CN104504918B - A kind of urban road bus signals mode of priority - Google Patents
A kind of urban road bus signals mode of priority Download PDFInfo
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- CN104504918B CN104504918B CN201410796922.8A CN201410796922A CN104504918B CN 104504918 B CN104504918 B CN 104504918B CN 201410796922 A CN201410796922 A CN 201410796922A CN 104504918 B CN104504918 B CN 104504918B
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- G08—SIGNALLING
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- G08G1/00—Traffic control systems for road vehicles
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- G08G1/00—Traffic control systems for road vehicles
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Abstract
The invention discloses a kind of urban road bus signals mode of priority.Described method utilizes networking signals control centre to control the open interface of end, it is achieved with the real-time, interactive of whistle control system；The RFID detector laid based on crossing detects public transit vehicle arrival situation in real time, it is achieved situation is waited in line at public transit vehicle crossing and next cycle vehicle due in is predicted；At current period, instructing by issuing PGC demodulation/unblock to whistle control system, dynamic implement public transport is passed through the prolongation of green time；Before next cycle starts, arrive situation based on vehicle queue and prediction vehicle, it is determined whether retain the public transport special stage.The present invention is relatively low without intersection annunciator is carried out upgrading, implementation cost and risk；While providing live signal preferential for public transit vehicle, it is to avoid in the case of do not have public transit vehicle to arrive crossing, the invalid use in public transport special stage, decrease bus signals preferentially for the negative effect of public vehicles.
Description
Technical field
The present invention relates to intelligent traffic signal control field, be specifically related to a kind of urban road bus signals mode of priority.
Background technology
Bus signals is preferentially one of effective way improving Bus Service level, and its principle is to provide priority signal for public transit vehicle in integrative design intersection, thus reduces the journey time of public transit vehicle, improves operational efficiency.But, current result of study shows that, due to the impact of public vehicles in the case of all-purpose road, the operation of bus is much limited, simultaneously because bus starting is slower, may interfere with the traveling of public vehicles, therefore bus signals preferentially can not obtain preferable implementation result.Bus can be separated by arranging of public transportation lane with public vehicles, effectively reduces influencing each other between bus and public vehicles, improves Bus Service level and traffic circulation efficiency.Yet with city size and the restriction of road width, split too much public transportation lane and can take path resource in a large number, cause the waste of soil and fund.
The proposition of right-hand rotation rideshare mode efficiently solves this contradiction, its principle is to utilize original right-hand rotation special lane, coordinate the control device of right turn on red, craspedodrome public transit vehicle is allowed to enter right-hand rotation special lane, and pass through when opening bright in public transport dedicated phase or association phase place, making bus can skip the queuing of vehicle in the same direction, spatially obtain preferential, this mode have also been obtained gratifying result in actual verification.But the signal for right-hand rotation rideshare controls, the most domestic way is typically to arrange the public transport special stage of fixing duration in signal timing plan, but preferentially there is obvious defect in the cpm signal of this fixing public transport dedicated phase, i.e. cannot adapt to the stochastic behaviour that public transit vehicle arrives, under conditions of there is no bus signals priority requirement, there is crossing green time waste and the problem of traffic circulation efficiency reduction.
Active signal preferentially can effectively make up the most preferential defect, public transit vehicle ruuning situation is identified analyzing by the most preferential mainly dependence detector, when detecting that public transit vehicle will arrive crossing, integrative design intersection scheme is carried out real-time adjustment, thus realizes the priority pass of public transit vehicle.The preferential control mode of active signal includes that green light extends, red light is the most disconnected, phase step, phase contrast enter, phase place reversing etc..Traffic administration abroad has been widely used and significant progress the most with aforesaid way in control, effectively raises service level and the operational efficiency of bus.But at home due to special circumstances and the restriction of old semaphore of mixed traffic, the methods such as red light is the most disconnected, phase place insertion, phase place reversing implement still has bigger difficulty, green light extends and phase step is more suitable for the whistle control system that China is current comparatively speaking, but its implementation result is the most not fully up to expectations.Giving full play to the controlled efficiency of whistle control system the most at home under current traffic conditions, significantly more efficient enforcement bus signals is preferential, improves operational efficiency and the service level of public transit vehicle, becomes the urgent needs of transportation industry manager and broad masses of the people.
