CN103021176A - Discriminating method based on section detector for urban traffic state - Google Patents

Discriminating method based on section detector for urban traffic state Download PDF

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CN103021176A
CN103021176A CN2012105070800A CN201210507080A CN103021176A CN 103021176 A CN103021176 A CN 103021176A CN 2012105070800 A CN2012105070800 A CN 2012105070800A CN 201210507080 A CN201210507080 A CN 201210507080A CN 103021176 A CN103021176 A CN 103021176A
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traffic
section
speed
index
detecting device
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CN103021176B (en
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王殿海
付凤杰
金盛
马东方
汤月华
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Zhejiang University ZJU
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Zhejiang University ZJU
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Abstract

The invention discloses a discriminating method based on a section detector for urban traffic state. The existing traffic state discriminating method has low accuracy and less reliability. Based on the three traffic flow parameters of traffic flow, speed and time occupancy rate, the invention constructs a comprehensive congestion evaluation index, namely a traffic congestion index which is used for discriminating the road traffic state. The traffic state discriminating method provided by the invention comprises the steps of acquiring section traffic flow data at information publishing intervals, smoothing traffic flow parameters, calculating a speed congestion index and a occupancy congestion index, calculating a critical speed congestion index, calculating the traffic congestion index and discriminating the road traffic state. Based on the traffic information of a certain detecting section of a road and the overall consideration of various traffic flow parameters, the discriminating method based on the section detector for urban traffic state can automatically discriminate the traffic state of the road, and meanwhile utilize discriminating threshold values as few as possible and make full use of available resources, thereby facilitating the realization of a project.

Description

Urban road traffic state method of discrimination based on the section detecting device
Technical field
The present invention relates to a kind of urban road traffic state method of discrimination based on the section detecting device, be used for urban traffic control and management, belong to the intelligent transportation research field.
Background technology
Road traffic state is carried out scientific and reasonable estimation, can provide the dynamic decision foundation for traffic administration person and traffic participant, induce the urban transportation benign development.
The at present differentiation of urban road traffic state is mainly take floating car data as foundation, take video monitoring and artificial observation for additional.As the current only taxi that can support large-scale application floating vehicle data acquisition source, it itself also is a kind of commerial vehicle, cabin factor and bus dispatching rate in the different periods are widely different, and often concentrate on the public activity concentrated zone and important passenger traffic passage, this ride characteristic can have influence on for the Floating Car sample size and the counting accuracy that calculate the highway section travel speed; Because the video monitoring resource is very limited, human factor is larger on artificial observation and video monitoring result's impact, and precision and the reliability of therefore existing traffic state judging method are lower.Existing traffic state judging method is unique foundation of differentiating mainly with speed simultaneously, and is higher to stability and the reliability requirement of speed data, and time occupancy also is a key factor weighing traffic behavior.Therefore setting up one is very urgent based on the urban road traffic state method of discrimination section detecting device and the time of fusion occupation rate.
Summary of the invention
The object of the present invention is to provide a kind of urban road traffic state method of discrimination based on the section detecting device.The basic thought of the method is with the magnitude of traffic flow, speed, these three the traffic flow parameter structure evaluation index of comprehensively blocking up---traffic congestion indexes of time occupancy, utilizes the traffic congestion index that the highway section traffic behavior is differentiated.For achieving the above object, the traffic state judging method that proposes of the present invention comprises the section traffic flow data obtains in the information issue interval level and smooth step, the speed of step traffic flow parameter block up exponential sum occupation rate block up step, critical velocity that index calculates the block up step that index calculates, the step of traffic congestion index calculating, the step of road section traffic volume condition discrimination.
The traffic state judging method that the present invention proposes has comprised the laying situation of three kinds of section detecting devices: one group of section detecting device traffic state judging is arranged, many group detecting device traffic state judgings, sensorless traffic state judgings are arranged.
It is a kind of urban road traffic state method of discrimination that one group of section detecting device traffic state judging is arranged, differentiate the highway section and only have one group of detecting device, obtain traffic flow data by detecting device in each issue interval, determine the traffic congestion index, interval according to predefined traffic congestion index ranking, judge traffic behavior.
It is to differentiate the highway section many group detecting devices are arranged that many group section detecting device traffic state judgings are arranged, interval according to predefined traffic congestion index ranking according to each group detector location COMPREHENSIVE CALCULATING road section traffic volume index that blocks up, and carries out traffic behavior and judges.
The sensorless traffic state judging is a kind of of urban road traffic state differentiation, and differentiating the highway section does not have detecting device, according to the traffic behavior of upstream and downstream line, realizes the traffic state judging in this highway section by setting upstream and downstream traffic behavior weight.
The basic step of this method is as follows:
C1, from each track, obtain these three traffic flow parameters of the magnitude of traffic flow, speed and time occupancy in this this track of detection section each section detecting device according to the pre-determined sampling interval time; Then obtain the magnitude of traffic flow, speed and time occupancy that information issue interval characterizes this this track traffic stream characteristics of detection section; Traffic flow parameter is carried out pre-service, obtain the magnitude of traffic flow, speed and time occupancy that information issue interval characterizes this detection section traffic stream characteristics.
C2, traffic flow parameter level and smooth.
