CN105160894B - The optimization method of At-grade intersection signal control based on vehicle queue length - Google Patents
The optimization method of At-grade intersection signal control based on vehicle queue length Download PDFInfo
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Abstract
The invention provides the optimization method of the control of the At-grade intersection signal based on vehicle queue length, and it can solve the problems, such as meet that intersection actual signal control optimization requires only with single traffic signalization optimization method at present.Its following steps, (1) acquisition intersection respectively flow to the starting queue length when its clearance phase startsWith the remaining queue length at the end of clearance phaseWherein, i is signal phase sequence number, and i=1,2,3,4, j flow to entrance driveway direction, j=E, W, S, N for the clearance in the phase；(2) the intersection respectively acceptable split of flow direction is calculated(3) judge whether intersection will be overlapped phase setting, if desired superposition phase, which is set, then determines the superposition phase duration；(4) intersection signal timing scheme is optimized according to the judged result of the step (3).
Description
Technical field
The present invention relates to urban road transportation control technical field, more particularly, to intersection signal control field,
The optimization method of At-grade intersection signal control specially based on vehicle queue length.
Background technology
Along with the fast development of China's economy, Urban vehicles poputation rapid growth, traffic congestion occurrence frequency is got over
Carry out the adverse effect higher, the daily life trip to city dweller is brought.Optimize the signal controlling party of existing level-crossing
Case is that a kind of inexpensive, high effect controls blocking method, receives increasing pay attention to and input.
At present, the optimization method of traffic signalization includes phase phase sequence optimization method and signal timing optimization method, its
Middle phase phase sequence optimization method is the operation that intersection is improved by optimizing each clearance order for flowing to traffic flow in intersection
Efficiency, such as set up protection left turn phase, superposition phase；And signal timing optimization method is then by optimizing continuing for each phase
The traffic loading that time is respectively flowed to equilibrium, intersection service level is improved, such as utilizes Robert Webster (Webster) method or Shanghai
City's specifications of engineering construction《Intersection at Grade of Urban Road is planned and design discipline》The timing method recommended carries out timing designing
Calculate.
But with the getting worse of city morning and evening peak traffic congestion problems, optimize only with single phase phase sequence
Method or single signal timing optimization method can not be prevented effectively in intersection to carry out the optimization of signal control
The generation of supersaturation, therefore can not also meet the optimization requirement of existing crossroad signal control.
The content of the invention
In view of the above-mentioned problems, the invention provides the excellent of the control of the At-grade intersection signal based on vehicle queue length
Change method, it can solve that intersection actual signal control can not be met only with single traffic signalization optimization method at present
The problem of optimization processed requires.
The optimization method of At-grade intersection signal control based on vehicle queue length, it is characterised in that：It includes
Following steps,
(1) acquisition intersection respectively flows to the starting queue length when its clearance phase startsTerminate with clearance phase
When remaining queue lengthWherein, i is signal phase sequence number, and i=1,2,3,4, j flow to import for the clearance in the phase
Road direction, j=E, W, S, N；
(2) the intersection respectively acceptable split of flow direction is calculated
(3) judge whether intersection will be overlapped phase setting, if desired superposition phase, which is set, then determines superposition phase
Bit duration；
(4) intersection signal timing scheme is optimized according to the judged result of the step (3).
Further, step (2) concretely comprise the following steps：The saturation green time that intersection respectively flows to is obtained firstThe intersection respectively acceptable green time of flow direction is calculated againIt is last to calculate the acceptable split of each flow direction againIt is described full
Refer to green time in Phase Duration, let pass flow to queuing vehicle with saturation headway by stop line it is lasting when
Between；
Further, ifCorresponding flow direction is then judged as unsaturated flow, and the intersection flow direction under unsaturated flow can
Receive green timeIfThen judge that corresponding flow direction flows as supersaturation, supersaturation stream
Under the acceptable green time of intersection flow directionWherein giFor phase i duration,The Minimum Green Time obtained for corresponding flow direction according to intersection geometric properties；
The acceptable split of each flow directionWherein T is the Cycle Length of intersection present situation signal timing dial.