Taking a broad view of research and the application of the current bus signals mode of priority, deficiency and problem that domestic bus signals preferentially exists mainly have:
1. lack real-time bus signals precedence technique.The practical application that China's bus signals is preferential at present, the public transport dedicated phase still fixed based on configuration, cannot make according to the real-time running state of public transit vehicle and reasonably adjust and optimize, the effect that not only bus signals is preferential is limited, and result also in unnecessary traffic circulation loss in efficiency.
2. bus signals preferential implementation cost height, very flexible.The realization that bus signals is preferential at present, generally require and intersection annunciator is transformed, to realize docking with the real-time of whistle control system, equipment construction, maintenance cost are higher, construction period is long, meanwhile, the motility that result also in the preferential crossing of bus signals or circuit setting is not enough, it is impossible to be adjusted flexibly according to different traffic administration demands.
Summary of the invention
For the shortage of current bus signals precedence technique in real time, and the problem such as bus signals preferential implementation cost height, very flexible, the present invention proposes the one urban road bus signals mode of priority.Its object is to: utilize networking signals control centre to control the open interface of end, it is achieved with the real-time, interactive of whistle control system；RFID detector based on crossing laying, the positional information of Vehicular satellite location equipment Real-time Collection public transit vehicle, it is achieved situation is waited in line at public transit vehicle crossing and next cycle vehicle due in is predicted；At current cycle of operation, instructing by issuing PGC demodulation/unblock to whistle control system, dynamic implement public transport is passed through the prolongation of green time；Before next cycle starts, arrive situation based on existing vehicle queue and prediction vehicle, it is determined whether need to retain public transport dedicated phase, generate and issue the signal timing plan that execution is new.
To achieve these goals, the present invention takes techniques below scheme:
A kind of urban road bus signals mode of priority, the networking signals control centre being connected with whistle control system is set, the right-turn lane of bus signals privileged direction is set to the public traffic in priority track of right-hand rotation rideshare, at a certain distance from intersection parking line, it is provided with RFID detector in signal priority direction, public transit vehicle is provided with vehicle-mounted RFID and mobile satellite location equipment；
Described RFID detector, by identifying public transport vehicle-mounted RFID, obtains public transit vehicle and arrives information, and be sent to networking signals control centre；
Networking signals control centre obtains the average speed of public transit vehicle by described mobile satellite location equipment；Arrive information and RFID detector by the public transit vehicle that receives to calculate public transit vehicle to the distance of corresponding intersection parking line and arrive the time of correspondence intersection parking line；
Comprise the following steps:
1) cycle, networking signals control centre obtains intersection signal timing scheme, obtains this crossing traffic lights cycle duration T, sets the maximum green time G of bus signals privileged directionmax, wherein GmaxLimit green light for traffic lights shows the time, and green time reaches GmaxAfter then must proceed to next phase place；Set current time as the t=0 second, and initialize timer t=0；
2) detect when current direction green time starts, empty correspondence direction entrance driveway public transit vehicle queuing record；
3) whether judge whether current period terminates equal to cycle duration T by the time of display on timer, the most then proceed to step 18), otherwise proceed to step 4)；
4) judge whether current demand signal lamp is green light lock-out state, the most then proceed to step 5), otherwise proceed to step 13)；Described green light lock-out state is to be locked after privileged direction green light signals terminates, and keeps the state of green light；
5) judge that whether current green light runs the time less than maximum green time Gmax, the most then step 6 is proceeded to), otherwise proceed to step 11)；
6) judge whether RFID detector detects that public transit vehicle arrives, the most then proceed to step 7), otherwise proceed to step 10)；
7) judge that can public transit vehicle at maximum green time GmaxInterior by stop line, the most then proceed to step 8), otherwise proceed to step 9)；Judge process is to compare public transit vehicle to arrive the time of intersection parking line and maximum green time GmaxThe size of remaining time, if the former is less than the latter, then can pass through stop line, otherwise can not pass through stop line；
8) judge whether to give bus signal priority, the most then proceed to step 12), otherwise proceed to step 9)；
9) accumulative vehicle queue, proceeds to step 17)；
10) whether judging distance gave the preferential moment less than T last time0, described T0For public transit vehicle from the average travel time of RFID detector position to intersection stop line；The most then proceed to step 12), otherwise proceed to step 11)；
11) release green light lock-out state, proceed to step 17)；
12) keep green light lock-out state, proceed to step 17)；
13) judge whether RFID detector detects that public transit vehicle arrives, the most then proceed to step 14), otherwise proceed to step 17)；
14) judge to arrive whether vehicle can pass through stop line in green time, the most then proceed to step 17), otherwise proceed to step 15)；Judge process is to compare public transit vehicle to arrive the time of intersection parking line and the size of green light remaining time, if the former is less than the latter, then can pass through stop line, otherwise can not pass through stop line；
15) judge whether to need to give bus preferential, the most then proceed to step 16), do not deal with, proceed to step 9)；
16) lock current green light, proceed to step 17)；
17) timer updates t=t+1, carries out the process of next second, returns step 2)；
18) due in of next cycle public transit vehicle and the queuing at crossing are predicted；
19) judging that next cycle starts whether front correspondence direction exists bus queuing, if then retaining public transport dedicated phase, otherwise cancelling public transport dedicated phase；
20) determine the bus signals priority scheme in next cycle, issue whistle control system and perform, return step 1), the new cycle starts.
