CN101789181A - Signal intersection parking delay determination method based on single section detector - Google Patents
Signal intersection parking delay determination method based on single section detector Download PDFInfo
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Abstract
The invention belongs to the field of traffic signal control and particularly relates to a signal intersection parking delay determination method based on a single section detector. An arrival distribution model of a vehicle arriving at an intersection is established on the basis of on-line or off-line traffic information of the vehicle entering the intersection, and traffic flow dissipation and distribution is obtained on the basis of the traffic characteristics of the vehicle exiting a stop line so as to deduce the queuing length and the vehicle starting time. Combining the established vehicle arrival distribution model and the flow of vehicles exiting the stop line, vehicle arrival distribution is deduced to enable the traffic flow dissipation and distribution and the traffic flow arrival distribution to have the same vehicle amount, thereby avoiding the problem of inconsistent vehicle flows detected by a front detection section and a back detection section; and the error caused by vehicle lane change is solved by taking the flow of vehicles exiting a detection region as a datum, thereby avoiding the accumulation error. The invention divides parking delay into the parking delay which can be directly obtained by the single section detector and the parking delay which exceeds a single section detection range based on the detection range of the single section detector. The invention has the advantages of easy implementation, high accuracy, strong real-time performance and the like.
Description
Technical field
The invention belongs to traffic signals control technology field, be specifically related to a kind of signal intersection parking delay determination method based on single section detector.
Background technology
Intelligent transportation system provides the series of effective method for solving serious day by day traffic problems, is subjected to the consistent of traffic circle and admits and pay attention to, and traffic signal control system is one of of paramount importance ingredient in the intelligent transportation system.And stop delay is as the crossing traffic characteristic parameter of a key in the traffic signal control system, and being all has great important for crossing live signal Control and Optimization or for the evaluation of crossing traffic behavior.Stop delay refers to that influence that vehicle is subjected to signal controlling at signalized intersections causes the loss of time of stopping.Although lot of domestic and foreign scholar has made big quantity research to obtaining of stop delay, up to the present the stop delay The real time measure method that a cover can directly apply to engineering is not proposed also.
Traditional traffic delay acquisition methods mainly contains: artificial acquisition methods, traditional theory model predication method and detector technologies acquisition methods etc.Manually obtain the stop delay method and have defectives such as cost is higher, sample size is few, real-time is poor, data precision is limited, the result can not reflect intersection parking delay in real time, can't satisfy the optimization of real-time traffic signal controlling schemes and the on-line evaluation of crossing traffic.On the other hand, on the basis of traffic theory, previous scholar has proposed the delay computing method based on traffic flow theory, incur loss through delay model as Webster, but these theories are mostly based on the stable state traffic theory, the stop delay evaluation intervals of obtaining is bigger, is difficult to satisfy real-time traffic signal control and crossing Real-Time Evaluation demand.
In recent years along with the widespread use of detection technique, having proposed based on video detector, ground induction coil detecting device, microwave detector is that the stop delay of main detection mode obtains technology, roughly can be divided into two classes according to the application principle classification: a class is based on the all-the-way tracking method, the another kind of method that is based on detection sectional plane.
Based on the all-the-way tracking method, its principle is: 1) video record is carried out processing such as coordinate conversion and global calibration, context update, image binaryzation, patch analysis plate; 2) triggering and the detection that vehicle is realized in two vehicle detection zones of far-end and near-end is set, detected vehicle is followed the tracks of, write down the vehicle parking moment and vehicle launch constantly; 3) former and later two subtract each other constantly, obtain the stop delay of vehicle by the crossing thus.This method requires the installation site of video camera higher, and sensing range need cover whole crossing, because the restriction of urban road mounting condition, this technology is difficult to promote.
