed distribution characteristics meet normal distribution characteristics and the number of vehicles in a preset vehicle speed range meet preset conditions, determining that the adjacent intersection to be controlled has a trunk line coordination control condition.
6. The method according to claim 1, wherein the flow parameters include an outflow flow parameter of an upstream intersection and an inflow flow parameter of a downstream intersection of the target direction of the adjacent intersections to be controlled;
correspondingly, before determining whether the adjacent intersection to be controlled has the trunk line coordination control condition according to the association degree and the vehicle speed distribution characteristics, the method further comprises:
respectively acquiring a green-to-signal ratio parameter and a saturation flow parameter of the upstream intersection and the downstream intersection;
determining the flow saturation of the adjacent intersection to be controlled according to the outflow flow parameter, the green-to-signal ratio parameter and the saturation flow parameter of the upstream intersection and the inflow flow parameter, the green-to-signal ratio parameter and the saturation flow parameter of the downstream intersection;
And judging whether the flow saturation meets a saturation condition.
7. The method of claim 6, wherein the flow saturation of the adjacent intersection to be controlled is determined according to the following formula:
Figure FDA0004026325610000031
Figure FDA0004026325610000032
wherein ,x1 Representing the flow saturation of an upstream intersection of the adjacent intersections to be controlled, x 2 Representing the flow saturation of a downstream intersection in the adjacent intersections to be controlled, Q 1 Represents the outflow flow parameter of the upstream intersection lambda 1 A green-to-green ratio parameter representing the upstream intersection, S 1 Representing the saturation flow parameter of the upstream intersection, Q 2 Representing the inflow flow parameters of the downstream intersection lambda 2 A green-to-green ratio parameter representing the downstream intersection, S 2 Representing the saturation flow parameter of the downstream intersection.
8. A trunk line coordination control device for a road intersection group, comprising:
the parameter acquisition module is used for acquiring road parameters, flow parameters and vehicle speed parameters of adjacent intersections to be controlled in the road intersection group;
the association degree determining module is used for determining association degree of the adjacent intersections to be controlled according to the road parameters and the flow parameters;
the distribution characteristic determining module is used for determining the vehicle speed distribution characteristics of the adjacent intersections to be controlled according to the vehicle speed parameters;
And the trunk coordination control module is used for determining whether the adjacent intersection to be controlled has trunk coordination control conditions according to the association degree and the vehicle speed distribution characteristics so as to perform trunk coordination control on the adjacent intersection to be controlled.
9. An electronic device, the electronic device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the trunk coordination control method of the road intersection group of any one of claims 1-7.
10. A computer readable storage medium storing computer instructions for causing a processor to execute the trunk coordination control method of the road junction group of any one of claims 1-7.
CN202211711442.8A 2022-12-29 2022-12-29 Main line coordination control method, device, equipment and medium for road intersection group Pending CN116311992A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211711442.8A CN116311992A (en) 2022-12-29 2022-12-29 Main line coordination control method, device, equipment and medium for road intersection group

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211711442.8A CN116311992A (en) 2022-12-29 2022-12-29 Main line coordination control method, device, equipment and medium for road intersection group

Publications (1)

Publication Number Publication Date
CN116311992A true CN116311992A (en) 2023-06-23

Family

ID=86815671

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202211711442.8A Pending CN116311992A (en) 2022-12-29 2022-12-29 Main line coordination control method, device, equipment and medium for road intersection group

Country Status (1)

Country Link
CN (1) CN116311992A (en)

Similar Documents

Publication Publication Date Title
CN117146797A (en) Method, device, equipment and medium for adjusting virtual lane line of high-precision map intersection
CN116311992A (en) Main line coordination control method, device, equipment and medium for road intersection group
CN116311893A (en) Traffic jam time prediction method and device, electronic equipment and storage medium
CN114863715A (en) Parking data determination method and device, electronic equipment and storage medium
CN113447013B (en) Construction road recognition method, construction road recognition apparatus, construction road recognition device, storage medium, and program product
CN115171405B (en) Traffic light intersection passing time determining method and device, electronic equipment and medium
CN116662788B (en) Vehicle track processing method, device, equipment and storage medium
CN116358902B (en) Vehicle function testing method and device, electronic equipment and storage medium
CN116737605B (en) Data prefetching method, device, equipment and medium based on chip multilevel storage
CN116071936B (en) Bus priority passing control method and device, electronic equipment and storage medium
CN115467753B (en) Engine parameter adjustment method and device, electronic equipment and storage medium
CN118182521A (en) Track determination method and device for automatic driving vehicle, electronic equipment and medium
CN114898323A (en) Scene matching method and device, electronic equipment and storage medium
CN116087894A (en) Radar attitude detection method and device, electronic equipment and storage medium
CN118035788A (en) Target vehicle relative position classification method, device, equipment and storage medium
CN117496710A (en) Road network vulnerability assessment method and device, electronic equipment and storage medium
CN117132955A (en) Lane line detection method and device, electronic equipment and storage medium
CN117540843A (en) Parking space prediction method and device, electronic equipment and storage medium
CN117799614A (en) Intelligent lane changing method applied to vehicle
CN117953451A (en) Road boundary detection method, device, equipment and medium
CN117198052A (en) Traffic overflow detection method, device, electronic equipment and readable storage medium
CN116069769A (en) Data cleaning method, device, equipment and storage medium based on automatic driving
CN117667403A (en) Server resource occupancy a method for predicting the situation a device(s) apparatus and medium
CN116552538A (en) Method, device, equipment and medium for determining downhill speed of vehicle
CN117125071A (en) Ramp mouth detection method, device, equipment and medium

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