CN105374216A - Signal control method, system and equipment for making vehicles almost not stop in waiting zone - Google Patents
Signal control method, system and equipment for making vehicles almost not stop in waiting zone Download PDFInfo
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- ARUVKPQLZAKDPS-UHFFFAOYSA-L copper(II) sulfate Chemical compound [Cu+2].[O-][S+2]([O-])([O-])[O-] ARUVKPQLZAKDPS-UHFFFAOYSA-L 0.000 claims description 33
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Abstract
The release order of 'straight first, left second' for each entrance is adopted, the longest waiting zone is set for vehicles going straight or turning left, and the number of lanes in the waiting zone is greater than that of the entrances. The limit through time Tj=Sj/Vej of the waiting zone j is determined according to the length sj of a waiting zone j and the practically realizable first-vehicle reasonable slowest speed Vej. The time Gjf when a framework traffic stream j enters the waiting zone in advance is set to be smaller than or equal to Tj. The first vehicle of a framework traffic stream j entering the waiting zone at a reasonable slow speed according to the countdown does not need to stop in the waiting zone. The reasonably calculated green light interval and cycle loss time enter a negative field to form a triple jump of the signal control technology. The stopping time loss of the vehicle stream in the waiting zone as well as the fuel consumption, exhaust gas pollution and brake noise in the process of decelerating and accelerating are eliminated, and traffic congestion is eased. Non-stopping coordinated control between adjacent intersections is realized. The release capacity in all directions can timely adapt to the traffic demand change of all framework traffic streams. The maximum release capacity of the intersections and even the road network is doubled, which is equivalent to building another ground road network.
Description
Technical field
The application relates to Traffic Information Engineering & Control field, and particularly urban ground traffic network a kind of is provided with the method for the traffic signalization (TrafficControl, TC) at the crossing in Dai Hang district, system and equipment.
background of invention
TC System Development has gone up a century, helps the prosperity and development achieving Social economy.But because of the far super speed of repairing the roads of motorization process, traffic injury and extensively generation of blocking up, tail gas pollution is serious.Have impact on travel time and the physical and mental health of numerous its people, become the bottleneck having a strong impact on the national economic development.The United Nations General Assembly in 2010 10 years safety programs are thought, problem should be taken the main responsibility by TC system designer, instead of road user.Deviser mainly comprises road management person, automobile industry, police, political figures and legislative bodies.Road user only bears the responsibility of observing disciplines and obey laws.
Chinese patent ZL201010103079.2 and Russia, the U.S., Australia are in granted patent PCT/CN2011/070879, and the present inventor points out first: the pedestrian and non motorized vehicle traffic capacity is by widening its width and increasing of passing by one's way.Therefore no matter how large its traffic demand has, and, also should need not fight for green time.And being limited to corner, crossing buildings, imported car road quantity is difficult to increase, therefore green light timing should be looked after those especially and there is the wagon flow of conflicting between motor vehicle, is referred to as framework wagon flow.
Also there is huge integration leeway in seemingly saturated traffic time-space distribution, such as, just once found as far back as calendar year 2001 the present inventor, and in 2001-11-28 by patent document CN1324062 to the whole world openly (word is slightly revised):
Dai Hang district can establish principle: carrying out the countries and regions of right side traffic rule, if each entrance driveway of signalized intersections presses left, straight, right arrangement to roadside from road, the then phase sequence of each same entrance driveway " first straight rear left ", on one piece of region that the special import track of certain framework wagon flow j can be made to extend continuously in crossing, in a period of time before being close to its outlet and letting pass, pass through without other traffic flow; Then this block region can be set to the Dai Hang district of framework wagon flow j, allows framework wagon flow j to enter this period; This period is called entry time G in advance
ij; Dai Hang district finishing line is parking twice line; And all framework wagon flows all can She Daihang district.
Example 1: the phase sequence of " east, south, west, north is singly put clockwise " also can make all framework wagon flows all can establish the Dai Hang district of oneself.Comparatively speaking, the Dai Hang district of the phase sequence of each same entrance driveway " first straight rear left " can be longer.