Based on the method for detection sectional plane, what of detection sectional plane can be divided into single detection sectional plane, two detection sectional plane and many detection sectional plane according to.The method that traditional single detection sectional plane is obtained stop delay be with the position of detecting device in the upstream of stop line i.e. general position from 50 meters of stop lines, infer the cut-off time of vehicle according to the speed of vehicle passing detection device, infer vehicle launch constantly by signal time distributing conception, startup deducts cut-off time acquisition stop delay constantly; The method that traditional two detection sectional plane are obtained stop delay is to have increased a detection sectional plane on the basis of the single detection sectional plane method of tradition in the stop line position, obtain the moment that vehicle leaves surveyed area by this cross section, and then infer vehicle launch constantly, startup deducts cut-off time acquisition stop delay constantly; The method that traditional many detection sectional plane are obtained stop delay is to lay many group detecting devices at surveyed area, and the detection information that obtains by a plurality of detecting devices judges that vehicle is in the moment that surveyed area stops and the moment of startup.
The assumed condition of these three kinds of methods is that vehicle arrives and leave the principle that surveyed area is obeyed first in first out, or the principle of the vehicle number conservation by the front and back detecting device, be vehicle in certain track or certain track group stop and be bound to from this track or the track group is rolled away from, do not consider that vehicle changes to the situation of other tracks or track group.Therefore above in actual applications traditional method based on detection sectional plane has run into following problem: 1) be easy to occur the behavior of changing at actual crossing vehicle, cause three kinds of traditional method accuracy of detection based on detection sectional plane to descend; 2) detecting device can not reach 100% precision, in case detector coil or virtual detection line are irised out the existing error situation that the vehicle correspondence does not go up or the front and back vehicle fleet can't conservation before and after being easy to cause, thereby further reduced the precision of traditional double sections and multi-section stop delay acquisition methods; 3) front two class errors cause detection system accumulation to occur, make accuracy of detection sharply descend; 4) more and when exceeding the detection sectional plane scope, these the three kinds methods based on detection sectional plane all can't be measured stop delay when the queuing vehicle.
In sum, existing detection technique in the subject matter that the extraction stop delay runs into is:
1. the arrangement requirement of urban road facility has limited the popularization and the application of high-altitude all-the-way tracking method.
2. traditional stop delay real-time detection method based on the cross section is an assumed condition with vehicle first in first out or front and back detection sectional plane flow conservation, the detection error that change after existing vehicle to enter surveyed area in the reality road, front and back detecting device self exists, the detection sectional plane vehicle flowrate is difficult to coupling before and after causing, and makes accuracy of detection descend; These errors of while are brought out whole detection system and cumulative errors occurred, and cumulative errors makes accuracy of detection sharply descend; In addition when the queuing vehicle surpasses sensing range, traditional stop delay that can't obtain all vehicles based on the method for detection sectional plane.
Summary of the invention
The objective of the invention is to propose a kind of signal intersection parking delay determination method based on single section detector.
The signal intersection parking delay determination method that the present invention proposes based on single section detector, concrete steps are as follows:
At first, the traffic characteristic that enters the crossing according to vehicle is set up the arrival distributed model that vehicle reaches the crossing, and wherein traffic characteristic comprises vehicle flowrate, vehicle due in, car speed, vehicle deceleration and type of vehicle;
Secondly, the dissipation of rolling the traffic characteristic acquisition wagon flow of stop line according to vehicle away from distributes, and infers queue length and vehicle launch constantly, and wherein traffic characteristic comprises vehicle departure time, time headway, vehicle length, car speed and vehicle acceleration;
Then, arrive distributed model and the vehicle flowrate that rolls stop line away from according to the vehicle of having set up, the due in of inferring vehicle distributes, make wagon flow dissipation distribution and wagon flow arrive to distribute and have the same vehicle number, detect the inconsistent problem that causes of the detected flow of section before and after effectively having avoided, be that benchmark solution vehicle changes the error that causes to roll the surveyed area vehicle flowrate away from simultaneously, and then avoid weekly the cumulative errors of phase;
At last, stop delay is divided into two parts: first is the stop delay that single section detector can directly detect acquisition, as the stop delay of first car or the stop delay of former cars; Second portion is the stop delay that exceeds the direct detection zone in single cross section, distributes and wagon flow dissipation distribution in conjunction with wagon flow arrival when vehicle is parked in beyond the single section detector sensing range, infers the vehicle parking delay; Two parts are incured loss through delay addition again divided by vehicle number, promptly obtain the average stop delay of each car.