C3, according to the pretreated traffic flow parameter computing velocity exponential sum occupation rate index that blocks up that blocks up.
C4, according to the critical velocity corresponding to the critical speed calculation of the dividing category of roads index that blocks up.
C5, calculate index---the traffic congestion index that comprehensively blocks up according to the speed exponential sum occupation rate index that blocks up that blocks up.
C6, the critical velocity that obtains according to the step c4 traffic congestion index that exponential sum c5 obtains that blocks up is judged the highway section traffic behavior.
The process of obtaining the arithmetic for real-time traffic flow parameter among the step c1 comprises:
C11, determine the highway section of required detection and highway section section Loop detector layout situation.
C12, specified data sampling interval: choosing sampling interval is 1 minute.
C13, by the magnitude of traffic flow, speed and time occupancy data on every track in each sampling interval of ring section detector acquisition.
C14, calculate in each information issue interval the magnitude of traffic flow, speed and time occupancy data on every track by the magnitude of traffic flow, speed and time occupancy data on every track in each sampling interval.
C15, each the track arithmetic for real-time traffic flow parameter that obtains among the step c14 is carried out pre-service, obtain characterizing the traffic flow parameter of this detection section.
For each the section detecting device on every track, obtain the magnitude of traffic flow and the time occupancy in corresponding track among the step c13, and the speed of each car;
Obtaining traffic flow parameter from the section detecting device specifically comprises:
C131, obtain traffic flow parameter;
The magnitude of traffic flow is passed through the vehicle number of this section detecting device in each sampling interval in namely one minute, and unit is veh;
Figure 2012105070800100002DEST_PATH_IMAGE001
In the formula: i---of this highway section iThe bar track;
k---the kIndividual sampling interval;
n---in the sampling interval by the of this section detecting device nCar;
Figure 882332DEST_PATH_IMAGE002
---the kIndividual sampling interval iPass through the vehicle number of this section detecting device on the bar track;
Figure 2012105070800100002DEST_PATH_IMAGE003
---the kIndividual sampling interval iThe magnitude of traffic flow in bar track;
C132, acquisition speed parameter;
Average velocity passes through the average velocity of all vehicles of this section detecting device in each sampling interval in namely one minute, and unit is km/h;
Figure 761295DEST_PATH_IMAGE004
In the formula:
Figure 2012105070800100002DEST_PATH_IMAGE005
---the kIndividual sampling interval iThe average velocity of bar track vehicle.
Figure 685258DEST_PATH_IMAGE006
---the nThe car speed during by the section detecting device;
C133, acquisition time occupation rate parameter;
Time occupancy is that all vehicles by this section detecting device take the T.T. of detecting device and 1 minute number percent in one minute in each sampling interval.
Figure 2012105070800100002DEST_PATH_IMAGE007
In the formula:
Figure 333277DEST_PATH_IMAGE008
---the nCar occupies the time of detecting device during by the section detecting device;
Figure 2012105070800100002DEST_PATH_IMAGE009
---the kIndividual sampling interval iThe occupation rate in bar track;
Need to reject the abnormal data of each track section detecting device among the step c14, can adopt the threshold value screening method, namely reject the magnitude of traffic flow, speed and the time occupancy data that surpass certain threshold value; Then it is synthetic also to need to carry out information issue interval data to qualified data, obtains in each information issue interval the magnitude of traffic flow, speed and time occupancy data on every track, and detailed step is as follows:
Traffic flow parameter processing in c141, each information issue interval on every track;
The magnitude of traffic flow is namely issued the vehicle number that passes through this section detecting device in the interval in the issue interval, and unit is veh, that is:
Figure 890684DEST_PATH_IMAGE010
In the formula: k---the kIndividual sampling interval,
Figure 2012105070800100002DEST_PATH_IMAGE011
m---information issue interval, m=1,2,3,4,5,10,15 ... Deng;
---the iFlow in the bar lane information issue interval;
Speed parameter processing in c142, each information issue interval on every track;
Average velocity is in the issue interval, the weighted mean value of each sampling interval average velocity, and take the flow of each sampling interval as weight, unit is km/h, that is:
Figure 2012105070800100002DEST_PATH_IMAGE013
In the formula:
Figure 469750DEST_PATH_IMAGE014
---the iAverage velocity in the bar lane information issue interval.
Time occupancy parameter processing in c143, each information issue interval on every track
Time occupancy is got the mean value of each sampling interval time occupancy in the issue interval, that is:
Figure 2012105070800100002DEST_PATH_IMAGE015
In the formula: ---the iOccupation rate in the bar lane information issue interval;
5. among the step c15 traffic flow parameter on every track in each information issue interval is synthesized, obtain the corresponding section magnitude of traffic flow, time occupancy and speed;
C151, section traffic flow parameter are processed;
The section flow is for passing through the vehicle number of this section in the issue interval, i.e. each track flow sum, and unit is veh, that is:
In the formula: j---the jIndividual information issue interval;
---the jThe section flow at individual information issue interval;
C152, section speed parameter are processed
Section speed is the weighted mean value of track average velocity, and take the track flow as weight, unit is km/h, that is:
Figure 2012105070800100002DEST_PATH_IMAGE019
In the formula:
Figure 616457DEST_PATH_IMAGE020
---the jThe velocity amplitude at individual information issue interval.