For dredging traffic, these space resources in She Daihang district and the time resource that can enter in advance can answer rational exploitation and utilization.
What China occurred the earliest is left-hand rotation Dai Hang district, proposes two setting model:
1) signal control overflow establishes left-hand rotation dedicated phase, and phase sequence is arranged to same entrance driveway first straight rear left;
2) left-hand rotation Dai Hang district need be located at outside Through Lane to the inside, and obstruction free subtend through vehicles passes through crossing.
This method to set up comes from left curved area to be transferred line and explanation thereof in standard GB/T 5768-1999 " road signs and graticule ": " be used to refer to
left-hand bend vehicle can in craspedodrome green light and left-hand rotation when red time enterarea to be transferred waits for ".
At that time, can propose this left-hand rotation Dai Hang district method to set up was an invention, but the explanatory note of line has deviated from " the special principle of the special lamp of signal lamp ".For correcting this mistake, in paper " method for designing of polyphase crossing half-roadway right control system and distortion thereof " ([J], " highway communication technology ", 2005, No.4), the present inventor clearly proposes following suggestion:
Arrange at crossing that " can only give the beacon signal that traffic flow enters front half range road surface is front half-roadway right signal; can only give the beacon signal that traffic flow enters rear half range road surface is rear half-roadway right signal, and front and back half range signal plays the bright beacon signal for letting pass by view picture right of way simultaneously.All signal lamp groups are placed in the place that respective traffic flow of commanding can obviously be seen separately.”
For over ten years, the phenomenon arranging Dai Hang district at crossing is both at home and abroad fashionable, but technology is still immature, also disunity, and remaining many drawbacks needs to solve, and remains in many disputes.Have following four class technical matterss to need to solve:
the technical issues that need to address
" stop and wait to go " phenomenon before 1st class, current Dai Hang district technology exist parking twice line, causes existence 6 technical matterss:
1) stop wait exercise Dai Hang district likely exist 2 times let pass in the middle of green time loss, as accompanying drawing 2;
2) extra in the clearance that 2 clearance intermediate stops add except clearance first and last green light lost time 1;
3) 2 clearance intermediate stops will bring out the behavior of the conflict a large amount of pedestrian and non motorized vehicle in direction " collective makes a dash across the red light and goes across the road ", risk succeed after lawbreaker not only do not examine oneself, instead jaunty, be difficult to punishment, education;
4) conflicting, to increase conflict dangerous in direction pedestrian and non motorized vehicle " collective makes a dash across the red light and goes across the road ", causes rear peak to be postponed, increases follow-up green light lost time, also more bring out more " collective makes a dash across the red light and goes across the road " behavior vicious cycle;
5) cooperation control that do not stop between 2 clearance intermediate stop partition crossings, Liao Daihang district and adjacent intersection;
6) " She Daihang district causes the average stop frequency of vehicle to increase; there is the oil consumption loss of ramp to stop again in accelerator, tail gas pollution and brake noise " (see " research of signal junction Waiting-area for left-turning " [J], " traffic and transport " 2006 (B12) 32-36).
Beijing Ambient pollution prevention ordinance regulation " automobile driver, when parking more than three minutes, should extinguish engine ".Illustrate: 1) motor vehicles parking does not extinguish the certain atmosphere pollution of engine; 2) there is TC scheme red time more than 3 minutes.
2nd class, the Dai Hang district technology implemented at present all have no the real equipment, method of signal lamp group and the unified right of way implication of each beacon signal that accurately provide and meet " signal lamp special lamp Controlling principle ", and the driver of walking all parts of the country is difficult to accurately defer to.
3rd class, the Dai Hang district technology implemented at present are generally treated row section length comparatively Duan Huodaihang district number of track-lines are few, often make the prewave of accompanying drawing 2 let pass and do not reach saturation peak, and green light lost time 1 will with green light entry time G
j+ G
jfwith together with become large, be difficult to determine, and G
jfnot yet utilize and all can shift to an earlier date entry time.