Among the present invention, the distributed model that described vehicle arrives the crossing has comprised that off-line arrives distributed model and online vehicle arrives distributed model, when the crossing, upstream can provide real-time information, can adopt online vehicle to arrive distributed model; When can't online acquisition upstream during car flow information, can adopt the off-line vehicle to arrive distributed model, the off-line vehicle arrives model and can obtain by actual measurement investigation in early stage.
Among the present invention, the dissipation of described wagon flow distributes and rolls the information deduction acquisition of stop line by the vehicle of online parking detecting device acquisition away from.The online information of vehicles that obtains has: vehicle is by the moment, type of vehicle and the speed of stop line.
Among the present invention, described single section detector can adopt one to multiple kind of detecting device in ground induction coil detecting device, video detector or the radar detector etc.
The present invention is directed to the traditional theory model algorithm and can't satisfy the deficiency of real-time application demand, be difficult to solve vehicle at existing real-time stop delay extractive technique and change the defective of bringing error, detect the difficult problem that error causes the front and back data to be difficult to mate at dual-detector or multi-detector existence, propose a kind of new parking delay determination technology based on single section detector.The present invention utilizes single detecting device, detector location is near stop line, 5 meters scopes before and after stop line, infer queue length according to vehicle by the time headway and the car speed of single section detector, and then the arrival of definite wagon flow distributes the reckoning vehicle parking constantly, leave the traffic characteristic of single section detector by vehicle and infer vehicle launch constantly, start and deduct the cut-off time constantly and obtain vehicle parking and incur loss through delay.The invention provides a kind of new method that under complicated road traffic condition, also can be suitable for, have that data are obtained conveniently, implemented easily, precision is high and existing means of transportation of maximum using and the low characteristics of application cost.
Description of drawings
Fig. 1 is a crossing of the present invention detector arrangement synoptic diagram.
Fig. 2 is the technology path figure of the signal intersection parking delay determination method based on single cross section of the present invention.
Fig. 3 be the present invention during according to vehicle headstock apart from the synoptic diagram of inferring queue length.
Fig. 4 is the present invention infers queue length according to the vehicle spot speed a synoptic diagram.
Fig. 5 is the one-period stop delay distribution plan that the present invention obtains.
Embodiment
This research is obtained in real time on the basis of stop delay technical deficiency summing up in the past, proposes the new method that the real-time vehicle stop delay based on vehicular traffic feature and single section detector obtains.Elaborate below in conjunction with 2 pairs of the specific embodiment of the present invention of accompanying drawing; this embodiment is being to implement under the prerequisite with the technical solution of the present invention; detailed embodiment and concrete operating process have been provided; but protection scope of the present invention is not limited to following embodiment; need to prove the detecting device of mentioning among the present invention in addition; comprise multiple detecting devices such as ground induction coil detecting device, video detector, radar detector, be not limited to certain specific detecting device.
Embodiment 1: this assay method is used for somewhere one signalized crossing northing stomatodeum, and the near-end detection sectional plane is a Four-Lane Road, wherein comprises three Through Lanes, a left turn lane.
The technical scheme route of incuring loss through delay acquisition methods based on the vehicle parking in single cross section as shown in Figure 2, desired input equipment comprises: 1, the Detector for Traffic Data of Vehicles before incuring loss through delay the stop line that calculates the track; 2, the timing information of signal controlling machine.Infer that flow process comprises that detecting device is laid, wagon flow arrives that foundation, the wagon flow dissipation characteristic information that characteristic information obtains, wagon flow arrives distributed model obtains, wagon flow dissipation distributed model sets up and queue length deduction, wagon flow arrive distribute calculate, stop delay generates seven processes, concrete implementation step is as follows:
One, detecting device is laid
What the present invention adopted is that the single section detector method is obtained stop delay, the installation position of detecting device as shown in Figure 1, single section detector is placed near the stop line, can be that single detection sectional plane also can be single surveyed area, can be that traditional ground induction coil also can be a video detector, it can be the 5 meters scopes in stop line front and back according to the actual traffic situation that detecting device is placed on stop line neighbouring, generally be placed on the preceding 1 meter position of stop line in actual applications as shown in Figure 1, guarantee that detecting device can sense the cut-off time of first car or former cars and start constantly.