Described RFID detector is located at signal priority direction at 50 to 80 meters of intersection parking line.
Step 4) in, the judgement of green light lock-out state comprises the either direction of crossing, as long as having a direction is that green light lock-out state i.e. meets condition.
Step 10) in, T0For public transit vehicle from the journey time of RFID detector position to crossing stop line, it is ensured that the public transit vehicle that RFID detector detects can roll the time of stop line away from.
Step 18) in, it was predicted that the due in of next cycle vehicle, the main vehicle position information relying on bus Vehicular satellite location terminal Real-time Collection；Queuing up in public transit vehicle crossing, by the accumulative vehicle queue in a upper cycle, and the vehicle that prediction due in is red light collectively constitutes.
The present invention uses technique scheme, has the advantages that
1., without original semaphore is transformed, only need to be controlled the open interface of end by networking signals control system center, all kinds of instructions of bus signals priority acccess control can be issued, there is higher economy and motility.
2. for current domestic main flow whistle control system feature, and the actual demand of China's traffic administration, use general PGC demodulation/unblocks of whistle control system, scheme to issue function, the prolongation of dynamic implement green light, phase place can skip two classes real-time bus signals preference strategy.
3. most buses are equipped with mobile satellite location equipment, and the mode using RFID detection and satellite fix to combine realizes the detection to bus and the bus prediction time of advent, has higher utilization rate to bus data, has ensured the accuracy of prediction simultaneously.
Accompanying drawing explanation
Fig. 1 is the signal priority control flow chart of the embodiment of the present invention；
Fig. 2 is the crossing schematic diagram of the embodiment of the present invention；
Fig. 3 is the crossing timing scheme schematic diagram of the embodiment of the present invention；
Fig. 4 is the crossing timing schdules schematic diagram of the embodiment of the present invention.
Detailed description of the invention
Below in conjunction with specific embodiment, it is further elucidated with the present invention, it should be understood that these embodiments are merely to illustrate the present invention rather than limit the scope of the present invention, after having read the present invention, those skilled in the art all fall within the application claims limited range to the amendment of the various equivalent form of values of the present invention.
Being illustrated in figure 2 crossing schematic diagram, north-south is major trunk roads, two-way six-lane；East and West direction is subsidiary road, two-way Four-Lane Road.Four corners of the world four direction is equipped with the public traffic in priority track of right-hand rotation rideshare, and the bus travelling north and south traveling, thing gives signal priority.Wherein, the use rule of right-hand rotation rideshare is that public transit vehicle is used in conjunction with right-turn lane with right-hand rotation public vehicles, and at crossing inlet road, bus keeps keeping straight on, and right-turning vehicles is turned right at right-hand rotation entrance driveway, separates with bus.
