CN103778791B - A kind of traffic self-adaptation control method and device - Google Patents
A kind of traffic self-adaptation control method and device Download PDFInfo
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Abstract
Embodiments provide a kind of traffic self-adaptation control method and device, described method comprises: gather and keep straight on first kind traffic parameter corresponding to the traffic of phase place in Lv Bo direction, current crossing first; Gather the Equations of The Second Kind traffic parameter corresponding with the traffic of the first craspedodrome phase place described in Lv Bo direction, crossing, upstream; According to described first kind traffic parameter and described Equations of The Second Kind traffic parameter, determine the first green light start-up time of the first craspedodrome phase place described in current crossing; According to described first kind traffic parameter and described Equations of The Second Kind traffic parameter, determine the first long green light time that described in current crossing, the first craspedodrome phase place is corresponding; Open the green light of the first craspedodrome phase place described in current crossing at described first green light start-up time, and control long green light time is described first long green light time.The present invention, by green light start-up time, the duration of conditioning signal lamp, makes the multiple signal lamp intersections by green wave band that as far as possible many vehicles can not stop.
Description
Technical field
The present invention relates to traffic signalization field, particularly relate to a kind of traffic self-adaptation control method and device.
Background technology
Urban traffic adaptive control system has more and more been introduced in Chinese city signal lamp control system, and wherein the SCOOT of Britain and the SCATS system of Australia are comparatively proven technique.But there are two major issues at present in this system: phase differential real-time optimization ability and alternatives solidification, limit this adaptive control system and be applied in main line Philodendron ‘ Emerald Queen'.Scholar is had to propose the solution of some.
Comparatively simple implementation method is the driving behavior of direct drivers of releasing news, when detect vehicle can with current vehicle speed by intersection, downstream time, recommend a stable speed of operation to driver; When detect vehicle cannot with current vehicle speed by time, provide one slow down suggestion, enable vehicle reduce the parking waiting time at downstream intersection as far as possible, thus reduce oil consumption.This green ripple control method transfers to vehicle driver control object from signal lamp group, avoid and the complex optimization of signal lamp group is calculated, certain green ripple effect can be formed, decrease the stop frequency of vehicle, but but do not improve the traffic capacity of road, and be that the control effects of the control strategy of control object cannot ensure, because driver can select to ignore the driving recommendations that information bulletin board is issued with driver.
Major part is by the signal lamp group control strategy that is control objectives still based on the algebraic method of classics and graphical method, and need the common period determining each crossing in green wave band, each crossing is run with this common period.The method can simplify the design of green ripple direction phase differential, but due to each intersection vehicle flux characteristic inconsistent, the waste of some green time can be caused, be unfavorable for improving all importers at crossing to the overall traffic capacity of vehicle.The green ripple being goal in research with whole piece green wave band controls usually to need each crossing to intercom mutually with central control machine, and configuration parameter returns to signal lamp group the most at last, whole process need transmits a large amount of data between central control machine and each crossing controller, and the global optimization method calculated amount based on raw data is large, be unfavorable for that realizing real-time green ripple controls.
Summary of the invention
The object of the embodiment of the present invention is to provide a kind of traffic self-adaptation control method and device, when road traffic saturation degree is 0.6 ~ 0.9 time, by green light start-up time and the long green light time of conditioning signal lamp, make the multiple signal lamp intersections by green wave band that as far as possible many vehicles can not stop.
For achieving the above object, embodiments provide a kind of traffic self-adaptation control method, for controlling the multiple traffic lights in a green wave band, described traffic self-adaptation control method comprises:
To gather and keep straight on first kind traffic parameter corresponding to the traffic of phase place in Lv Bo direction, current crossing first;
Gather the Equations of The Second Kind traffic parameter corresponding with the traffic of the first craspedodrome phase place described in Lv Bo direction, crossing, upstream;
According to described first kind traffic parameter and described Equations of The Second Kind traffic parameter, determine the first green light start-up time of the first craspedodrome phase place described in current crossing;
According to described first kind traffic parameter and described Equations of The Second Kind traffic parameter, determine the first long green light time that described in current crossing, the first craspedodrome phase place is corresponding;
Open the green light of the first craspedodrome phase place described in current crossing at described first green light start-up time, and control long green light time is described first long green light time.
Above-mentioned traffic self-adaptation control method, wherein, described first kind traffic parameter comprises: vehicle flowrate parameter and occupation rate parameter;
Described Equations of The Second Kind traffic parameter comprises: green light start-up time corresponding on phase place is kept straight in green ripple direction first, long green light time and vehicle queue length.
Above-mentioned traffic self-adaptation control method, wherein, described vehicle flowrate parameter is specially the ratio of vehicle flowrate and corresponding road passage capability.
Above-mentioned traffic self-adaptation control method, wherein, described according to described first kind traffic parameter and described Equations of The Second Kind traffic parameter, determine that the first green light start-up time of the first craspedodrome phase place described in current crossing specifically comprises:
A phase differential is calculated according to described first kind traffic parameter and described Equations of The Second Kind traffic parameter; Described phase differential is the mistiming of current crossing and crossing, upstream green light start-up time on phase place is kept straight in green ripple direction first;
The mistiming of current crossing green light start-up time in green ripple direction craspedodrome phase place in the first moment and crossing, upstream is when reaching described phase differential, determines that the first moment was keep straight on the first green light start-up time of phase place in current crossing first.
Above-mentioned traffic self-adaptation control method, wherein, described according to described first kind traffic parameter and described Equations of The Second Kind traffic parameter, determine that the first green light start-up time of the first craspedodrome phase place described in current crossing specifically also comprises:
First kind traffic parameter according to described current crossing determines a correction phase differential;
The mistiming of described current crossing green light start-up time in green ripple direction craspedodrome phase place in the first moment and crossing, upstream is when reaching described phase differential, determine that the first moment was keep straight on mistiming that the first green light start-up time of phase place is specially the green light start-up time in green ripple direction craspedodrome phase place at current crossing and crossing, upstream of current crossing first reach the first moment of target phase difference, determine that described first moment is the first green light start-up time of described first craspedodrome phase place; Described target phase difference is described phase differential and described correction phase differential sum.