Further, step (3) concretely comprise the following steps：
Step 3.1, value larger in the acceptable split of flow direction of being let pass in each phase is subjected to split as phase
Step 3.2, split is subjected to according to the phaseJudge whether intersection is supersaturated, ifIt is existing
There is signal timing plan unsaturated, then directly perform the step (4)；IfExisting signal timing plan supersaturation,
Perform step 3.3；
Step 3.3, it is that phase primarily flows to define and the larger flow direction of split is subjected in each phase clearance flow direction, smaller
Flow direction be phase minor movement, and phase is primarily flowed into the ratio with the acceptable green time of minor movement as phase
Flow to equilibrium ratioPhase is flowed into the maximum phase of equilibrium ratio as the non-equilibrium phase of intersection key, then the intersection
The phase of crucial non-equilibrium phase flows to equilibrium ratio
Step 3.4, equilibrium ratio is flowed to according to the phase of the crucial non-flat jayrator in the intersectionJudge whether
Traffic tidal phenomena, ifThen judge traffic tidal phenomena is not present, directly perform the step (4)；IfThen judge traffic tidal phenomena be present；
Step 3.5, after judging to have traffic tidal phenomena, then the head of potential superposition phase upstream and downstream conventional phase is judged
Whether entrance driveway where flowing to is consistent, concretely comprises the following steps：
Step 3.5a：If the clearance flow direction of crucial non-equilibrium phase is straight trip, step 3.5b is transferred to；If crucial non-equilibrium phase
The clearance flow direction of position is transferred to step 3.5c to turn left；
Step 3.5b：Check crucial non-equilibrium phase primary flow direction whether the entrance driveway with the primary flow direction of next phase
Direction is identical, if identical, provides superposition phase after crucial non-equilibrium phase primarily to flow to entrance driveway direction, and calculate superposition
Phase Duration gd；If differing, step (4) is transferred to；
Step 3.5c：Check crucial non-equilibrium phase primary flow direction whether the entrance driveway with the primary flow direction of a upper phase
Direction is identical, if identical, provides superposition phase before crucial non-equilibrium phase primarily to flow to entrance driveway direction, and calculate superposition
Phase Duration gd；If differing, step (4) is transferred to；
The superposition phase durationWherein,Primarily flowed for crucial non-equilibrium phase
To acceptable green time；
Further, step (4) concretely comprise the following steps：If being not carried out superposition phase, calculating is not carried out superposition phase
When each Phase DurationWhereinIt is acceptable primarily to be flowed to for original signal control program corresponding phase
Green time；If performing superposition phase, order, which lets pass to flow to let pass with superposition phase straight trip, flows to the sequence number of overlapping signal phase
For k=1, the serial number k=2 of superposition phase, flow direction of letting pass turns left to let pass with superposition phase flows to the sequence number of overlapping signal phase
For k=3, flow direction of letting pass is not let pass with superposition phase flows to the serial number k=4 of overlapping signal phase, and 5；Calculating performs superposition
Each Phase Duration during phaseCalculation formula is
Wherein, For the acceptable green time of original signal control program corresponding phase minor movement,Believe for original
The acceptable green time that number control program corresponding phase primarily flows to；Last calculation optimization regimen cycle length
Further, it is obtained by being laid in each entrance driveway stop line top HD video wagon detector in intersection
The intersection respectively flows to the starting queue length when its clearance phase startsWith the residue row at the end of clearance phase
Team leader's degree
The optimization method of the control of the At-grade intersection signal based on vehicle queue length of the present invention, it can be realized
The coordination optimization of phase phase sequence and signal timing dial, it is obvious to tidal phenomena but signal timing optimization can be passed through realize supersaturation control
The intersection of system not sets superposition phase, is stranded with improving cost benefit and reducing driver and passed through caused by superposition phase
Disturb；In addition, the present invention queue length that is obtained by HD video wagon detector carries out the optimization of timing scheme, avoid
The flow that supersaturation is brought is difficult to acquisition problem, has more preferable convenience and accuracy, it is thus possible to effectively improved
The signal timing optimization effect of saturation intersection；Meanwhile it is flowed to the introducing of equilibrium ratio by phase and realizes superposition phase and hold
The accurate calculating of continuous time and superposition phase upstream and downstream conventional phase duration, it can be calculated according to intersection running status folded
Add the duration of phase, enormously simplify the timing designing process of superposition phase signaling plan.
Brief description of the drawings
Fig. 1 is the flow of the optimization method of At-grade intersection signal control of the present invention based on vehicle queue length
Figure；
Fig. 2 is the schematic diagram of superposition phase action principle；
Fig. 3 is the superposition phase judgment mechanism flow chart of step (3) in the inventive method；
Fig. 4 is the schematic diagram of intersection interior vehicle driving trace relevant parameter；
Fig. 5 is that the front and rear control program corresponding relation schematic diagram after superposition phase is performed using the inventive method.