Being illustrated in figure 3 crossing timing scheme schematic diagram, in the specific embodiment of the invention, the crossing existing signal timing dial cycle is 150 seconds, is divided into six stages: the stage 1 is the North and South direction public transport special stage, North and South direction bus priority pass, duration 13 seconds；Stage 2 is the craspedodrome of North and South direction, duration 45 seconds；Stage 3 is the left-hand rotation of North and South direction, duration 23 seconds；Stage 4 is the east-west direction public transport special stage, East and West direction bus priority pass, duration 13 seconds；Stage 5 is the craspedodrome of east-west direction, duration 36 seconds；Stage 6 is the left-hand rotation duration 20 seconds of east-west direction；As shown in Figure 4.The right-hand rotation of four direction is current not to be affected by Signalized control, directly passes through.
The urban road bus signals priority system method of the present invention arranges the networking signals control centre being connected with whistle control system, the right-turn lane of bus signals privileged direction is set to the public traffic in priority track of right-hand rotation rideshare, at a certain distance from intersection parking line, it is provided with RFID detector in signal priority direction, public transit vehicle is provided with vehicle-mounted RFID and mobile satellite location equipment；
Described RFID detector, by identifying public transport vehicle-mounted RFID, obtains public transit vehicle and arrives information, and be sent to networking signals control centre；
Networking signals control centre obtains the average speed of public transit vehicle by described mobile satellite location equipment；Arrive information and RFID detector by the public transit vehicle that receives to calculate public transit vehicle to the distance of corresponding intersection parking line and arrive the time of correspondence intersection parking line；
It is illustrated in figure 1 active bus signals mode of priority flow chart based on open interface whistle control system, is embodied as step as follows:
1) cycle, networking signals control centre obtains intersection signal timing scheme, obtains this crossing traffic lights cycle duration T, sets the maximum green time G of bus signals privileged directionmax, wherein GmaxLimit green light for traffic lights shows the time, and green time reaches GmaxAfter then must proceed to next phase place；Set current time as the t=0 second, and initialize timer t=0；Maximum green time GmaxDetermination when should avoid red light phase place, pedestrian is long with the bicycle waiting time, avoids the signal period long again, be networking signals control centre according to the different scale in each current direction, each intersection and traffic flow and default；In the specific embodiment of the invention, cycle duration is 150 seconds；North and South direction maximum green time G in the specific embodiment of the inventionmaxIt is set to 60 seconds, east-west direction maximum green time GmaxIt is set to 50 seconds.
2) detect when current direction green time starts, empty correspondence direction entrance driveway public transit vehicle queuing record；
3) whether judge whether current period terminates equal to cycle duration T by the time of display on timer, if, then proceed to step 18), otherwise proceed to step 4), in the present embodiment, it is judged that the time is set to 2 seconds, when being less than 2 seconds remaining time, i.e. stop new PGC demodulation operation, arrive vehicle queue therebetween and count next cycle；
4) judge whether current demand signal lamp is green light lock-out state, the most then proceed to step 5), otherwise proceed to step 13), wherein, described green light lock-out state is to be locked after privileged direction green light signals terminates, and keeps the state of green light；The judgement of green light lock-out state comprises the either direction of crossing, as long as having a direction is that green light lock-out state i.e. meets condition, other stages as special in public transport, turn left, right-hand rotation etc. is all unsatisfactory for condition；
5) judge that whether current green light runs the time less than maximum green time Gmax, the most then step 6 is proceeded to), otherwise proceed to step 11)；
6) judge whether RFID detector detects that public transit vehicle arrives, the most then proceed to step 7), otherwise proceed to step 10)；The equipment that detection public transit vehicle arrives is the RFID detector being laid in crossing, by identifying public transport vehicle-mounted RFID, obtain the information such as public bus information such as public transit vehicle circuit, license plate number, obtain public transit vehicle and arrive information, and be sent to networking signals control centre in real time；Networking signals control centre, according to each circuit public transit vehicle prior information in intersection of Information Statistics obtained, provides data for optimizing public transport operation circuit.RFID detector is located at signal priority direction at 50 to 80 meters of intersection parking line.In the specific embodiment of the invention, RFID detector is located at signal priority direction at 60 meters of intersection parking line.
7) judge that can bus at green time GmaxInterior by stop line, the most then proceed to step 8), otherwise proceed to step 9)；Whether judge to arrive vehicle can be at maximum green time GmaxInterior is time and the maximum green time G arriving intersection parking line for comparing public transit vehicle by the judge process of stop linemaxThe size of remaining time；If public transit vehicle arrives the time of intersection parking line less than maximum green time GmaxRemaining time, then can pass through stop line, otherwise can not pass through stop line.