Above-mentioned traffic self-adaptation control method, wherein, described phase differential ΔΦ is:
Wherein, L is the distance between current crossing and crossing, upstream, and l is vehicle queue length on Lv Bo direction, crossing, upstream, v
ffor speed of a motor vehicle when vehicle flowrate is approximately zero, Q is vehicle flowrate, and k represents maximum vehicle density, t
0because vehicle is at the uniform velocity travelled and the time loss caused by static accelerating to.
Above-mentioned traffic self-adaptation control method, wherein, described craspedodrome phase place comprises craspedodrome direction and right-hand rotation direction; First long green light time corresponding to described first craspedodrome phase place is the maximal value in the long green light time in craspedodrome direction and the long green light time in corresponding right-hand rotation direction.
Above-mentioned traffic self-adaptation control method, wherein, the long green light time in described first craspedodrome phase place craspedodrome direction is the first clearance duration of Lv Bo direction, current crossing through vehicles and crossing, clearance upstream the second clearance duration sum at green ripple direction through vehicles of letting pass;
Wherein, described first clearance duration is determined by current crossing first first kind traffic parameter corresponding to phase place of keeping straight on; Described second clearance duration is the long green light time of crossing, upstream in described first craspedodrome phase place and the product of a scale-up factor;
The long green light time in described first craspedodrome phase place right-hand rotation direction is determined by current crossing first first kind traffic parameter corresponding to phase place of keeping straight on.
In order to realize object of the present invention, the embodiment of the present invention additionally provides a kind of traffic adaptive controller, and for controlling the multiple traffic lights in a green wave band, described traffic adaptive controller comprises:
First acquisition module, the first kind traffic parameter that the traffic for gathering phase place of keeping straight on Lv Bo direction, current crossing first is corresponding;
Second acquisition module, for gathering the Equations of The Second Kind traffic parameter corresponding with the traffic of the first craspedodrome phase place described in Lv Bo direction, crossing, upstream;
Green light start-up time determination module, for according to described first kind traffic parameter and described Equations of The Second Kind traffic parameter, determines the first green light start-up time of the first craspedodrome phase place described in current crossing;
Long green light time determination module, for according to described first kind traffic parameter and described Equations of The Second Kind traffic parameter, determines first long green light time corresponding with the first craspedodrome phase place described in current crossing;
Control module, for opening the green light of the first craspedodrome phase place described in current crossing at described first green light start-up time, and control long green light time is described first long green light time.
Above-mentioned traffic adaptive controller, wherein, described first kind traffic parameter comprises: vehicle flowrate parameter and occupation rate parameter;
Described Equations of The Second Kind traffic parameter comprises: green light start-up time corresponding on phase place is kept straight in green ripple direction first, long green light time and vehicle queue length.
Above-mentioned traffic adaptive controller, wherein, described vehicle flowrate parameter is specially the ratio of vehicle flowrate and corresponding road passage capability.
Above-mentioned traffic adaptive controller, wherein, described green light start-up time determination module specifically comprises:
Phase difference calculating module, for calculating a phase differential according to described first kind traffic parameter and described Equations of The Second Kind traffic parameter; Described phase differential is the mistiming of current crossing and crossing, upstream green light start-up time on phase place is kept straight in green ripple direction first;
Determine submodule, when the mistiming of green light start-up time in green ripple direction craspedodrome phase place reaches described phase differential in the first moment and crossing, upstream for current crossing, determine that the first moment was keep straight on the first green light start-up time of phase place in current crossing first.
Above-mentioned traffic adaptive controller, wherein, described green light start-up time determination module specifically also comprises:
Phase difference correction module, determines a correction phase differential for the first kind traffic parameter according to described current crossing;
Describedly determine that submodule reaches the first moment of target phase difference specifically for mistiming of the green light start-up time in green ripple direction craspedodrome phase place at current crossing and crossing, upstream, determine that described first moment is the first green light start-up time of described first craspedodrome phase place; Described target phase difference is described phase differential and described correction phase differential sum.
Above-mentioned traffic adaptive controller, wherein, described phase differential ΔΦ is:
Wherein, L is the distance between current crossing and crossing, upstream, and l is vehicle queue length on Lv Bo direction, crossing, upstream, v
ffor speed of a motor vehicle when vehicle flowrate is approximately zero, Q is vehicle flowrate, and k represents maximum vehicle density, t
0because vehicle is at the uniform velocity travelled and the time loss caused by static accelerating to.
Above-mentioned traffic adaptive controller, wherein, described craspedodrome phase place comprises craspedodrome direction and right-hand rotation direction; First long green light time corresponding to described first craspedodrome phase place is the maximal value in the long green light time in craspedodrome direction and the long green light time in corresponding right-hand rotation direction.
Above-mentioned traffic adaptive controller, wherein, the long green light time in described first craspedodrome phase place craspedodrome direction is the first clearance duration of Lv Bo direction, current crossing through vehicles and crossing, clearance upstream the second clearance duration sum at green ripple direction through vehicles of letting pass;
Wherein, described first clearance duration is determined by current crossing first first kind traffic parameter corresponding to phase place of keeping straight on; Described second clearance duration is the long green light time of crossing, upstream in described first craspedodrome phase place and the product of a scale-up factor;
The long green light time in described first craspedodrome phase place right-hand rotation direction is determined by current crossing first first kind traffic parameter corresponding to phase place of keeping straight on.