C152, section time occupancy parameter are processed;
The section time occupancy is the mean value of Ratio of driveway occupancy time, that is:
In the formula:
Figure 632955DEST_PATH_IMAGE022
---the jIndividual information issue interlude occupation rate.
Step c2 detects the profile data that obtains to reality and carries out smoothing processing, and the stability of assurance system operation reduces the interference of enchancement factor, keeps the continuity and stability of traffic behavior issue, is calculated as follows in detail:
Figure 2012105070800100002DEST_PATH_IMAGE023
Figure 255566DEST_PATH_IMAGE024
In the formula: ---the after level and smooth jTime occupancy in the individual information issue interval;
Figure 214164DEST_PATH_IMAGE026
---the after level and smooth jVelocity amplitude in the individual information issue interval;
Figure 102485DEST_PATH_IMAGE018
---the jSection flow in the individual information issue interval;
Figure 171941DEST_PATH_IMAGE022
---the jTime occupancy in the individual information issue interval;
Figure 524425DEST_PATH_IMAGE020
---the jSpeed in the individual information issue interval;
β---Smoothing factor has β 1 , β 2 , β 3
Step c3 carries out normalized with traffic flow data, the speed of the obtaining exponential sum time occupancy index that blocks up that blocks up, and detailed step is as follows.
The c31 speed index that blocks up;
Suppose that the block up relation of index of speed and speed is linear, and the minimum value of speed (0) and maximal value (
Figure 2012105070800100002DEST_PATH_IMAGE027
) the corresponding speed index that blocks up is respectively 1,0.The block up computing formula of index of speed is:
Figure 594537DEST_PATH_IMAGE028
In the formula: J v ---the speed index that blocks up;
Figure 32471DEST_PATH_IMAGE027
---free stream velocity;
Figure 2012105070800100002DEST_PATH_IMAGE029
---the section speed after level and smooth.
The c32 time occupancy index that blocks up;
Time occupancy and the time occupancy index that blocks up is linear, the minimum value of time occupancy (0) and maximal value (
Figure 577722DEST_PATH_IMAGE030
) the corresponding speed index that blocks up is respectively 0,1.Then the block up computing formula of index of time occupancy is as follows:
Figure 2012105070800100002DEST_PATH_IMAGE031
In the formula: J o ---the time occupancy index that blocks up;
---the historical maximal value of time occupancy;
Figure 288375DEST_PATH_IMAGE032
---the section time occupancy after level and smooth.
Step c4 is according to the critical velocity value of urban road grade classification
Figure 2012105070800100002DEST_PATH_IMAGE033
,
Figure 338240DEST_PATH_IMAGE034
Urban road traffic state is divided into block up, slow and unimpeded three grades, according to the critical velocity value
Figure 500231DEST_PATH_IMAGE033
, Calculate the corresponding critical velocity index that blocks up:
Figure 2012105070800100002DEST_PATH_IMAGE035
Figure 273508DEST_PATH_IMAGE036
In the formula: J 1, J 2---the critical value that traffic behavior changes;
Figure 810668DEST_PATH_IMAGE033
,
Figure 966231DEST_PATH_IMAGE034
---the critical velocity that traffic behavior is divided;
v f ---free stream velocity.
The step c5 fusion speed exponential sum time occupancy index that blocks up that blocks up is set up the comprehensive index of blocking up---traffic congestion index, and detailed step is as follows:
The single group of c51 detecting device highway section
Figure 2012105070800100002DEST_PATH_IMAGE037
In the formula, J---the composite target of traffic state judging is called the traffic congestion index;
J v ---the speed index that blocks up;
J o ---the time occupancy index that blocks up;
η---The weight coefficient of speed index and time occupancy index, value are 0-1, and system can be defaulted as 0.5, and adjust according to actual conditions.
C52 organizes the detecting device highway section more
When having many group section detecting devices, need to carry out the traffic congestion index that comprehensive distinguishing calculates line according to the position of section detecting device.
Figure 210130DEST_PATH_IMAGE038
In the formula: J Di ---detecting device iThe traffic congestion index;
l Di ---detecting device iDistance to its downstream detector;
l d1 ---apart from the distance of stop line nearest detecting device in downstream apart from stop line.
C53 is without detecting the highway section
During upstream and downstream highway section equal sensorless, this road section traffic volume state is grey, and is namely unknown.
Upstream or downstream are provided with detecting device, and this road section traffic volume state then above downstream road section traffic behavior is foundation, utilize upstream and downstream traffic congestion index to calculate the traffic congestion index in this highway section.
Figure 2012105070800100002DEST_PATH_IMAGE039
(18)
In the formula: J Up ---the traffic congestion index of upstream detector;
J Down ---the traffic congestion index of downstream detector;
Figure 711388DEST_PATH_IMAGE040
---the weight coefficient of upstream and downstream detecting device traffic congestion index, when the sensorless of highway section, downstream,
Figure 2012105070800100002DEST_PATH_IMAGE041
When the sensorless of highway section, upstream,
Figure 676457DEST_PATH_IMAGE042
When upstream and downstream all has detecting device,
Figure 2012105070800100002DEST_PATH_IMAGE043
Step c6 has considered the problem processed at the critical localisation that traffic behavior changes, the credibility interval of namely adopting traffic behavior to change.Definition ± Δ JInterval for the normal fluctuation of state variation, then the detailed step of traffic state judging is as follows.