4th class, have not yet to see the general calculation method of any Dai Hang district going through ability, make the Optimized Approaches that the Dai Hang district technology implemented at present all fails to provide concrete improvement, improve going through ability.
Summary of the invention:
To these actual techniques problems existed behind current She Daihang district, present inventor has performed a series of research, there is following objective science rule in preliminary discovery, and proposes the technical scheme of a series of innovation accordingly, and application gives patent protection hereby:
1, the visual field theorem in patulous research field: the visual field in patulous research field, will find better, more practical, more efficient TC control program exactly in a wider context, and such TC control program is exactly just in the field of new expansion.
Gaining new knowledge by reviewing old, is the visual field in effective patulous research field, one must be had clearly to understand to traditional TC field:
2, level crossing TC theorem: at level crossing, the common region of Different Traffic Flows i, j process is its conflict area; For avoiding that traffic conflict occurs, Different Traffic Flows is needed to divide different time to enter; When comity method is difficult to improve traffic efficiency, need force to distribute each traffic flow right of way by TC: be provided with stop line in each inflow point, when red signal works, control traffic flow and must be parked in after stop line in order, give way for there being other traffic flow of right of way; When green light and steady yellow work, control traffic flow and have the right to cross stop line, pass through crossing; So can be separated traffic conflict between Different Traffic Flows from room and time.TC makes traffic flow become interrupted traffic flow, also makes level crossing become the bottleneck of the traffic above-ground road network traffic capacity.Any Method and Technology that can improve the bottleneck level crossing traffic capacity synchronously will improve the traffic capacity of traffic above-ground road network.
3, road traffic signal controller definition: be a kind of can according to TC scheme change road traffic signal order, regulate timing and can control road traffic signal lamp run device, be called for short teleseme; There is optimum configurations program; Can be
all the timework at the same time
framework wagon flow view picture clearance green light combinesbe defined as same phase structure; Same phase structure green light need not simultaneously bright, go out, the time phase of each green light of same phase structure portion's work is simultaneously called phase, and the green light that same phase structure has allows to have early bright or break late and even overlap the stage; The topological structure of the different switching point relative positions early open because there is green light, broken late or overlap and formed is phase place framework.If the phase number of one-period is more than 2, be then called Multiphase Control Traffic; The priority job order of each phase is called phase sequence, and phase sequence also can be determined by arranging of teleseme inner parameter.
Note 1: in order to adapt to treat row area scheme, this definition and GA47-2002 " traffic signal controller " (The Ministry of Public Security of the People's Republic of China, MOPS, Chinese industry standards of public safety) are slightly different, and difference has been underscore part; Add "
all the time" and "
framework wagon flow view picture clearance green light combines" etc. restriction wording.Framework wagon flow because of those phase mutual potential conflicts also may have moment to occur view picture clearance green light simultaneously, be commonly called as " green conflict ", but " all the time " does not exist (see each signal timing plan accompanying drawing 12,13,15,16), thus they moment view picture clearance green light combination do not form phase structure; And to increase " clearance of framework wagon flow view picture " be emphasize that phase structure only has definition to " clearance of framework wagon flow view picture ", eliminate all non-framework wagon flows and only there is the wagon flow of half range clearance right of way; The definition face of reducing, just reduces complicacy and the kind of phase structure certainly.
4, the special principle of the special lamp of signal lamp: Signalized control must specially lamp be special, each traffic flow only should defer to oneself beacon signal, comprises signal display information etc., by other beacon signal, if misjudgement right of way, should not have the danger clashed.
5, traffic constraint theorem: TC scheme need meet the minimum capacity consistency of passing by one's way of traffic safety constraint and general speed pedestrian.
Copper sulfate basic defines: for avoiding traffic conflict, must establish copper sulfate basic I between adjacent one traffic flow i green light finish time and one conflict traffic flow j green light start time lower
ij, as the security parameter that TC scheme need meet; Must establish the phase intervals time between adjacent conflict phase, the phase intervals time is more than or equal to its copper sulfate basic comprised.