The embodiment of the present invention has following beneficial effect:
The embodiment of the present invention, by regulating green light start-up time and the long green light time of current belisha beacon, make the multiple signal lamp intersections by green wave band that as far as possible many vehicles can not stop, thus reduce mean delay time and the stop frequency of vehicle, reduce vehicle parking simultaneously and incur loss through delay the oil consumption and environmental pollution that bring;
The embodiment of the present invention, resolves into several subsystems by multiple crossing, take subsystem as the optimization method of control objectives, avoids the complicated algorithm of global optimization method, decrease the exchanges data between crossing controller and central control machine simultaneously;
The embodiment of the present invention, avoids the huge calculated amount that green wave band global optimization brings, can meet the requirement of real-time;
The embodiment of the present invention, when considering that Through Lane is separated with right-turn lane in craspedodrome phase place, craspedodrome phase place clearance duration should calculate long green light time respectively by the traffic parameter in two tracks, and determine final long green light time by both maximal values, ensure that the craspedodrome that this phase place is waited at stop line and right-turning vehicles can both be let pass.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of traffic self-adaptation control method in the embodiment of the present invention;
Fig. 2 is embodiment of the present invention system subdivision schematic diagram;
Fig. 3 a-3d is the schematic flow sheet of each fuzzy controller in the embodiment of the present invention;
Fig. 4 a-4c is the membership function schematic diagram of each fuzzy variable in the embodiment of the present invention;
Fig. 5 is the structural representation of traffic adaptive controller in the embodiment of the present invention.
Embodiment
For the embodiment of the present invention will be solved technical matters, technical scheme and advantage clearly, be described in detail below in conjunction with the accompanying drawings and the specific embodiments.
A kind of traffic self-adaptation control method of the embodiment of the present invention, for controlling the multiple traffic lights in a green wave band, as shown in Figure 1, described traffic self-adaptation control method comprises:
Step 11, gathers and keep straight on first kind traffic parameter corresponding to the traffic of phase place in Lv Bo direction, current crossing first;
Step 12, gathers the Equations of The Second Kind traffic parameter corresponding with the traffic of the first craspedodrome phase place described in Lv Bo direction, crossing, upstream;
Step 13, according to described first kind traffic parameter and described Equations of The Second Kind traffic parameter, determines the first green light start-up time of the first craspedodrome phase place described in current crossing;
Step 14, according to described first kind traffic parameter and described Equations of The Second Kind traffic parameter, determines the first long green light time that described in current crossing, the first craspedodrome phase place is corresponding;
Step 15, opens the green light of the first craspedodrome phase place described in current crossing at described first green light start-up time, and control long green light time is described first long green light time.
Said method gathers first kind traffic parameter corresponding to the traffic of phase place of keeping straight on Lv Bo direction, current crossing first respectively, the Equations of The Second Kind traffic parameter corresponding with the traffic of the first craspedodrome phase place described in Lv Bo direction, crossing, upstream, the first green light start-up time of the first craspedodrome phase place described in current crossing is jointly determined according to the described first kind and Equations of The Second Kind traffic parameter, the first corresponding long green light time, the green light of the first craspedodrome phase place described in current crossing is opened at described first green light start-up time, and control long green light time is described first long green light time.
Green wave band is divided into several subsystems by said method, and each subsystem internal has two crossings, if total N number of crossing in green wave band, then the number of subsystem is N-1.
Such as, shown in Fig. 2, in green wave band, have 4 crossings, be respectively crossing A, crossing B, crossing C, crossing D, then the subsystem number in this green wave band is 3, and crossing A and crossing B belongs to subsystem 1, crossing B and crossing C belongs to subsystem 2, and crossing C and crossing D belongs to subsystem 3.
After the subsystem crossing in green wave band being divided into one by one two-way mouth, do green wave band optimization for each subsystem, so just do not need, as most of disposal route, green wave band is done global optimization.Global optimization is generally carried out in CPU (central processing unit), the traffic parameter at each crossing must be converged to CPU (central processing unit), this adds increased the transmission of data stream.And the intersection annunciator of general adaptive control system is all the industrial computer having certain processing power, itself can carry out a certain amount of calculating.The processing power under degraded mode of the industrial computer of such as SCATS system is at Millisecond.The green light start-up time at the crossing in described green wave band is only relevant with each crossing traffic situation of subsystem internal with long green light time, and therefore the initial crossing of green wave band only needs to rely on the controller of self to complete calculating; The controller of non-initial crossing needs own and crossing, upstream controller carry out information interaction, to complete calculating, decrease the transmission of data stream.
In said method, described first kind traffic parameter comprises: vehicle flowrate parameter and occupation rate parameter;
Described Equations of The Second Kind traffic parameter comprises: green light start-up time corresponding on phase place is kept straight in green ripple direction first, long green light time and vehicle queue length.
Select and Lv Bo direction, current crossing first keep straight on first kind traffic parameter corresponding to the traffic of phase place time, vehicle flowrate parameter and occupation rate parameter is selected to be described, avoid choosing queue length, these parameters of vehicle density, because calculate queue length from the data that SCATS system directly exports, vehicle density be a very loaded down with trivial details process, and be difficult to the precision ensureing result of calculation, its dependent variable adopted in some document needs indirectly to solve, and solving model is current and immature; Select and Lv Bo direction, crossing, upstream first keep straight on Equations of The Second Kind traffic parameter corresponding to the traffic of phase place time, keep straight on green light start-up time corresponding in phase place, long green light time and vehicle queue length of green ripple direction first is selected to be described, this method avoid the huge calculated amount that green wave band global optimization brings, the requirement of real-time can be met.
In said method, in order to be applicable to different road, described vehicle flowrate parameter is specially the ratio of vehicle flowrate and corresponding road passage capability.
Vehicle flowrate is replaced with the ratio of vehicle flowrate and corresponding road passage capability in the embodiment of the present invention, this is because the design capacity of different road is different, only can not weigh the degree of crowding of road with vehicle flowrate, adopt the ratio of vehicle flowrate and corresponding road passage capability can meet different road and can adopt same membership function.
In said method, step 13 can be specially:
Step 131, calculates a phase differential according to described first kind traffic parameter and described Equations of The Second Kind traffic parameter; Described phase differential is the mistiming of current crossing and crossing, upstream green light start-up time on phase place is kept straight in green ripple direction first;
Step 132, when the mistiming of current crossing green light start-up time in green ripple direction craspedodrome phase place in the first moment and crossing, upstream reaches described phase differential, determines that the first moment was keep straight on the first green light start-up time of phase place in current crossing first.