Two, wagon flow arrival characteristic information obtains
Obtain and arrive the transport information that characteristic information refers to wagon flow arrival crossing, as characteristic informations such as vehicle flowrate, vehicle due in, car speed, time headway, type of vehicle, traditional detection method has only extracted the moment that vehicle enters surveyed area when extracting stop delay.It is more diversified in the present invention that vehicle arrives the information obtain manner, comprised that the off-line vehicle arrives information and online vehicle arrives information, off-line vehicle arrival information refers to that historical vehicle arrives information, when online vehicle arrives detecting device or surveyed area and can't provide real-time information, can arrive information with the off-line vehicle, the off-line vehicle arrives information and can obtain by the investigation in early stage.The mode that this information off-line and online information mutually combine can obtain vehicle to the full extent and arrive distribution characteristics information, this also is that the present invention is significantly different when obtaining stop delay with the traditional detection technology simultaneously, and the traditional detection technology has only been used this information of the moment that online vehicle enters surveyed area when obtaining stop delay.
Three, wagon flow arrives the foundation of distributed model
Arrive characteristic information and intersection signal controlling schemes according to the vehicle that has obtained, utilization vehicle deceleration model is inferred vehicle parking constantly, thereby obtains the arrival distributed model of vehicle.The present invention relates to two kinds of deduction vehicles and arrive the method that distributes.Method one, when only being provided with parking detecting device or parking surveyed area, the present invention utilizes parking detecting device or detection zone to obtain first car or former car cut-off times, arrival in conjunction with the red light moment and magnitude of traffic flow deduction vehicle distributes, can use simultaneously the vehicle off-line to arrive information correction vehicle and arrive distributed model, off-line reaches information can come from manual research data, off-line video acquisition information etc.; Method two when having former and later two or a plurality of detecting device or detection sectional plane, estimates that by the online arrival information of vehicle the arrival of vehicle distributes.
Four, wagon flow dissipation characteristic information obtains
When vehicle leaves surveyed area, can obtain information such as vehicle number, vehicle departure time, car speed, vehicle length by detecting device, and traditional pass through the extracting method that detection technique is obtained stop delay, registration of vehicle leaves the moment of detecting device, the present invention lays particular emphasis on the time headway, car speed, vehicle length characteristic that leave stop line by vehicle and infers whether vehicle arranged team, thereby obtains queue length.Main method is to want big according to arranging its time headway of vehicle of team and car speed with respect to the vehicle of not arranging team, can judge vehicle in conjunction with type of vehicle to time headway and vehicle speed setting threshold value and whether arrange team.Fig. 3 infers through the time headway of stop line whether vehicle arranged team by vehicle, the threshold value of time headway is 3s, the time headway here refers to the time interval between a tailstock and next headstock, Fig. 4 infers through the spot speed of stop line whether vehicle arranged team by vehicle, the vehicle of arranging team is relatively low through stop line speed, the car speed of not arranging team is higher relatively, the point speed of a motor vehicle threshold value of setting in example is 20Km/h, the setting of attention vehicle spot speed threshold value will be decided in conjunction with the actual traffic situation of crossing, has taken all factors into consideration time headway distribution characteristics and the spot speed distribution characteristics of vehicle by stop line in the present invention when inferring queue length.
Five, wagon flow dissipates to distribute and obtains
The information such as queue length of vehicle departure time, time headway, car speed and the deduction that obtains according to single section detector obtain wagon flow in conjunction with the vehicle acceleration model and dissipate and distribute.Main method be the row that infers according to the 4th step the vehicle of team infer vehicle launch constantly by speed, the acceleration of single detecting device, and then obtain the wagon flow distribution of dissipating.Wherein the acquisition methods of acceleration is: with vehicle classification, obtain every type vehicle startup acceleration by crossing by the off-line investigation according to detected vehicle length.