Embodiment
Below in conjunction with the accompanying drawings by taking four phase signals control intersection control as an example, the realization of inventive method is specifically described
Process：
First, intersection is controlled in four phase signals, installed for recording each track vehicle number and vehicle queue length
HD video wagon detector, semaphore and signal lamp, HD video wagon detector are laid in above each entrance driveway stop line；
(1) intersection is obtained by being laid in each entrance driveway stop line top HD video wagon detector in intersection
Respectively flow to the starting queue length when its clearance phase startsWith the remaining queue length at the end of clearance phaseIts
In, i is signal phase sequence number, and i=1,2,3,4, j flow to entrance driveway direction, j=E, W, S, N for the clearance in the phase.
(2) the intersection respectively acceptable split of flow direction is calculatedRespectively flowed by HD video detector acquisition intersection
To saturation green timeSaturation green time refers in Phase Duration that clearance flows to queuing vehicle with saturation headstock
When away from the duration by stop line, ifThen corresponding flow direction is unsaturated flow, in the absence of secondary queuing phenomena, no
The acceptable green time of intersection flow direction under saturated flow Accordingly to flow to according to intersection
The Minimum Green Time that mouth geometric properties obtain, 1.1 be constant term, for meeting to flow to saturation degree no more than 0.9, and ensures to flow
It is higher than 95% to the confidence level without parking twice probability；IfThen corresponding flow direction is supersaturation stream, secondary queuing be present
Phenomenon, the acceptable green time of intersection flow direction that supersaturation flows downWherein giFor phase
I duration, 1.1 be constant term, for meeting to flow to saturation degree no more than 0.9；The acceptable split of each flow direction is calculated againWherein T is the Cycle Length of intersection present situation signal timing dial；
Wherein, phase Minimum Green Time is related to intersection geometric properties, and predominantly vehicle travels inside intersection
The relevant parameter of track has L1With L2, seeing Fig. 4, A is exit ramp original position in Fig. 4, and B is stop line mark,
L1The driving path for being through vehicles inside intersection is stop line to straight between exit ramp original position of keeping straight on
Linear distance；L2It is then driving path of the left turning vehicle inside intersection, calculation formula L2=π r/2, wherein r are left turn lane
Air line distance between the kerbstone of stop line midpoint to left side.
Therefore, the calculation formula for obtaining phase Minimum Green Time is：Its
In, v is intersection desired speed；
Wherein, the determination of saturation headway：The intersection queuing vehicle reached during red light, let pass the phase in green light
Between, starting can be because course of reaction, the accelerator of vehicle of driver causes certain open when several vehicles pass through stop line
The dynamic loss time, according to the research of pertinent literature, the startup loss time of China intersection is 4 seconds.Meanwhile queuing vehicle passes through
During stop line, when starting several vehicle headstocks away from change after, the time headway of subsequent vehicle tends towards stability, queuing vehicle
Will be with saturation headway by stop line, according to the research of pertinent literature, during the saturation headstock of China intersection queuing vehicle
Away from 2 seconds or so.The present invention is used as video detector saturation headway in 3.8 seconds using 95% saturation headway confidence level
Critical value, to increase accuracy in detection.
(3) intersection superposition phase, which is set, judges, superposition phase is also known as combinatorial phase, i.e., before certain conventional phase terminates
The one or more strands of wagon flows of another phase of pre-cooling, make to exist between two continuous conventional phases and partly overlap, this overlapping portion
Divide and be referred to as superposition phase, the use of superposition phase can preferably utilize green time, increase intersection capacity, improve
Traffic efficiency, see Fig. 2 and Fig. 3：
Step 3.1, value larger in the acceptable split of flow direction of being let pass in each phase is subjected to split as phase
Step 3.2, split is subjected to according to phaseJudge whether intersection is supersaturated, ifExisting letter
Number control program unsaturation, the demand of no increase intersection capacity, from control intersection complexity, improve intersection peace
Full property angle is set out, and does not give superposition phase, and end judges flow, directly performs the step (4)；IfIt is existing
Signal timing plan supersaturation, there is the demand that intersection saturation degree is reduced by superposition phase, perform step 3.3；
Step 3.3, it is that phase primarily flows to define and the larger flow direction of split is subjected in each phase clearance flow direction, smaller
Flow direction be phase minor movement, and phase is primarily flowed into the ratio with the acceptable green time of minor movement as phase
Flow to equilibrium ratioPhase is flowed into the maximum phase of equilibrium ratio as the crucial non-equilibrium phase in intersection, then intersection is crucial
The phase of non-equilibrium phase flows to equilibrium ratio