Pedestrian signal control law: clear road time (s) of red light is numerically equal to 2/3 walkway length (m), can the speed of protecting be not less than the quick pedestrian of 1.5m/s, also can safety even if enter walkway at the end of the blue flash time; Blue flash time+clear road time (s) of red light is numerically equal to walkway length (m), can the speed of protecting be not less than the general pedestrian of 1.0m/s, also can safety even if enter walkway at the end of green time; Those speed all occur lower than the non-each clearance of pedestrian at a slow speed of 1.0m/s, only need automobile driver to look after especially and give way, must ad hoc beacon signal do not ensured when accidentally occurring.
6, amber light theorem: the vehicle in motion has huge kinetic energy, can not in the original place release of 0 time, and at green light, capable and red light needs to be provided with buffering transition period between stopping, international amber light; Whole amber period can not be forbidden; Be both and permit row, amber light is different from green light part and is: the available limited and duration A of the unified publicity determined warning " red light that no through traffic is by bright "; And the numerical value of A should be enough large, with guarantee all can not safely smoothly parking person all can cross crossing stop line before when red, need not illegally make a dash across the red light.Any traffic flow in crossing, comprises " quick pedestrian ", and its tail unit empties task and all starts from the beginning of its red light and open the moment.Numerical value and the crossing size of A have nothing to do, and the tail unit at not responsible crossing empties task; The numerical value of A depends on the gradient, brake reaction capacity and the section Maximum speed limit etc. on import road surface, should get each import max-int.
Really there is amber period in reality and enter the phenomenon that first unit that the vehicle at crossing and next green light let pass clashes, even very miserable.Be strictly on guard against the generation of this type of accident, should follow " traffic safety law ", voucher is according to punishing severely violation side.
Juristic analysis: " traffic safety law " specifies, it is leading that the first unit entering crossing should give precedence to other unit all in crossing.First unit role can know, and must fulfil comity obligation and responsibility; It oneself is tail unit that tail unit is difficult to know, the person of not knowing is innocent.Even if it is also legal that tail unit crosses import stop line before amber light faces extinguishing, be both far from being " wouldn't punish, to take education as the main method ", more can not " amber light is forbidden, and offender detains 3 points and penalizes 500 ".An incoming signal distribute traffic stream enter right of way, entered crossing person and do not controlled by it, can only also must move on; All can be leading except first unit.On-the-spot risk need not prevent lawbreaker, but voucher certificate can give heavy punishment afterwards.Traditional concept is compatible is in harmony for amber light theorem and effective green time etc., does not endanger safe traffic.
Enforce the law feasible: although first unit and red-light runner are illegally all difficult to, also need not on-the-spot risk interception, punish then and there; But have shooting record as illegal evidence, strict law enforcement is evidence-based, can send punishment notice, make it to thoroughly rectify one's errors afterwards.
Effect is estimated: strict law enforcement " first unit comity tail unit ", each first unit must be made careful, careful, and speed decreases.The first unit of low speed can make pedestrian and non motorized vehicle spiritual happiness, more haves a sense of security.
Prerequisite: the copper sulfate basic of TC scheme needs minute design, does not allow " comity " person that abides by the law wait for of a specified duration; More can not induce generation " illegal the making a dash across the red light of collective is gone across the road " because copper sulfate basic is long, the will of the people be can't be bullied.
In the canalization situation of tradition without Dai Hang district, as accompanying drawing 1 and 4, have
7, traffic capacity theorem: the traffic capacity at crossing is the summation of each traffic flow traffic capacity in crossing; The traffic capacity of crossing framework wagon flow j is by its imported car number of channels, n
jto let pass time G with Effective Green Time
ejthe product of the traffic capacity embodies, and has
G
ej＝G
j+A-l＝Cλ
j(I)
In formula: G
j---wagon flow j view picture green time, (s);
L---green light lost time, (s); By Britain's actual measurement, l is 1.48s, and wherein yellow last lost time is 0.13s
(" hand over siphunculus reason and control " (the 4th edition) [M]. Beijing: People's Transportation Press, 2009);
C---cycle length length, be called for short the cycle, (s);
λ
j=G
ej/ C---split: Effective Green Time clearance time G
ejwith the ratio of cycle C.