From the vehicle in the green ripple direction at crossing, upstream through driving to current crossing after a while, ensure that green ripple vehicle do not stop through current crossing, the green light of phase place of just should keeping straight in the green ripple direction first at crossing, upstream is opened after certain hour, opens Lv Bo direction, current crossing first and to keep straight on the green light of phase place.Traffic according to current crossing, crossing, upstream determines a phase differential, described phase differential is the mistiming of current crossing and crossing, upstream green light start-up time on phase place is kept straight in green ripple direction first, after the green light of keeping straight on phase place in the green ripple direction first at crossing, upstream opens the described phase differential time period, keep straight on the green light of phase place in the green ripple direction first should opening current crossing.
Simultaneously, consider only according to the mistiming that described phase differential is determined to keep straight on current crossing and crossing, upstream in green ripple direction first phase place carried out letting pass, may be not accurate enough, should revise described phase differential according to the traffic at current crossing, the step 13 in said method can also be specially:
Step 131, calculates a phase differential according to described first kind traffic parameter and described Equations of The Second Kind traffic parameter; Described phase differential is the mistiming of current crossing and crossing, upstream green light start-up time on phase place is kept straight in green ripple direction first;
Step 132, the first kind traffic parameter according to described current crossing determines a correction phase differential;
Step 133, at current crossing and crossing, upstream, the mistiming of green light start-up time in green ripple direction craspedodrome phase place reaches the first moment of target phase difference, determines that described first moment is the first green light start-up time of described first craspedodrome phase place; Described target phase difference is described phase differential and described correction phase differential sum.
In said method, described phase differential ΔΦ is:
Wherein, L is the distance between current crossing and crossing, upstream, and l is vehicle queue length on Lv Bo direction, crossing, upstream, v
ffor speed of a motor vehicle when vehicle flowrate is approximately zero, Q is vehicle flowrate, and k represents maximum vehicle density, t
0because vehicle is at the uniform velocity travelled and the time loss caused by static accelerating to.
The speed travelled between adjacent two crossings is general has relation with highway layout speed per hour and vehicle density, and we take experimental formula to calculate green ripple vehicle arrival downstream road junction required time ΔΦ:
In formula, L is the distance between current crossing and crossing, upstream, and l is vehicle queue length on Lv Bo direction, crossing, upstream, v
ffor speed of a motor vehicle when vehicle flowrate is approximately zero, in urban transportation, this speed of a motor vehicle general is 40 ~ 60km/h, Q is vehicle flowrate, and k represents maximum vehicle density, t
0because vehicle is at the uniform velocity travelled and the time loss caused by static accelerating to, if vehicle runs into green light in intersection and directly passes through, now t
0=0s, if run into red light, needs to stop waiting for, so value generally gets t
0=3s.
After the ΔΦ time opened by green light on Lv Bo direction, last crossing, the craspedodrome phase place green light at next crossing is opened, a correction phase differential Φ ' can be determined according to the first kind traffic parameter at described current crossing, target phase difference is ΔΦ+Φ ', the embodiment of the present invention forms a phase differential fuzzy control logic according to the deterministic process of phase differential, as shown in Figure 3 a, the phase differential fuzzy control logic correction phase differential of one three input one output is designed by vehicle flowrate parameter FlwRate, occupation rate parameter Occupancy and time headway HeadWay.The car speed of normal traveling is generally at about 50km/h, if two adjacent intersections are in a green wave band, general distance is less than 800 meters, then phase differential is less than 50 seconds certainly.Therefore the membership function of phase differential gets the fluctuation range that [-9,9] then can describe phase differential substantially, as shown in fig. 4 a.The output valve Φ ' of phase differential fuzzy control logic is modified value, finally determines that the target phase difference between two intersections is ΔΦ+Φ '.The value of phase differential can reflect the change of road traffic condition.
Solving of phase differential is divided into two processes by said process, and be first the value range ΔΦ solved roughly, the output valve Φ ' then by setting up offset optimization fuzzy control logic revises further.Because affect the signal lamp opening because have the spacing at the adjacent crossing of two-phase, vehicle flowrate, occupation rate, Lv Bo direction, crossing, upstream of phase differential, be difficult to an equation expression.General algebraic method, graphical method adopt distance, average velocity solves, and relatively bother from raw data excavation average velocity, and average velocity is the concept in a statistical significance, and characterizing phase differential has certain error unavoidably.Input variable that fuzzy logic solves adopts occupation rate, vehicle flowrate, and this variable is easy to solve, and can dynamic response traffic, can characterize the change of phase differential more accurately.
Current crossing, when the vehicle carrying out other phase places except the first craspedodrome phase place is let pass, can be selected according to vehicle flowrate size, the phase place that clearance vehicle flowrate is maximum.Meanwhile, consider the psychological factor of driver, should ensure that the stand-by period of each phase place can not be long, namely guarantee that the stand-by period of other phase places except the first craspedodrome phase place is all no more than the threshold value t of a setting
lmt, according to the intersection of different brackets, the scope of this threshold value is generally t
lmt∈ [60,90] s.For each phase place arranges a timer Timer, when this phase place is converted to red light by green light, Timer opens, and when transferring green light to by red light, this timer resets.If the Timer of certain phase place exceedes the threshold value of setting when phase transition, then the priority of this result of decision is higher than the result of decision of discharge characteristic.Simultaneously the phase place opening time at current crossing also will coordinate crossing, upstream to form green wave band, preferentially meets Lv Bo direction, current crossing first and to keep straight on the clearance of phase place.
The embodiment of the present invention defines a kind of related functional entities according to said process, i.e. phase sequence optimal controller, for the clearance phase place of responsible optimization single intersection, its major function is the phase place that release permit crossing flow is maximum, and ensure that even if the wait vehicle of certain phase place is less, driver also need not wait for the long time, and crossing, upstream also will be coordinated to form green wave band simultaneously.
The Fuzzy control variable of design takes the variable such as dutycycle, vehicle flowrate and headstock distance that adaptive control system is easy to gather, and meanwhile, in order to the requirement of the green ripple of satisfied formation, the method for priority assign is taked in the design of phase sequence optimal controller.The superlative degree will ensure to form green wave band, is secondly ensure that any phase place can both be let pass within the regular hour, when these conditions are met, just calculates the phase place of letting pass according to the discharge characteristic of each phase place.