8) judge whether to give bus signal priority, the most then proceed to step 12), otherwise proceed to step 9)；Wherein, whether give preferentially to be judged by networking signals control centre, its rule is freely determined by manager, can all give each bus preferentially, it is also possible to combining intersection traffic situation according to situations such as the queuing of public transit vehicle, delay, handling capacities of passengers, with good conditionsi to give bus preferential；For all to give preferential first priority to each bus in the present embodiment.
9) accumulative vehicle queue, proceeds to step 17)；
10) whether judging distance gave the preferential moment less than T last time0, the most then step 12 is proceeded to), otherwise proceed to step 11), wherein, T0For the public transit vehicle journey time from RFID detector identification position to crossing stop line, it is ensured that the vehicle leaving public transit vehicle detector can roll away from the time of stop line, and need the most not produce green light loss, improve green time utilization rate；T in the concrete the present embodiment of the present invention0Take 8 seconds.
11) release green light lock-out state, proceed to step 17)；
12) keep green light lock-out state, proceed to step 17)；
13) judge whether RFID detector detects that public transit vehicle arrives, the most then proceed to step 14), otherwise proceed to step 17)；
14) judge to arrive whether vehicle can pass through stop line in green time, if, then proceed to step 17), otherwise proceed to step 15), its judge process arrives the time of intersection parking line and the size of green light remaining time for comparing public transit vehicle, if public transit vehicle arrives the time of intersection parking line less than green light remaining time, then can pass through stop line, otherwise can not pass through stop line；
15) judge whether to need to give bus preferential, the most then proceed to step 16), do not deal with, proceed to step 9)；With step 8) identical, in embodiments of the present invention for all to give preferential first priority to each bus.
16) lock current green light, proceed to step 17)；
17) processing subsequent time, timer updates t=t+1, carries out the process of next second, returns step 2)；
18) due in of next cycle public transit vehicle and the queuing at crossing are predicted；On public transit vehicle, it is provided with Vehicular satellite location equipment, for the positional information of Real-time Collection public transit vehicle.Predict the due in of next cycle vehicle, the main vehicle position information relying on bus Vehicular satellite location terminal Real-time Collection；Queuing up in public transit vehicle crossing, by the accumulative vehicle queue in a upper cycle, and the vehicle that prediction due in is red light collectively constitutes.
19) judging that next cycle starts whether front correspondence direction exists bus queuing, if then retaining the public transport special stage, otherwise cancelling public transport dedicated phase；In the specific embodiment of the invention, the bus queuing situation of next cycle principal direction (i.e. North and South direction) mainly detects record according to upstream, crossing RFID detector, if there being bus to queue up, retain the principal direction public transport special stage (stage 1), otherwise cancel the public transport special stage (stage 1) of principal direction, next cycle time bus queuing situation in direction (i.e. east-west direction) then needs to combine RFID detector testing result and satellite location data, thus predict and judge next cycle time direction bus queuing situation, if having, retain the public transport special stage (stage 4) in time direction, otherwise cancel the public transport special stage (stage 4) in time direction.
20) determining that the bus signals priority scheme in next cycle, lower whistle control system send out execution, return step 1) the new cycle starts.
In the present invention, equal to cycle duration T, whether networking control judges whether current period terminates centrally through the time of display on timer；If not terminating, the most per second carry out step 2) to step 17) circular treatment.If judging to terminate, then predict the due in of next cycle public transit vehicle and the queuing at crossing, and carry out the process before next cycle, prepare to start the new cycle.
Specific embodiment described herein is only to present invention spirit explanation for example.Described specific embodiment can be made various amendment or supplements or use similar mode to substitute by those skilled in the art, but without departing from the spirit of the present invention or surmount scope defined in appended claims.