Framework wagon flow view picture green time G
iwith copper sulfate basic I
ijpriority be connected in order and can form cycle route:
C＝∑(G
i+I
ij)(2)
8, saturation degree definition: the saturation degree q of wagon flow j
jfor actual traffic flow Q
jwith saturate passing capacity G
ejn
jq
sjthe ratio of/C:
q
i＝CQ
j/G
ejn
jQ
sj＝Q
j/λ
jn
jQ
sj≤q(3)
In formula: Q
j---the actual flow of wagon flow j, (pcu/h);
Q
sj---the bicycle road saturation volume of wagon flow j, (pcu/h);
N
j---the imported car number of channels of wagon flow j;
Q---the saturation degree upper limit.
Each split demand can be remembered
λ jfor:
λ j＝Q
j/qn
jQ
sj(4)
Example 2: in accompanying drawing 1 traditional standard crossroad, the phase sequence of each import " first left back straight " of traditionally textbook recommendation
(" traffic administration and control " (the 4th edition) [M]. Beijing: People's Transportation Press, 2009), as the cycle C=100s of signal timing plan, respectively to amber light 4s, complete red 3s, then each I
ij=7s; In " amber light the is forbidden " period of enforcement, 4 crucial framework wagon flow split summation ∑ λ
j=0.68; After " amber light wouldn't be punished ", also only reach ∑ λ
j=0.84.Average each framework wagon flow each cycle time of effectively letting pass only reaches 21s.
9, traditional critical path theorem: in practical solution design, the wagon flow played a crucial role in signal timing dial is key flow, and the cycle route (2) be made up of key flow is critical path; If all wagon flow saturation degrees are close except equaling minimum green time person (saturation degree is less), then critical path is the minimum cycle route of loss of cycle time L.
The traditional definition of loss of cycle time L is had along critical path
(" traffic administration and control " (the 4th edition) [M]. Beijing: People's Transportation Press, 2009):
L＝C-∑G
ei＝∑I
ij-(A-l)×n(5)
In formula: n is the quantity of copper sulfate basic in critical path.
In Traditional control field, the loss of cycle time be all be greater than 0 on the occasion of, be the current loss of time that can not effectively utilize.
The present inventor clearly proposes in patent ZL201010103079.2 and PCT/CN2011/070879:
10, the existence result of the shortest copper sulfate basic: for ensuring safety, all needs copper sulfate basic I between any 2 bursts of conflict traffic flows
ij.Under the prerequisite of basic guarantee safety, I
ijmost short value I must be there is
mij, be called the shortest copper sulfate basic.
The shortest copper sulfate basic calculates theorem: crossing empty start from red at the beginning of.Give precedence to the law of tail unit at first unit under, have:
I
mij＝A+Max{t
ci}-Min{t
ej}(6)
In formula: A---amber light duration, (s);
T
ci---green light i tail unit by emptying apart from the time used, (s);
Emptying distance---green light i tail unit crosses key point distance covered from its stop line, (m);
Max{t
ci---t
ci85% place value of cumulative distribution function, (s);
T
ej---the first unit of green light j by entering apart from the time used, (s);
Entering distance---the first unit of green light j arrives key point distance covered from its stop line, (m);
Min{t
ej---t
ej15% place value of cumulative distribution function, (s).
Note 2:Max{t
ciand Min{t
ejcumulative distribution function Min (the v of the respectively corresponding speed of a motor vehicle
ciand Max{v
ej, reality can be surveyed.
11, key point theorem: key point is the point that traffic flow the most easily clashes that conflicts in same conflict area, the shortest copper sulfate basic I that this place needs
mijmaximum.