Concrete decision process, as shown in Figure 3 b:
Craspedodrome phase place green light is opened at crossing, IF ΔΦ+Φ ' front upstream,
Output opens downstream road junction craspedodrome phase place green light;
ElseifTimer
k≥t
lmt，
Output opens downstream road junction k phase place green light;
Else
Outputmax{Flow
1..., Flow
kin k phase place green light open.
In said method, described craspedodrome phase place comprises craspedodrome direction and right-hand rotation direction; First long green light time corresponding to described first craspedodrome phase place is the maximal value in the long green light time in craspedodrome direction and the long green light time in corresponding right-hand rotation direction.
In urban transportation, generally do not arrange separately right-hand rotation phase place, therefore craspedodrome phase place generally comprises craspedodrome direction and right-hand rotation direction.When not considering craspedodrome direction and right-hand rotation direction lane overlap, craspedodrome direction vehicle flowrate and right-hand rotation direction vehicle flowrate calculate as the input parameter of long green light time fuzzy controller by the embodiment of the present invention, and get both long green light time of maximal value as this phase place, as shown in Figure 3 c, ensure that the calculating of this phase place is more accurate.
Craspedodrome direction and right-hand rotation direction is divided into process respectively craspedodrome phase place, this considers that can the quality of control effects be not only form a good green wave band, should be also each crossing in green wave band all importers to comprehensive delay time at stop, parking rate minimum.When calculating the long green light time of craspedodrome phase place, choosing the maximal value of the output valve in craspedodrome direction and right-hand rotation direction as timing parameter, can ensure to reduce the delay time at stop of entirety by the vehicle that the clearance of this phase place is as far as possible many as far as possible.
In said method, the long green light time in described first craspedodrome phase place craspedodrome direction is the first clearance duration of Lv Bo direction, current crossing through vehicles and crossing, clearance upstream the second clearance duration sum at green ripple direction through vehicles of letting pass;
Wherein, described first clearance duration is determined by current crossing first first kind traffic parameter corresponding to phase place of keeping straight on; Described second clearance duration is the long green light time of crossing, upstream in described first craspedodrome phase place and the product of a scale-up factor;
The long green light time in described first craspedodrome phase place right-hand rotation direction is determined by current crossing first first kind traffic parameter corresponding to phase place of keeping straight on.
When crossing in a green wave band is non-initial crossing, green ripple direction first the first long green light time fuzzy control logic corresponding to phase place of keeping straight on not only has relation with this crossing traffic situation, also there is relation with the traffic at crossing, upstream, therefore described first long green light time is decomposed into the first clearance duration of this crossing vehicle of letting pass and the second clearance duration of the green ripple vehicle come from crossing, upstream of letting pass.
In order to form complete green ripple control system, different long green light time fuzzy control logic design proposals is taked to initial crossing and non-initial crossing, the crossing of initiating terminal subsystem, the phase place long green light time in its green wave band direction only and the traffic at this crossing self have relation, therefore the design of each phase place long green light time fuzzy controller at green wave band initiating terminal crossing only adopts vehicle flowrate, lane occupancy ratio two fuzzy variables as input parameter.But not the green light clearance duration of the phase place of initiating terminal crossing on green ripple direction then not only with four, this crossing importer to flow, occupation rate relevant, also and its crossing, upstream converge and vehicle flowrate have relation, specific implementation is as follows:
(1) initial crossing and Fei Lvbo direction, non-initial crossing long green light time
Choose the input variable of traffic parameter vehicle flowrate Flow and occupation rate Occupancy as fuzzy controller.In order to this algorithm is applicable to different road, the input variable relevant with flow adopts the ratio FlwRate of vehicle flowrate and road passage capability:,
FlwRate=Flow/Ns，
Above formula is road traffic design of traffic capacity formula in road traffic engineering.Wherein t
crepresent the signal period, t
grepresent the long green light time in the signal period, t
1represent that first car after green light started and by time of stop line, t
isrepresent keep straight on or right-turning vehicles by the Mean Time Between Replacement of stop line,
get 0.9.In the embodiment of the present invention, the variable in formula all gets the value of a variable in one-period, and as decision-making foundation, inputs fuzzy controller after process.Two fuzzy variables can be divided into five fuzzy languages PL, PS, ZO, NS, NL}, and membership function choose the triangular membership be respectively as shown in Fig. 4 b, 4c.Constitute the fuzzy control logic that one two input one exports.The long green light time of left turn phase just can export duration by such fuzzy controller and determine.
The embodiment of the present invention considers that Through Lane is separated with right-turn lane in craspedodrome phase place, craspedodrome phase place clearance duration should calculate long green light time respectively by the traffic parameter in two tracks, and determine final long green light time by both maximal values, can ensure that the craspedodrome that this phase place is waited at stop line and right-turning vehicles can both be let pass like this.But because right-turn lane is generally in the outside of road, certain impact can be subject to, lane capacity is once successively decreased from inner side to outside, from traffic engineering handbook, this lane capacity can be multiplied by a fixed proportion factor alpha on the basis of the Through Lane traffic capacity, α ≈ 0.9, as shown in Figure 3 c.