Six, wagon flow arrives to distribute and calculates
According to arriving distributed model by near the magnitude of traffic flow of the detecting device stop line and the vehicle of having set up in conjunction with the 3rd step, vehicle is arrived distribution to be calculated, with the magnitude of traffic flow of leaving surveyed area is benchmark, make to arrive vehicle number and its vehicle identical and arrive the situation that to reflect reality that distributes, can eliminate cumulative errors simultaneously because of vehicle changes and the detecting device error causes with the vehicle number of leaving away.
Seven, stop delay generates
The generation of stop delay comprises two parts, first is the stop delay that single section detector can be sensed, can detect the cut-off time of first and former cars and start constantly according to the position in single cross section and detector-range size, and then obtain the stop delay of this part vehicle, second portion is the stop delay that exceeds single cross section sensing range, because what the present invention adopted is single cross section detecting method, the overseas vehicle parking of detector area incur loss through delay the vehicle that obtains by the 6th step dissipate distribute obtain vehicle launch constantly and the vehicle that obtains of the 7th step arrive to distribute and obtain the vehicle parking moment, vehicle launch is deducted the stop delay that the vehicle due in has obtained vehicle constantly, as shown in Figure 5.
Claims (4)
1. signal intersection parking delay determination method based on single section detector is characterized in that concrete steps are as follows:
At first, the traffic characteristic that enters the crossing according to vehicle is set up the arrival distributed model that vehicle reaches the crossing, and wherein traffic characteristic comprises vehicle flowrate, vehicle due in, car speed, vehicle deceleration and type of vehicle;
Secondly, the dissipation of rolling the traffic characteristic acquisition wagon flow of stop line according to vehicle away from distributes, and infers queue length and vehicle launch constantly, and wherein traffic characteristic comprises vehicle departure time, time headway, vehicle length, car speed and vehicle acceleration;
Then, arrive distributed model and the vehicle flowrate that rolls stop line away from according to the vehicle of having set up, the arrival of inferring vehicle distributes, make wagon flow dissipation distribution and wagon flow arrive to distribute and have the same vehicle number, detect the inconsistent problem that causes of the detected flow of section before and after avoiding, be that benchmark solution vehicle changes the error that causes to roll the surveyed area vehicle flowrate away from simultaneously, and then avoid weekly the cumulative errors of phase;
At last, stop delay is divided into two parts, first is the stop delay that single section detector can directly obtain, as the stop delay of first car or the stop delay of former cars; Second portion is the stop delay that exceeds single cross section sensing range, distributes and wagon flow dissipation distribution in conjunction with the wagon flow arrival of inferring out when vehicle is parked in beyond the single section detector sensing range, infers the vehicle parking delay; Two parts are incured loss through delay addition again divided by vehicle number, promptly obtain the average stop delay of each car.
2. the signal intersection parking delay determination method based on single section detector according to claim 1, it is characterized in that the distributed model that described vehicle reaches the crossing has comprised that off-line arrives information and online vehicle arrives information, when online vehicle arrives single section detector or surveyed area and can't provide real-time information, adopt the off-line vehicle to arrive information, off-line vehicle arrival information obtains by the investigation in early stage.
3. distribute information that the vehicle that obtains by online parking detecting device rolls stop line away from of the signal intersection parking delay determination method based on single section detector according to claim 1, the dissipation that it is characterized in that described wagon flow is inferred and is obtained; The online information of vehicles that obtains has: vehicle is by the moment, type of vehicle and the speed of stop line.
4. the signal intersection parking delay determination method based on single section detector according to claim 1 is characterized in that described single section detector adopts one to multiple kind of detecting device in ground induction coil detecting device, video detector or the radar detector.
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| CN102034353A (en) * | 2010-11-04 | 2011-04-27 | 东南大学 | Method for measuring and calculating queuing length caused by traffic accidents on urban road based on fixed detectors |
| CN103810869A (en) * | 2014-02-27 | 2014-05-21 | 北京建筑大学 | Intersection signal control method based on dynamic steering proportion estimation |
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| CN104627072A (en) * | 2013-11-14 | 2015-05-20 | 现代自动车株式会社 | Parking area detecting apparatus and method thereof |
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