If c61 jIn the individual issue interval, when traffic behavior is red, judge the J+1Issue interval traffic state judging is according to being:
1. work as The time, traffic behavior is red;
2. work as
Figure 2012105070800100002DEST_PATH_IMAGE045
The time, traffic behavior is yellow;
3. work as
Figure 918137DEST_PATH_IMAGE046
The time, traffic behavior is green.
If c62 jIn the individual issue interval, when traffic behavior is yellow, judge the J+1Issue interval traffic state judging is according to being:
1. work as
Figure 2012105070800100002DEST_PATH_IMAGE047
The time, traffic behavior is red;
2. at that time, traffic behavior was yellow;
3. work as The time, traffic behavior is green.
If c63 jIn the individual issue interval, when traffic behavior is green, judge the J+1Issue interval traffic state judging is according to being:
1. work as
Figure 2012105070800100002DEST_PATH_IMAGE051
The time, traffic behavior is red;
2. work as
Figure 2012105070800100002DEST_PATH_IMAGE053
The time, traffic behavior is yellow;
3. work as
Figure 2012105070800100002DEST_PATH_IMAGE055
The time, traffic behavior is green.
In the above-mentioned rule, Δ J 1 With Δ J 2 Value need to be according to the actual conditions setting.
Beneficial effect of the present invention: the transport information that the present invention is based on some detection sections on the highway section, consider multiple traffic flow parameter, this highway section of automatic discrimination traffic behavior of living in, the method adopts and tries one's best few discrimination threshold and take full advantage of existing resource simultaneously, is easy to Project Realization.
Description of drawings
Fig. 1 is the traffic state judging method flow diagram;
Fig. 2 is speed and the speed number mark relation curves that block up;
Fig. 3 is time occupancy and the time occupancy exponential relationship curve that blocks up;
Fig. 4 is line Loop detector layout synoptic diagram;
Fig. 5 is traffic state judging.
Embodiment
The present invention will be described in detail below in conjunction with accompanying drawing, and as shown in Figure 1, concrete steps of the present invention are:
Step 1 is obtained track sampling interval data:
Certain highway section iThe computing formula of flow, average velocity and time occupancy is as follows in the sampling interval of bar track:
Figure 2012105070800100002DEST_PATH_IMAGE057
(1)
(2)
Figure DEST_PATH_IMAGE061
(3)
In the formula: i---of this highway section iThe bar track;
k---the kIndividual sampling interval;
n---in the sampling interval by the of this section detecting device nCar;
Figure DEST_PATH_IMAGE063
---the kIndividual sampling interval iPass through the vehicle number of this section detecting device on the bar track;
Figure DEST_PATH_IMAGE065
---the nCar occupies the time of detecting device during by the section detecting device;
---the nThe car speed during by the section detecting device;
Figure DEST_PATH_IMAGE069
---the kIndividual sampling interval iThe flow in bar track;
Figure DEST_PATH_IMAGE071
---the kIndividual sampling interval iThe occupation rate in bar track;
---the kIndividual sampling interval iThe average velocity of bar track vehicle.
Step 2 is calculated lane information issue interval data:
The time interval of supposing the information issue is mMinute, m=1,2,3,4,5,10,15 ... Deng, then iFlow in the bar lane information issue interval
Figure DEST_PATH_IMAGE075
For mThe algebraic sum of individual sampling interval, time occupancy
Figure DEST_PATH_IMAGE077
For mThe mean value of individual sampling interval, speed
Figure DEST_PATH_IMAGE079
For mThe weighted mean value of individual sampling interval, computing formula is as follows.
Figure DEST_PATH_IMAGE081
(4)
Figure DEST_PATH_IMAGE083
(5)
Figure DEST_PATH_IMAGE085
(6)
In the formula: k---the kIndividual sampling interval,
Figure DEST_PATH_IMAGE087
m---information issue interval, m=1,2,3,4,5,10,15 ... Deng;
Figure 859522DEST_PATH_IMAGE088
---the iFlow in the bar lane information issue interval;
Figure DEST_PATH_IMAGE089
---the iOccupation rate in the bar lane information issue interval;
---the iAverage velocity in the bar lane information issue interval.
Step 3 is synthesized the section traffic flow data:
Suppose that this detection section has lThe bar track, then the computing formula of section traffic flow data is as follows:
Figure 865710DEST_PATH_IMAGE092
(7)
Figure 756306DEST_PATH_IMAGE094
(8)
Figure 743241DEST_PATH_IMAGE096
(9)
In the formula: j---the jIndividual information issue interval;
Figure 289760DEST_PATH_IMAGE098
---the jThe section flow at individual information issue interval;
---the jIndividual information issue interlude occupation rate;
Figure 598567DEST_PATH_IMAGE102
---the jThe velocity amplitude at individual information issue interval.