In patent ZL201010103079.2 and PCT/CN2011/070879, the present inventor is also to improve going through ability i.e. " reducing the ratio in loss of cycle time and cycle " for goal seeking adaptive control optimization scheme, proposing above-mentioned with conventional phase Framework system---corresponding convertible chain race scheme system and 4 optimize complementary technology, and all directions clearance ability can be made adaptively just to match with the transport need of each framework wagon flow constantly changed in time.
12, chain race scheme system and 4 optimization complementary technologies.Particular content comprises:
Putting node is framework wagon flow view picture green time G
i; Oriented camber line is copper sulfate basic I
ij; Link is that node is connected the cycle route (2) of formation in order with camber line.Link also pays close attention to the phase structure of each framework wagon flow that view picture is simultaneously let pass.The link set with same phase structure and order is chain race, and corresponding web link graph is called chain race figure (see accompanying drawing 9); Cross junction has 114 links, adheres to 22 different chain races separately; The chain race of concrete green light timing data is had to be chain race scheme.
Chain race critical path theorem: different chain race has different phase structures and order, and for the same combinations of values of green light timing, each own critical path corresponding separately.
The definition (5) of loss of cycle time L extends to any link, with not producing confusion of concepts with alphabetical L.
(6) formula is substituted into (5) formula, and utilizes relational expression (1), (2), note X=∑ (I
ij-I
mij), can obtain:
L＝∑(Max{t
ci}-Min{t
ej})+l×n+X(7)
Screen chain race theorem in advance: L size and amber light A, cycle C and green light timing G
icompletely irrelevant; Cannot critical path be determined before learning traffic demand, but screen chain race in advance by the mean value comparing L, determine phase structure and order.
System reduces loss of cycle time theorem: reduce loss of cycle Time Dependent in the complementary technology of following 4 systems:
1) each view picture link L mean value is screened
lminimum chain race, as " first straight rear left " chain race (see accompanying drawing 9).
2) screening can make the mean value of " first straight rear left " chain race
lless optimum road canalization, as accompanying drawing 4.
3) optimum control scheme adaptive design and the minimum compatible combination design of copper sulfate basic that can reduce X is selected;
4) red, the steady yellow countdown that can reduce by 1 are set.
Obviously, technology 1) phase structure and the ∑ (Max{t sequentially making (7) can be pre-determined
ci-Min{t
ej) minimum;
Technology 2) ∑ (Max{t that road canalization makes (7) can be optimized
ci-Min{t
ej) less;
Technology 3) make the X of (7) minimum;
Technology 4) make the l of (7) minimum.
Therefore the mutual supplement with each other's advantages of these 4 kinds of technology, the superposition of effect makes loss of cycle time L enter beyond example negative value field.As accompanying drawing 6.The loss of cycle time for negative value becomes additional one of per signal period on the contrary and effectively lets pass the time.Therefore the present inventor proposes the optimizing index being minimised as design proposal with " ratio in loss of cycle time and cycle ".According to (1) and (5) formula, have
L/C＝1-∑λ
j(8)
" ratio in loss of cycle time and cycle " minimizes is in fact split sum Σ λ on critical path
jmaximization.13, self-adaptation theorem: intersection signal control serves traffic flow, adaptation scheme design should be carried out in time according to the frequent change of magnitude of traffic flow demand, what signal was controlled respectively just matches with the transport need of each framework wagon flow to clearance ability, this be equivalent to likely find in scheme and make q
j≤ q or λ
j>=
λ j the chain race scheme integer solution set up; The best approach is iterative search.