Claims (4)
1. a urban road bus signals mode of priority, it is characterised in that arrange and whistle control system phase
Networking signals control centre even, by excellent for the public transport that the right-turn lane of bus signals privileged direction is set to right-hand rotation rideshare
First track, is provided with RFID detector in signal priority direction, in public transport at a certain distance from intersection parking line
Vehicle is provided with vehicle-mounted RFID and mobile satellite location equipment；
Described RFID detector, by identifying public transport vehicle-mounted RFID, obtains public transit vehicle and arrives letter
Breath, and it is sent to networking signals control centre；
Networking signals control centre obtains the average speed of public transit vehicle by described mobile satellite location equipment；By connecing
The public transit vehicle that receives arrives information and RFID detector and calculates to the distance of correspondence intersection parking line
Public transit vehicle arrives the time of corresponding intersection parking line；
Comprise the following steps:
1) cycle starts；Networking signals control centre obtains intersection signal timing scheme, obtains this crossing
Traffic lights cycle duration T, sets the maximum green time G of bus signals privileged directionmax, wherein GmaxFor
The limit green light display time of traffic lights, green time reaches GmaxAfter then must proceed to next phase place；Set
Current time is 0 second, and initializes timer t=0；
2) detect when current direction green time starts, empty correspondence direction entrance driveway public transit vehicle queuing note
Record；
3) whether judge whether current period terminates equal to cycle duration T by the time of display on timer,
The most then proceed to step 18), otherwise proceed to step 4)；
4) judge whether current demand signal lamp is green light lock-out state, the most then proceed to step 5), otherwise proceed to
Step 13)；Described green light lock-out state is to be locked after privileged direction green light signals terminates, and keeps green light
State；
5) judge that whether current green time is less than maximum green time Gmax, the most then step 6 is proceeded to),
Otherwise proceed to step 11)；
6) judge whether RFID detector detects that public transit vehicle arrives, the most then proceed to step 7), no
Then proceed to step 10)；
7) judge that can public transit vehicle at maximum green time GmaxInterior by stop line, the most then proceed to step
Rapid 8), step 9 is otherwise proceeded to)；Judge process be compare public transit vehicle arrive intersection parking line time with
Maximum green time GmaxThe size of remaining time, if the former is less than the latter, then can pass through stop line, otherwise
Stop line can not be passed through；
8) judge whether to give bus signal priority, the most then proceed to step 12), otherwise proceed to step 9)；
9) accumulative vehicle queue, proceeds to step 17)；
10) whether judging distance gave the preferential moment less than T last time0, described T0For public transit vehicle from RFID
Detector location is to the average travel time of intersection stop line；The most then proceed to step 12), otherwise turn
Enter step 11)；
11) release green light lock-out state, proceed to step 17)；
12) keep green light lock-out state, proceed to step 17)；
13) judge whether RFID detector detects that public transit vehicle arrives, the most then proceed to step 14),
Otherwise proceed to step 17)；
14) judge to arrive whether vehicle can pass through stop line in green time, the most then proceed to step 17),
Otherwise proceed to step 15)；Judge process is to remain with green light the time comparing public transit vehicle arrival intersection parking line
The size of remaining time, if the former is less than the latter, then can pass through stop line, otherwise can not pass through stop line；
15) judge whether to need to give bus preferential, the most then proceed to step 16), do not deal with,
Proceed to step 9)；
16) lock current green light, proceed to step 17)；
17) timer updates t=t+1, carries out the process of next second, returns step 2)；
18) due in of next cycle public transit vehicle and the queuing at crossing are predicted；
19) judge that next cycle starts whether front correspondence direction exists bus queuing, if it is special then to retain public transport
By phase place, otherwise cancel public transport dedicated phase；
20) determine the preferential basic scheme of bus signals in next cycle, issue whistle control system and perform, return
Step 1), the new cycle starts.
A kind of urban road bus signals mode of priority the most according to claim 1, it is characterised in that:
Described RFID detector is located at signal priority direction at 50 to 80 meters of intersection parking line.
A kind of urban road bus signals mode of priority the most according to claim 1, it is characterised in that:
Step 4) in, the judgement of green light lock-out state comprises the either direction of crossing, as long as it is green for having a direction
Lamp lock-out state i.e. meets condition.
A kind of urban road bus signals mode of priority the most according to claim 1, it is characterised in that:
Described step 18) in, it was predicted that the due in of next cycle vehicle, main support bus Vehicular satellite is fixed
The vehicle position information of position equipment Real-time Collection；Queuing up in public transit vehicle crossing, the accumulative vehicle in a upper cycle arranges
Team, and predict that the vehicle that due in is red light collectively constitutes.
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