Step 4 is carried out the level and smooth of traffic flow modes parameter:
Section time occupancy and speed adopt following methods to carry out smoothing processing:
Figure 753474DEST_PATH_IMAGE104
(10)
Figure 787289DEST_PATH_IMAGE106
(11)
In the formula:
Figure 685844DEST_PATH_IMAGE108
---the after level and smooth jTime occupancy in the individual information issue interval;
Figure 488715DEST_PATH_IMAGE110
---the after level and smooth jVelocity amplitude in the individual information issue interval;
Figure DEST_PATH_IMAGE111
---the jSection flow in the individual information issue interval;
Figure 743417DEST_PATH_IMAGE112
---the jTime occupancy in the individual information issue interval;
Figure DEST_PATH_IMAGE113
---the jSpeed in the individual information issue interval;
β---Smoothing factor has β 1 , β 2 , β 3
Step 5 determine to block up index and interval:
(1) speed index
Suppose that the block up relation of index of speed and speed is linear, block up shown in several relation curves such as Fig. 2 speed and speed.The block up computing formula of index of speed is:
Figure DEST_PATH_IMAGE115
(12)
In the formula: J v ---the speed index that blocks up;
Figure DEST_PATH_IMAGE117
---free stream velocity;
Figure DEST_PATH_IMAGE119
---the section speed after level and smooth.
(2) the time occupancy index that blocks up
The block up relation curve of index of time occupancy and time occupancy blocks up shown in the exponential relationship curve such as Fig. 3 time occupancy and time occupancy, and then the block up computing formula of index of time occupancy is as follows:
Figure DEST_PATH_IMAGE121
(13)
In the formula: J o ---the time occupancy index that blocks up;
Figure DEST_PATH_IMAGE123
---the historical maximal value of time occupancy;
Figure DEST_PATH_IMAGE125
---the section time occupancy after level and smooth.
(3) the speed index ranking that blocks up is divided
According to practical experience both domestic and external, the division of urban road traffic state should be the travel speed in highway section according to major parameter.Based on this consideration, the critical velocity value of dividing according to urban road grade and traffic behavior is divided into urban road traffic state and blocks up, slow and unimpeded three grades, as shown in the table.
Table 1 urban road speed divided rank
Figure DEST_PATH_IMAGE127
Can obtain the block up divided rank of index of speed according to the block up normalization formula of index and table 1 of speed, see Table 2.
Figure DEST_PATH_IMAGE129
(14)
Figure DEST_PATH_IMAGE131
(15)
In the formula: J 1, J 2---the critical value that traffic behavior changes;
Figure DEST_PATH_IMAGE133
,
Figure DEST_PATH_IMAGE135
---the critical velocity that traffic behavior is divided;
v f ---free stream velocity.
The table 2 urban road speed index divided rank of blocking up
Figure DEST_PATH_IMAGE137
Step 6 is set up the comprehensive index of blocking up:
(1) calculates single group detecting device road section traffic volume index that blocks up
Consider the impact of speed and time occupation rate, the composite target of setting up traffic state judging is as follows:
Figure DEST_PATH_IMAGE139
(16)
In the formula, J---the composite target of traffic state judging is called the traffic congestion index;
J v ---the speed index that blocks up;
J o ---the time occupancy index that blocks up;
η---The weight coefficient of speed index and time occupancy index, value are 0-1, and system can be defaulted as 0.5, and adjust according to actual conditions.
(2) calculate many group detecting device road section traffic volumes index that blocks up
When having many group section detecting devices, need to carry out the traffic congestion index that comprehensive distinguishing calculates line according to the position of section detecting device JLine Loop detector layout synoptic diagram is shown in Fig. 4 line Loop detector layout synoptic diagram.
Among the figure, x Up With x Down The coordinate position (coordinate with the intersection parking line replaces) that represents respectively the upstream and downstream crossing; x D1 , x d2 , x Di ..., x Dn Represent respectively from 1 to nThe coordinate position of individual section detecting device.
The traffic congestion index of line can be processed with the weighting of all detecting device traffic congestion indexes in this line and obtain, and its computing formula is as follows:
Figure DEST_PATH_IMAGE141
(17)
In the formula: J Di ---detecting device iThe traffic congestion index;
l Di ---detecting device iDistance to its downstream detector;
l d1 ---apart from the distance of stop line nearest detecting device in downstream apart from stop line.
(3) determine without detecting the road section traffic volume index that blocks up
During upstream and downstream highway section equal sensorless, this road section traffic volume state is grey, and is namely unknown.
Upstream or downstream are provided with detecting device, and this road section traffic volume state then above downstream road section traffic behavior is foundation, and the traffic congestion formula of index is as follows:
Figure DEST_PATH_IMAGE143
(18)
In the formula: J Up ---the traffic congestion index of upstream detector;
J Down ---the traffic congestion index of downstream detector;
Figure DEST_PATH_IMAGE145
---the weight coefficient of upstream and downstream detecting device traffic congestion index, when the sensorless of highway section, downstream,
Figure DEST_PATH_IMAGE147
When the sensorless of highway section, upstream, When upstream and downstream all has detecting device,
Figure DEST_PATH_IMAGE151
Step 7 is carried out traffic state judging:
When carrying out traffic state judging, the problem that the critical localisation that needs consideration to change at traffic behavior is especially processed is with the continuous and stable that guarantees that traffic behavior changes.Therefore, when carrying out traffic state judging, need to consider the credibility interval of state variation.Definition ± Δ JBe the normal fluctuation interval of state variation, then JDiscriminate interval can be expressed as traffic state judging figure (Fig. 5).