(2) Lv Bo direction, non-initial crossing long green light time
The green light start-up time in Lv Bo direction, non-initial crossing and unlatching duration all will be subject to the impact of upstream intersection.Therefore the clearance duration of this phase place is decomposed into let pass this crossing vehicle duration and the green ripple vehicle duration come from crossing, upstream of letting pass.The green ripple vehicle let pass in crossing, upstream arrives downstream road junction through certain hourage.This time is called as phase differential.Phase differential fuzzy control logic determination phase differential ΔΦ can be passed through.First current crossing lets pass the vehicle on this crossing stop line, the green ripple vehicle and reserved certain hour is let pass.Vehicle required time on clearance stop line is solved by the long green light time fuzzy control logic at this crossing, green ripple vehicle required time of letting pass needs the through vehicles scale-up factor parameter at last crossing, and this parameter can think a constant in certain duration, on certain specific road.Because green ripple vehicle may turn left at next crossing by there being Some vehicles behind a crossing or turn right, so can solve by the scale-up factor β of through vehicles the vehicle flow still continuing to keep straight on behind a crossing, and owing to generally keeping certain speed when green ripple vehicle travels, so can think green ripple vehicle let pass the time and vehicle flowrate proportional, then the green ripple vehicle in the next crossing time of letting pass is β GTime, and the decision process of Lv Bo direction, non-initial crossing phase place long green light time as shown in Figure 3 d.Wherein the long green light time of processing modules implement Through Lane solves.Suppose that the craspedodrome logical output values at last crossing and next crossing is respectively β GTime
drct, i, β GTime
drct, i+1, next crossing right-hand rotation logical output values is β GTime
right, i+1.Next crossing craspedodrome phase place green light clearance duration is:
T＝βGTime
Drct,i+GTime
Drct，i+1
Wherein β is that a upper crossing straightgoing vehicle flow accounts for the scale-up factor of this importer to vehicle flowrate summation.
Such as: suppose in a green wave band, to comprise 8 crossings, let pass vehicle time at each crossing is 60s, β is 0.4, form green wave band and must ensure 8 signal lamp intersections by green wave band that as far as possible many vehicles can not stop, the long green light time that phase place is kept straight in the green ripple direction first at corresponding each crossing is respectively:
First crossing, t
1=60s;
Second crossing, t
2=60+t
1* 0.4=84s;
3rd crossing, t
3=60+t
2* 0.4=93.6s;
4th crossing, t
4=60+t
3* 0.4=97.4s;
5th crossing, t
5=60+t
4* 0.4=99s;
6th crossing, t
6=60+t
5* 0.4=99.6s;
7th crossing, t
7=60+t
6* 0.4=99.8s;
8th crossing, t
8=60+t
7* 0.4=99.9s;
Along with the increase at crossing in green wave band, the keep straight on long green light time difference of phase place of the green ripple direction first at corresponding each crossing is more and more less, these computing method can ensure under the extreme condition that GTime and β is invariable, remain convergence by keep straight on sequence that long green light time corresponding to phase place form of the green ripple direction first at each crossing.
This method, by green wave band being divided into several two-way interface subsystem, adopts long green light time fuzzy controller, phase sequence optimal controller, phase differential optimizing fuzzy controller parameters, the optimization of done subsystem inside respectively in two-way interface subsystem inside.Between subsystems, independent calculating, finally completes distributing rationally of whole green wave band.Each controller also has its feature:
Long green light time fuzzy control logic considers craspedodrome direction in craspedodrome phase place and right-hand rotation direction, the vehicle flowrate of both direction is used to calculate long green light time as the input of fuzzy controller respectively, and get both maximal values as final signal lamp configuration parameter, thus ensure that any importer can both all be let pass to vehicle;
The multifactor variable that phase differential fuzzy control logic solves affects phase differential is difficult to the problem described with a formula, solving of phase differential is divided into two parts, first solved the approximate range of phase differential by the distance between macroscopical flow, adjacent intersection, calculated the correcting value of phase differential by vehicle flowrate, occupation rate real-time parameter;
It is the highest that phase sequence optimal controller considers priority main line being formed green wave band, next be ensure that the clearance stand-by period of any phase place can tolerate driver as far as possible scope within, last again by each phase flow flow characteristic decision clearance phase place and clearance phase place duration, this controller needs and long green light time fuzzy control logic, phase differential fuzzy control logic interactive mode work.
The embodiment of the present invention configures the parameters such as each crossing signals step by step from initial crossing, finally completes the parameter optimization configuration of whole green wave band.
Illustrate the process of whole traffic adaptive control below.
Philodendron ‘ Emerald Queen' needs subsystems to cooperatively interact, therefore long green light time fuzzy control logic, need clearly respective work-based logic order between phase differential fuzzy control logic and phase sequence optimal controller:
The green light phase place let pass in first crossing of green wave band is determined by the phase sequence optimal controller at this crossing, the Output rusults of each controller between subsystem internal two crossings can be transferred to the other side by cable or Wireless Telecom Equipment, as the output order of this crossing phase place of crossing A phase sequence optimal controller decision-making in Fig. 2;
The offset optimization controller of crossing B calculates the time ΔΦ+Φ ' required for this section of moment upstream crossing Lv Bo direction clearance vehicle to downstream road junction, if it is green ripple direction craspedodrome phase place that the phase sequence optimal controller of current crossing A exports phase place, crossing B open phase difference optimal controller also calculates ΔΦ+Φ ', and crossing B opens long green light time fuzzy control logic simultaneously;
If what the phase optimization controller of crossing B exported after the ΔΦ+Φ ' time is green ripple direction craspedodrome phase place, owing to guaranteeing that the priority forming green ripple is the highest, therefore the Output rusults that phase sequence is optimized is ignored, green ripple direction craspedodrome phase place of letting pass after the ΔΦ+Φ ' time;
If after the ΔΦ+Φ ' time, phase sequence optimal controller exports phase sequence is non-green ripple direction craspedodrome phase place, whether the phase sequence optimal controller of crossing B detects each phase place has time-out, if there is time-out, then this phase place of letting pass, otherwise to let pass corresponding phase place and phase place duration according to uninterrupted;
The foundation divided due to the degree of association and distance dependent, analyze according to actual intersection data, ΔΦ+Φ ' is generally no more than the time span of a craspedodrome phase place, so the clearance phase place at each crossing can be calculated respectively according to the order in green ripple direction, when crossing B performs clearance phase place after ΔΦ+Φ ', crossing C starts to open its each controller, and calculates its clearance phase place and phase place duration;
In order, each crossing in green wave band calculates respective clearance phase place and clearance long green light time respectively, completes the configuration of each parameter of whole green wave band.