Step 3.4, equilibrium ratio is flowed to according to the phase of the crucial non-flat jayrator in the intersectionJudge whether
Traffic tidal phenomena, ifThe DeGrain of superposition phase is then set up, from mechanistic point is set, is not given
Superposition phase, judgement are not present traffic tidal phenomena, directly perform the step (4)；IfIllustrate in a certain phase
There is traffic tidal phenomena away from larger in primary flow direction and the difference in flow between minor movement, set up superposition phase and have and be preferably directed to
Property, continue executing with step 3.5；
Step 3.5, after judging to have traffic tidal phenomena, then the head of potential superposition phase upstream and downstream conventional phase is judged
Whether entrance driveway where flowing to is consistent, if unanimously, illustrating that setting up for superposition phase can reduce upstream and downstream conventional phase simultaneously
Duration, so as to reduce total time in cycle, realize the increase of traffic efficiency, be transferred to step 6, if inconsistent, illustrate folded
Add phase sets up the duration that can only reduce crucial non-equilibrium phase, but can not reduce total time in cycle, and traffic efficiency increases
Width is smaller, from cost benefit angle, does not give superposition phase, concretely comprises the following steps：
Step 3.5a：If the clearance flow direction of crucial non-equilibrium phase is straight trip, step 3.5b is transferred to；If crucial non-equilibrium phase
The clearance flow direction of position is transferred to step 3.5c to turn left；
Step 3.5b：Check crucial non-equilibrium phase primary flow direction whether the entrance driveway with the primary flow direction of next phase
Direction is identical, if identical, provides superposition phase after crucial non-equilibrium phase primarily to flow to entrance driveway direction, and calculate superposition
Phase Duration gd；If differing, step (4) is transferred to；
Step 3.5c：Check crucial non-equilibrium phase primary flow direction whether the entrance driveway with the primary flow direction of a upper phase
Direction is identical, if identical, provides superposition phase before crucial non-equilibrium phase primarily to flow to entrance driveway direction, and calculate superposition
Phase Duration gd；If differing, step (4) is transferred to；
The superposition phase durationWherein,Primarily flowed for crucial non-equilibrium phase
To acceptable green time.
(4) intersection signal timing scheme is optimized according to the judged result of the step (3)：Fig. 5 is seen, if being not carried out being superimposed
Phase, calculating are not carried out each Phase Duration during superposition phaseWhereinFor for original signal control program pair
Answer the acceptable green time that phase primarily flows to；If performing superposition phase, order clearance flow direction is let pass with superposition phase straight trip to flow
To the serial number k=1 of overlapping signal phase, the serial number k=2 of superposition phase, flow direction of letting pass turns left to let pass with superposition phase
The serial number k=3 of overlapping signal phase is flowed to, flow direction of letting pass is not let pass with superposition phase flows to the sequence of overlapping signal phase
Number it is k=4,5；Calculate each Phase Duration when performing superposition phaseCalculation formula is Wherein,For original signal control
The acceptable green time of scheme corresponding phase minor movement processed,It is primary for original signal control program corresponding phase
The acceptable green time of flow direction；Last calculation optimization regimen cycle length
Claims (4)
1. the optimization method of the At-grade intersection signal control based on vehicle queue length, it is characterised in that：It include with
Lower step,
(1) acquisition intersection respectively flows to the starting queue length when its clearance phase startsAt the end of clearance phase
Remaining queue lengthWherein, i is signal phase sequence number, and i=1,2,3,4, j flow to entrance driveway side for the clearance in the phase
To j=E, W, S, N；
(2) the intersection respectively acceptable split of flow direction is calculated
(3) judge whether intersection will be overlapped phase setting, if desired superposition phase, which is set, then determines that superposition phase continues
Time；
(4) intersection signal timing scheme is optimized according to the judged result of the step (3)；
Step (2) concretely comprise the following steps：The saturation green time that intersection respectively flows to is obtained firstIntersection is calculated again
Each acceptable green time of flow directionIt is last to calculate the acceptable split of each flow direction againThe saturation green time refers to phase
In bit duration, clearance flows to the duration that queuing vehicle passes through stop line with saturation headway；
IfCorresponding flow direction is then judged as unsaturated flow, the acceptable green time of intersection flow direction under unsaturated flowIfThen judge that corresponding flow direction flows as supersaturation, the intersection flow direction that supersaturation flows down
Acceptable green timeWherein giFor phase i duration,Accordingly to flow to root
The Minimum Green Time obtained according to intersection geometric properties；
The acceptable split of each flow directionWherein T is the Cycle Length of intersection present situation signal timing dial；
Step (3) concretely comprise the following steps,