(1) if jIn the individual issue interval, when traffic behavior is red, judge the J+1Issue interval traffic state judging is according to being:
1. work as
Figure DEST_PATH_IMAGE153
The time, traffic behavior is red;
2. work as The time, traffic behavior is yellow;
3. work as
Figure DEST_PATH_IMAGE156
The time, traffic behavior is green.
(2) if jIn the individual issue interval, when traffic behavior is yellow, judge the J+1Issue interval traffic state judging is according to being:
1. work as
Figure 703676DEST_PATH_IMAGE157
The time, traffic behavior is red;
2. work as
Figure 143272DEST_PATH_IMAGE159
The time, traffic behavior is yellow;
3. work as The time, traffic behavior is green.
(3) if jIn the individual issue interval, when traffic behavior is green, judge the J+1Issue interval traffic state judging is according to being:
1. work as The time, traffic behavior is red;
2. work as The time, traffic behavior is yellow;
3. work as
Figure 571345DEST_PATH_IMAGE161
The time, traffic behavior is green.
In the above-mentioned rule, Δ J 1 With Δ J 2 Value need to be according to the actual conditions setting.

Claims (10)

1. based on the urban road traffic state method of discrimination of section detecting device, it is characterized in that the method may further comprise the steps:
C1, from each track, obtain these three traffic flow parameters of the magnitude of traffic flow, speed and time occupancy in this this track of detection section each section detecting device according to the pre-determined sampling interval time; Then obtain the magnitude of traffic flow, speed and time occupancy that information issue interval characterizes this this track traffic stream characteristics of detection section; Traffic flow parameter is carried out pre-service, obtain the magnitude of traffic flow, speed and time occupancy that information issue interval characterizes this detection section traffic stream characteristics;
C2, traffic flow parameter level and smooth;
C3, according to the pretreated traffic flow parameter computing velocity exponential sum occupation rate index that blocks up that blocks up;
C4, according to the critical velocity corresponding to the critical speed calculation of the dividing category of roads index that blocks up;
C5, calculate index---the traffic congestion index that comprehensively blocks up according to the speed exponential sum occupation rate index that blocks up that blocks up;
C6, the critical velocity that obtains according to the step c4 traffic congestion index that exponential sum c5 obtains that blocks up is judged the highway section traffic behavior.
2. the urban road traffic state method of discrimination based on the section detecting device according to claim 1, it is characterized in that: the process of obtaining the arithmetic for real-time traffic flow parameter among the step c1 comprises:
C11, determine the highway section of required detection and highway section section Loop detector layout situation;
C12, specified data sampling interval: choosing sampling interval is 1 minute;
C13, by the magnitude of traffic flow, speed and time occupancy data on every track in each sampling interval of ring section detector acquisition;
C14, calculate in each information issue interval the magnitude of traffic flow, speed and time occupancy data on every track by the magnitude of traffic flow, speed and time occupancy data on every track in each sampling interval;
C15, each the track arithmetic for real-time traffic flow parameter that obtains among the step c14 is carried out pre-service, obtain characterizing the traffic flow parameter of this detection section.
3. the urban road traffic state method of discrimination based on the section detecting device according to claim 2, it is characterized in that: among the step c13 for each the section detecting device on every track, obtain the magnitude of traffic flow and the time occupancy in corresponding track, and the speed of each car;
Obtaining traffic flow parameter from the section detecting device specifically comprises:
C131, obtain traffic flow parameter;
The magnitude of traffic flow is passed through the vehicle number of this section detecting device in each sampling interval in namely one minute, and unit is veh;
Figure 2012105070800100001DEST_PATH_IMAGE001
In the formula: i---of this highway section iThe bar track;
k---the kIndividual sampling interval;
n---in the sampling interval by the of this section detecting device nCar;
---the kIndividual sampling interval iPass through the vehicle number of this section detecting device on the bar track;
Figure 2012105070800100001DEST_PATH_IMAGE003
---the kIndividual sampling interval iThe magnitude of traffic flow in bar track;
C132, acquisition speed parameter;
Average velocity passes through the average velocity of all vehicles of this section detecting device in each sampling interval in namely one minute, and unit is km/h;
Figure 750681DEST_PATH_IMAGE004
In the formula:
Figure 2012105070800100001DEST_PATH_IMAGE005
---the kIndividual sampling interval iThe average velocity of bar track vehicle;
Figure 391615DEST_PATH_IMAGE006
---the nThe car speed during by the section detecting device;
C133, acquisition time occupation rate parameter;
Time occupancy is that all vehicles by this section detecting device take the T.T. of detecting device and 1 minute number percent in one minute in each sampling interval;
Figure 2012105070800100001DEST_PATH_IMAGE007
In the formula:
Figure 403565DEST_PATH_IMAGE008
---the nCar occupies the time of detecting device during by the section detecting device;
Figure 2012105070800100001DEST_PATH_IMAGE009
---the kIndividual sampling interval iThe occupation rate in bar track.