The embodiment of the present invention additionally provides a kind of traffic adaptive controller, and for controlling the multiple traffic lights in a green wave band, as shown in Figure 5, described traffic adaptive controller comprises:
First acquisition module, the first kind traffic parameter that the traffic for gathering phase place of keeping straight on Lv Bo direction, current crossing first is corresponding;
Second acquisition module, for gathering the Equations of The Second Kind traffic parameter corresponding with the traffic of the first craspedodrome phase place described in Lv Bo direction, crossing, upstream;
Green light start-up time determination module, for according to described first kind traffic parameter and described Equations of The Second Kind traffic parameter, determines the first green light start-up time of the first craspedodrome phase place described in current crossing;
Long green light time determination module, for according to described first kind traffic parameter and described Equations of The Second Kind traffic parameter, determines first long green light time corresponding with the first craspedodrome phase place described in current crossing;
Control module, for opening the green light of the first craspedodrome phase place described in current crossing at described first green light start-up time, and control long green light time is described first long green light time.
Above-mentioned traffic adaptive controller, wherein, described first kind traffic parameter comprises: vehicle flowrate parameter and occupation rate parameter;
Described Equations of The Second Kind traffic parameter comprises: green light start-up time corresponding on phase place is kept straight in green ripple direction first, long green light time and vehicle queue length.
Above-mentioned traffic adaptive controller, wherein, described vehicle flowrate parameter is specially the ratio of vehicle flowrate and corresponding road passage capability.
Above-mentioned traffic adaptive controller, wherein, described green light start-up time determination module specifically comprises:
Phase difference calculating module, for calculating a phase differential according to described first kind traffic parameter and described Equations of The Second Kind traffic parameter; Described phase differential is the mistiming of current crossing and crossing, upstream green light start-up time on phase place is kept straight in green ripple direction first;
Determine submodule, when the mistiming of green light start-up time in green ripple direction craspedodrome phase place reaches described phase differential in the first moment and crossing, upstream for current crossing, determine that the first moment was keep straight on the first green light start-up time of phase place in current crossing first.
Above-mentioned traffic adaptive controller, wherein, described green light start-up time determination module specifically also comprises:
Phase difference correction module, determines a correction phase differential for the first kind traffic parameter according to described current crossing;
Describedly determine that submodule reaches the first moment of target phase difference specifically for mistiming of the green light start-up time in green ripple direction craspedodrome phase place at current crossing and crossing, upstream, determine that described first moment is the first green light start-up time of described first craspedodrome phase place; Described target phase difference is described phase differential and described correction phase differential sum.
Above-mentioned traffic adaptive controller, wherein, described phase differential ΔΦ is:
Wherein, L is the distance between current crossing and crossing, upstream, and l is vehicle queue length on Lv Bo direction, crossing, upstream, v
ffor speed of a motor vehicle when vehicle flowrate is approximately zero, Q is vehicle flowrate, and k represents maximum vehicle density, t
0because vehicle is at the uniform velocity travelled and the time loss caused by static accelerating to.
Above-mentioned traffic adaptive controller, wherein, described craspedodrome phase place comprises craspedodrome direction and right-hand rotation direction; First long green light time corresponding to described first craspedodrome phase place is the maximal value in the long green light time in craspedodrome direction and the long green light time in corresponding right-hand rotation direction.
Above-mentioned traffic adaptive controller, wherein, the long green light time in described first craspedodrome phase place craspedodrome direction is the first clearance duration of Lv Bo direction, current crossing through vehicles and crossing, clearance upstream the second clearance duration sum at green ripple direction through vehicles of letting pass;
Wherein, described first clearance duration is determined by current crossing first first kind traffic parameter corresponding to phase place of keeping straight on; Described second clearance duration is the long green light time of crossing, upstream in described first craspedodrome phase place and the product of a scale-up factor;
The long green light time in described first craspedodrome phase place right-hand rotation direction is determined by current crossing first first kind traffic parameter corresponding to phase place of keeping straight on.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (14)
1. a traffic self-adaptation control method, for controlling the multiple traffic lights in a green wave band, is characterized in that, described traffic self-adaptation control method comprises:
Gather and keep straight on first kind traffic parameter corresponding to the traffic of phase place in Lv Bo direction, current crossing first, described first kind traffic parameter comprises: vehicle flowrate parameter and occupation rate parameter;
Gather the Equations of The Second Kind traffic parameter corresponding with the traffic of the first craspedodrome phase place described in Lv Bo direction, crossing, upstream, described Equations of The Second Kind traffic parameter comprises: green light start-up time corresponding on phase place is kept straight in green ripple direction first, long green light time and vehicle queue length;
According to described first kind traffic parameter and described Equations of The Second Kind traffic parameter, determine the first green light start-up time of the first craspedodrome phase place described in current crossing;
According to described first kind traffic parameter and described Equations of The Second Kind traffic parameter, determine the first long green light time that described in current crossing, the first craspedodrome phase place is corresponding;
Open the green light of the first craspedodrome phase place described in current crossing at described first green light start-up time, and control long green light time is described first long green light time.
2. traffic self-adaptation control method as claimed in claim 1, is characterized in that, described vehicle flowrate parameter is specially the ratio of vehicle flowrate and corresponding road passage capability.
3. traffic self-adaptation control method as claimed in claim 2, it is characterized in that, described according to described first kind traffic parameter and described Equations of The Second Kind traffic parameter, determine that the first green light start-up time of the first craspedodrome phase place described in current crossing specifically comprises:
A phase differential is calculated according to described first kind traffic parameter and described Equations of The Second Kind traffic parameter; Described phase differential is the mistiming of current crossing and crossing, upstream green light start-up time on phase place is kept straight in green ripple direction first;
The mistiming of current crossing green light start-up time in green ripple direction craspedodrome phase place in the first moment and crossing, upstream is when reaching described phase differential, determines that the first moment was keep straight on the first green light start-up time of phase place in current crossing first.