Step 3.1, value larger in the acceptable split of flow direction of being let pass in each phase is subjected to split as phase
Step 3.2, split is subjected to according to the phaseJudge whether intersection is supersaturated, ifExisting letter
Number control program unsaturation, then directly perform the step (4)；IfExisting signal timing plan supersaturation, is performed
Step 3.3；
Step 3.3, it is that phase primarily flows to define and the larger flow direction of split is subjected in each phase clearance flow direction, less stream
To for phase minor movement, and phase primarily flowed to the ratio of the acceptable green time of minor movement and to be flowed to as phase
Equilibrium ratioPhase is flowed into the maximum phase of equilibrium ratio as the crucial non-equilibrium phase in intersection, then the intersection is crucial
The phase of non-equilibrium phase flows to equilibrium ratio
Step 3.4, equilibrium ratio is flowed to according to the phase of the crucial non-flat jayrator in the intersectionJudge whether traffic tide
Nighttide phenomenon, ifThen judge traffic tidal phenomena is not present, directly perform the step (4)；IfThen sentence
It is disconnected traffic tidal phenomena to be present；
Step 3.5, after judging to have traffic tidal phenomena, then the primary stream of potential superposition phase upstream and downstream conventional phase is judged
It is whether consistent to place entrance driveway, concretely comprise the following steps：
Step 3.5a：If the clearance flow direction of crucial non-equilibrium phase is straight trip, step 3.5b is transferred to；If crucial non-equilibrium phase
Flow direction let pass to turn left, is transferred to step 3.5c；
Step 3.5b：Check crucial non-equilibrium phase primary flow direction whether the entrance driveway direction with the primary flow direction of next phase
It is identical, if identical, superposition phase is provided primarily to flow to entrance driveway direction after crucial non-equilibrium phase, and calculate superposition phase
Duration gd；If differing, step (4) is transferred to；
Step 3.5c：Check crucial non-equilibrium phase primary flow direction whether the entrance driveway direction with the primary flow direction of a upper phase
It is identical, if identical, superposition phase is provided primarily to flow to entrance driveway direction before crucial non-equilibrium phase, and calculate superposition phase
Duration gd；If differing, step (4) is transferred to.
2. the optimization method of the At-grade intersection signal control according to claim 1 based on vehicle queue length,
It is characterized in that：The superposition phase durationWherein,It is primary for crucial non-equilibrium phase
The acceptable green time of flow direction.
3. the optimization method of the At-grade intersection signal control according to claim 2 based on vehicle queue length,
It is characterized in that：Step (4) concretely comprise the following steps：If being not carried out superposition phase, calculating is not carried out each phase during superposition phase
Bit durationWhereinFor primarily flowed to for original signal control program corresponding phase acceptable green light when
Between；If performing superposition phase, order, which lets pass to flow to let pass with superposition phase straight trip, flows to the serial number k=1 of overlapping signal phase,
The serial number k=2 of superposition phase, flow direction of letting pass turns left to let pass with superposition phase flows to the serial number k=of overlapping signal phase
3, flow direction of letting pass is not let pass with superposition phase and flows to the serial number k=4 of overlapping signal phase, and 5；When calculating execution superposition phase
Each Phase DurationCalculation formula is
Wherein,For the acceptable green time of original signal control program corresponding phase minor movement,Believe for original
The acceptable green time that number control program corresponding phase primarily flows to；Last calculation optimization regimen cycle length
4. the optimization method of the At-grade intersection signal control according to claim 1 based on vehicle queue length,
It is characterized in that：It obtains the friendship by being laid in each entrance driveway stop line top HD video wagon detector in intersection
Cross road mouth respectively flows to the starting queue length when its clearance phase startsWith the remaining queue length at the end of clearance phase
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| CN105788302B (en) * | 2016-04-08 | 2018-05-04 | 华北电力大学（保定） | A kind of city traffic signal lamp dynamic timing method of biobjective scheduling |
| CN106530749B (en) * | 2016-10-18 | 2019-03-01 | 同济大学 | Signal-control crossing queue length estimation method based on single section low frequency detection data |
| CN109872544A (en) * | 2017-12-05 | 2019-06-11 | 杭州海康威视数字技术股份有限公司 | A kind of control method and device of traffic signals |
| CN107909834A (en) * | 2017-12-25 | 2018-04-13 | 济南大学 | A kind of traffic signal system and its adjustment control method based on crossing Vehicle length |
| CN111554091B (en) * | 2020-04-26 | 2022-04-22 | 江苏智通交通科技有限公司 | Traffic signal control scheme time interval division method considering intersection flow unbalance condition |
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| CN103700273B (en) * | 2014-01-06 | 2016-01-06 | 东南大学 | Based on the signal timing optimization method of variable guided vehicle road |
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