4. the urban road traffic state method of discrimination based on the section detecting device according to claim 2, it is characterized in that: the abnormal data that needs to reject each track section detecting device among the step c14, adopt the threshold value screening method, namely reject the magnitude of traffic flow, speed and the time occupancy data that surpass certain threshold value; Then it is synthetic qualified data to be carried out information issue interval data, obtains in each information issue interval the magnitude of traffic flow, speed and time occupancy data on every track, and detailed step is as follows:
Traffic flow parameter processing in c141, each information issue interval on every track
The magnitude of traffic flow is namely issued the vehicle number that passes through this section detecting device in the interval in the issue interval, and unit is veh, that is:
In the formula: k---the kIndividual sampling interval,
Figure 2012105070800100001DEST_PATH_IMAGE011
m---information issue interval,
Figure 430920DEST_PATH_IMAGE012
---the iFlow in the bar lane information issue interval;
Speed parameter processing in c142, each information issue interval on every track
Average velocity is in the issue interval, the weighted mean value of each sampling interval average velocity, and take the flow of each sampling interval as weight, unit is km/h, that is:
Figure 2012105070800100001DEST_PATH_IMAGE013
In the formula:
Figure 247566DEST_PATH_IMAGE014
---the iAverage velocity in the bar lane information issue interval;
Time occupancy parameter processing in c143, each information issue interval on every track
Time occupancy is got the mean value of each sampling interval time occupancy in the issue interval, that is:
Figure 2012105070800100001DEST_PATH_IMAGE015
In the formula:
Figure 797627DEST_PATH_IMAGE016
---the iOccupation rate in the bar lane information issue interval.
5. the urban road traffic state method of discrimination based on the section detecting device according to claim 2, it is characterized in that: among the step c15 traffic flow parameter on every track in each information issue interval is synthesized, obtain the corresponding section magnitude of traffic flow, time occupancy and speed;
C151, section traffic flow parameter are processed
The section flow is for passing through the vehicle number of this section in the issue interval, i.e. each track flow sum, and unit is veh, that is:
Figure 2012105070800100001DEST_PATH_IMAGE017
In the formula: j---the jIndividual information issue interval;
---the jThe section flow at individual information issue interval;
C152, section speed parameter are processed
Section speed is the weighted mean value of track average velocity, and take the track flow as weight, unit is km/h, that is:
Figure 2012105070800100001DEST_PATH_IMAGE019
In the formula: ---the jThe velocity amplitude at individual information issue interval;
C152, section time occupancy parameter are processed
The section time occupancy is the mean value of Ratio of driveway occupancy time, that is:
Figure 2012105070800100001DEST_PATH_IMAGE021
In the formula:
Figure 976171DEST_PATH_IMAGE022
---the jIndividual information issue interlude occupation rate.
6. the urban road traffic state method of discrimination based on the section detecting device according to claim 1, it is characterized in that: step c2 detects the profile data that obtains to reality and carries out smoothing processing, the stability of assurance system operation, reduce the interference of enchancement factor, keep the continuity and stability of traffic behavior issue, be calculated as follows in detail:
Figure 2012105070800100001DEST_PATH_IMAGE023
Figure 579190DEST_PATH_IMAGE024
In the formula:
Figure 2012105070800100001DEST_PATH_IMAGE025
---the after level and smooth jTime occupancy in the individual information issue interval;
Figure 537175DEST_PATH_IMAGE026
---the after level and smooth jVelocity amplitude in the individual information issue interval;
Figure 934659DEST_PATH_IMAGE018
---the jSection flow in the individual information issue interval;
Figure 476630DEST_PATH_IMAGE022
---the jTime occupancy in the individual information issue interval;
Figure 555444DEST_PATH_IMAGE020
---the jSpeed in the individual information issue interval;
β---Smoothing factor has β 1 , β 2 , β 3
7. the urban road traffic state method of discrimination based on the section detecting device according to claim 1, it is characterized in that: step c3 carries out normalized with traffic flow data, the speed of the obtaining exponential sum time occupancy index that blocks up that blocks up, detailed step is as follows;
The c31 speed index that blocks up
Suppose that the block up relation of index of speed and speed is linear, and the minimum value of speed (0) and maximal value (
Figure 2012105070800100001DEST_PATH_IMAGE027
) the corresponding speed index that blocks up is respectively 1,0; The block up computing formula of index of speed is:
Figure 115738DEST_PATH_IMAGE028
In the formula: J v ---the speed index that blocks up;
Figure 933390DEST_PATH_IMAGE027
---free stream velocity;
Figure 2012105070800100001DEST_PATH_IMAGE029
---the section speed after level and smooth;
The c32 time occupancy index that blocks up
Time occupancy and the time occupancy index that blocks up is linear, the minimum value of time occupancy (0) and maximal value (
Figure 24974DEST_PATH_IMAGE030
) the corresponding speed index that blocks up is respectively 0,1; Then the block up computing formula of index of time occupancy is as follows:
Figure 2012105070800100001DEST_PATH_IMAGE031
In the formula: J o ---the time occupancy index that blocks up;
Figure 969797DEST_PATH_IMAGE030
---the historical maximal value of time occupancy;
Figure 636795DEST_PATH_IMAGE032
---the section time occupancy after level and smooth.