4. traffic self-adaptation control method as claimed in claim 3, it is characterized in that, described according to described first kind traffic parameter and described Equations of The Second Kind traffic parameter, determine that the first green light start-up time of the first craspedodrome phase place described in current crossing specifically also comprises:
First kind traffic parameter according to described current crossing determines a correction phase differential;
The mistiming of described current crossing green light start-up time in green ripple direction craspedodrome phase place in the first moment and crossing, upstream is when reaching described phase differential, determine that the first moment was keep straight on mistiming that the first green light start-up time of phase place is specially the green light start-up time in green ripple direction craspedodrome phase place at current crossing and crossing, upstream of current crossing first reach the first moment of target phase difference, determine that described first moment is the first green light start-up time of described first craspedodrome phase place; Described target phase difference is described phase differential and described correction phase differential sum.
5. the traffic self-adaptation control method as described in claim 3 or 4, is characterized in that, described phase differential ΔΦ is:
Wherein, L is the distance between current crossing and crossing, upstream, and l is vehicle queue length on Lv Bo direction, crossing, upstream, v
ffor speed of a motor vehicle when vehicle flowrate is approximately zero, Q is vehicle flowrate, and k represents maximum vehicle density, t
0because vehicle is at the uniform velocity travelled and the time loss caused by static accelerating to.
6. traffic self-adaptation control method as claimed in claim 1, it is characterized in that, wherein, described craspedodrome phase place comprises craspedodrome direction and right-hand rotation direction; First long green light time corresponding to described first craspedodrome phase place is the maximal value in the long green light time in craspedodrome direction and the long green light time in corresponding right-hand rotation direction.
7. traffic self-adaptation control method as claimed in claim 6, it is characterized in that, the long green light time in described first craspedodrome phase place craspedodrome direction is the first clearance duration of Lv Bo direction, current crossing through vehicles and crossing, clearance upstream the second clearance duration sum at green ripple direction through vehicles of letting pass;
Wherein, described first clearance duration is determined by current crossing first first kind traffic parameter corresponding to phase place of keeping straight on; Described second clearance duration is the long green light time of crossing, upstream in described first craspedodrome phase place and the product of a scale-up factor;
The long green light time in described first craspedodrome phase place right-hand rotation direction is determined by current crossing first first kind traffic parameter corresponding to phase place of keeping straight on.
8. a traffic adaptive controller, for controlling the multiple traffic lights in a green wave band, is characterized in that, described traffic adaptive controller comprises:
First acquisition module, the first kind traffic parameter that the traffic for gathering phase place of keeping straight on Lv Bo direction, current crossing first is corresponding, described first kind traffic parameter comprises: vehicle flowrate parameter and occupation rate parameter;
Second acquisition module, for gathering the Equations of The Second Kind traffic parameter corresponding with the traffic of the first craspedodrome phase place described in Lv Bo direction, crossing, upstream, described Equations of The Second Kind traffic parameter comprises: green light start-up time corresponding on phase place is kept straight in green ripple direction first, long green light time and vehicle queue length;
Green light start-up time determination module, for according to described first kind traffic parameter and described Equations of The Second Kind traffic parameter, determines the first green light start-up time of the first craspedodrome phase place described in current crossing;
Long green light time determination module, for according to described first kind traffic parameter and described Equations of The Second Kind traffic parameter, determines first long green light time corresponding with the first craspedodrome phase place described in current crossing;
Control module, for opening the green light of the first craspedodrome phase place described in current crossing at described first green light start-up time, and control long green light time is described first long green light time.
9. traffic adaptive controller as claimed in claim 8, is characterized in that, described vehicle flowrate parameter is specially the ratio of vehicle flowrate and corresponding road passage capability.
10. traffic adaptive controller as claimed in claim 9, it is characterized in that, described green light start-up time determination module specifically comprises:
Phase difference calculating module, for calculating a phase differential according to described first kind traffic parameter and described Equations of The Second Kind traffic parameter; Described phase differential is the mistiming of current crossing and crossing, upstream green light start-up time on phase place is kept straight in green ripple direction first;
Determine submodule, when the mistiming of green light start-up time in green ripple direction craspedodrome phase place reaches described phase differential in the first moment and crossing, upstream for current crossing, determine that the first moment was keep straight on the first green light start-up time of phase place in current crossing first.
11. traffic adaptive controllers as claimed in claim 10, is characterized in that, described green light start-up time determination module specifically also comprises:
Phase difference correction module, determines a correction phase differential for the first kind traffic parameter according to described current crossing;
Describedly determine that submodule reaches the first moment of target phase difference specifically for mistiming of the green light start-up time in green ripple direction craspedodrome phase place at current crossing and crossing, upstream, determine that described first moment is the first green light start-up time of described first craspedodrome phase place; Described target phase difference is described phase differential and described correction phase differential sum.
12. traffic adaptive controllers as described in claim 10 or 11, it is characterized in that, described phase differential ΔΦ is:
Wherein, L is the distance between current crossing and crossing, upstream, and l is vehicle queue length on Lv Bo direction, crossing, upstream, v
ffor speed of a motor vehicle when vehicle flowrate is approximately zero, Q is vehicle flowrate, and k represents maximum vehicle density, t
0because vehicle is at the uniform velocity travelled and the time loss caused by static accelerating to.
13. traffic adaptive controllers as claimed in claim 8, is characterized in that, wherein, described craspedodrome phase place comprises craspedodrome direction and right-hand rotation direction; First long green light time corresponding to described first craspedodrome phase place is the maximal value in the long green light time in craspedodrome direction and the long green light time in corresponding right-hand rotation direction.
14. traffic adaptive controllers as claimed in claim 13, it is characterized in that, the long green light time in described first craspedodrome phase place craspedodrome direction is the first clearance duration of Lv Bo direction, current crossing through vehicles and crossing, clearance upstream the second clearance duration sum at green ripple direction through vehicles of letting pass;
Wherein, described first clearance duration is determined by current crossing first first kind traffic parameter corresponding to phase place of keeping straight on; Described second clearance duration is the long green light time of crossing, upstream in described first craspedodrome phase place and the product of a scale-up factor;
The long green light time in described first craspedodrome phase place right-hand rotation direction is determined by current crossing first first kind traffic parameter corresponding to phase place of keeping straight on.
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| CN103778791A (en) | 2014-05-07 |
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