8. the urban road traffic state method of discrimination based on the section detecting device according to claim 1, it is characterized in that: step c4 is according to the critical velocity value of urban road grade classification
Figure 2012105070800100001DEST_PATH_IMAGE033
,
Figure 641660DEST_PATH_IMAGE034
Urban road traffic state is divided into block up, slow and unimpeded three grades, according to the critical velocity value ,
Figure 313261DEST_PATH_IMAGE034
Calculate the corresponding critical velocity index that blocks up:
Figure 2012105070800100001DEST_PATH_IMAGE035
Figure 159732DEST_PATH_IMAGE036
In the formula: J 1, J 2---the critical value that traffic behavior changes;
,
Figure 995150DEST_PATH_IMAGE034
---the critical velocity that traffic behavior is divided;
v f ---free stream velocity.
9. the urban road traffic state method of discrimination based on the section detecting device according to claim 1, it is characterized in that: the step c5 fusion speed exponential sum time occupancy index that blocks up that blocks up, set up the comprehensive index of blocking up---traffic congestion index, detailed step is as follows:
The single group of c51 detecting device highway section
Figure 2012105070800100001DEST_PATH_IMAGE037
In the formula, J---the composite target of traffic state judging is called the traffic congestion index;
J v ---the speed index that blocks up;
J o ---the time occupancy index that blocks up;
η---The weight coefficient of speed index and time occupancy index, value are 0-1, and system can be defaulted as 0.5, and adjust according to actual conditions;
C52 organizes the detecting device highway section more
When having many group section detecting devices, need to carry out the traffic congestion index that comprehensive distinguishing calculates line according to the position of section detecting device;
Figure 94824DEST_PATH_IMAGE038
In the formula: J Di ---detecting device iThe traffic congestion index;
l Di ---detecting device iDistance to its downstream detector;
l d1 ---apart from the distance of stop line nearest detecting device in downstream apart from stop line;
C53 is without detecting the highway section
During upstream and downstream highway section equal sensorless, this road section traffic volume state is grey, and is namely unknown;
Upstream or downstream are provided with detecting device, and this road section traffic volume state then above downstream road section traffic behavior is foundation, utilize upstream and downstream traffic congestion index to calculate the traffic congestion index in this highway section;
(18)
In the formula: J Up ---the traffic congestion index of upstream detector;
J Down ---the traffic congestion index of downstream detector;
Figure 736414DEST_PATH_IMAGE040
---the weight coefficient of upstream and downstream detecting device traffic congestion index, when the sensorless of highway section, downstream,
Figure 2012105070800100001DEST_PATH_IMAGE041
When the sensorless of highway section, upstream,
Figure 83082DEST_PATH_IMAGE042
When upstream and downstream all has detecting device,
Figure 2012105070800100001DEST_PATH_IMAGE043
10. the urban road traffic state method of discrimination based on the section detecting device according to claim 1 is characterized in that: step c6 has considered the problem processed at the critical localisation that traffic behavior changes, the credibility interval of namely adopting traffic behavior to change; Definition ± Δ JInterval for the normal fluctuation of state variation, then the detailed step of traffic state judging is as follows;
If c61 jIn the individual issue interval, when traffic behavior is red, judge the J+1Issue interval traffic state judging is according to being:
1. work as
Figure 370975DEST_PATH_IMAGE044
The time, traffic behavior is red;
2. work as
Figure 444979DEST_PATH_IMAGE046
The time, traffic behavior is yellow;
3. work as
Figure 626562DEST_PATH_IMAGE048
The time, traffic behavior is green;
If c62 jIn the individual issue interval, when traffic behavior is yellow, judge the J+1Issue interval traffic state judging is according to being:
1. work as
Figure 144131DEST_PATH_IMAGE050
The time, traffic behavior is red;
2. work as The time, traffic behavior is yellow;
3. work as
Figure 485430DEST_PATH_IMAGE048
The time, traffic behavior is green;
If c63 jIn the individual issue interval, when traffic behavior is green, judge the J+1Issue interval traffic state judging is according to being:
1. work as
Figure 521519DEST_PATH_IMAGE050
The time, traffic behavior is red;
2. work as
Figure 473906DEST_PATH_IMAGE054
The time, traffic behavior is yellow;
3. work as
Figure 923342DEST_PATH_IMAGE056
The time, traffic behavior is green;
In the above-mentioned rule, Δ J 1 With Δ J 2 Value need to be according to the actual conditions setting.
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CN114862011A (en) * 2022-04-29 2022-08-05 上海理工大学 Road section time-interval traffic demand estimation method considering congestion state
CN114862011B (en) * 2022-04-29 2023-04-07 上海理工大学 Road section time-interval traffic demand estimation method considering congestion state
CN115862335A (en) * 2023-02-27 2023-03-28 北京理工大学前沿技术研究院 Congestion early warning method, system and storage medium based on vehicle-road information fusion
CN117877273A (en) * 2024-03-12 2024-04-12 山东高速股份有限公司 Intelligent high-speed traffic state judging method and system based on air-ground information fusion
CN117877273B (en) * 2024-03-12 2024-05-10 山东高速股份有限公司 Intelligent high-speed traffic state judging method and system based on air-ground information fusion

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