Example 3: one group of traffic demand to accompanying drawing 4 crossing: the straight Q in east
1=982pcu/h, two left Q
2=403pcu/h, the straight Q in north
3=922pcu/h, Nan Zuo Q
4=389pcu/h, the straight Q in west
5=918pcu/h, eastern left Q
6=432pcu/h, the straight Q in south
7=916pcu/h, northern left Q
8=435pcu/h; As yellow time A=4s, green light l=1.5s lost time, bicycle road saturation volume rate is Q
sj=1600pcu/h, j ∈
8.Then each split demand is respectively:
λ 1 =Q
j/ qn
jq
sj=0.34;
λ 2 =0.28;
λ 3 =0.32;
λ 4 =0.27;
λ 5 =0.32;
λ 6 =0.30;
λ 7 =0.32;
λ 8 =0.30.Y＝1.24。
optimum adaptation scheme { the G utilizing the patented technology of ZL201010103079.2 and PCT/CN2011/070879 to obtain
ibe: the straight G in east
1=17s, western left G
2=14s, the straight G in north
3=16s, Nan Zuo G
4=13s.Two straight G
5=16s, eastern left G
6=15s, the straight G in south
7=16s, northern left G
8=15s.Minimum period C=57s, loss of cycle time L=-15s, within one day 24 hours, actual effectively clearance of energy reaches 30.32 hours.
Example 3 confirms that the technology of patent ZL201010103079.2 and PCT/CN2011/070879 can realize the expansion of classical signal control field to " the loss of cycle time is the field of negative value " really, and this field non-NULL.
Can find after deliberation, above the root of first kind technical matters do not lie in crossing and " establish Liao Daihang district ", but to be:
1) Dai Hang district capacity is too little, and Dai Hang district no longer can follow up with saturation volume rate close to full load rear car: or
2) signal control technology is incorrect, makes first unit arrive parking twice line prematurely, and causes have to " stop and wait to go ".
If according to the natural law: stroke=speed × time, by signal control technology, first unit is induced to go slowly with reasonable low speed, when outlet starts to let pass arrive and then legal hardly stop cross parking twice line, " the clearance loss of time in the middle of letting pass for 2 times " is reduced to 0, eliminates this reason 2).Namely
14, can not stop theorem in Dai Hang district: each track parking twice line can not on the same line, according to the minimum stroke distance Min{s of framework wagon flow j hill path mouth stop line to each parking twice line
jand the attainable rationally most slow train speed v of reality
cj, determine the limit crossing time T of wagon flow j
j=Min{s
j}/v
ej; As G
jTbe less than or equal to corresponding T
j, and the first unit of wagon flow j is rationally to enter at a slow speed Dai Hang district, then all vehicles of wagon flow j all can realize stopping hardly in Dai Hang district.
Not stopping or stop hardly in Dai Hang district mentioned here, does not comprise the very brief brake moment that first bus produces because of comity.
Example 4: the first bus of the static starting in mountain is given precedence to obligation because having and may stop at parking twice line, gets rationally v at a slow speed
ej=1.5m/s (i.e. 5.4km/h), acceleration a
ei=2m/s
2, the desirable Max{v when calculating the shortest green light interval
ej}=2m/s (i.e. 7.2km/h).
Can not to stop theorem according to Dai Hang district, stop hardly in Dai Hang district though subsequent vehicle is the same with first unit, and need not keep the same with first unit at a slow speed.The quantity of the method and track, reason Shi Daihang district that can improve subsequent vehicle speed is greater than import: 15, Dai Hang district do not stop shunting speed-raising theorem: make full use of space resources in crossing, Dai Hang district number of track-lines can be allowed to be greater than import; Shunting can make rear car in inflow point's speed of a motor vehicle and flow rate higher than front truck, thus greatly reduces green light lost time 1, improves the traffic capacity.
As accompanying drawing 15.On the other hand, can not to stop theorem according to Dai Hang district, in order to not make T
jto G
jfform harsh restriction, should T be made
jlarge as far as possible, namely the minimum stroke distance in Ying Shidaihang district is large as far as possible.Therefore,
16, do not stop the optimum canalization standard theorem at crossing in Dai Hang district: the do not stop optimum canalization standard at crossing of Dai Hang district is:
1) ground resource in crossing is made full use of, the minimum stroke distance Min{s in Shi Gedaihang district
imaximum;
2) make full use of ground resource in crossing, make the number of track-lines in Dai Hang district many as far as possible; But the number of track-lines of same craspedodrome wagon flow must not more than outlet, same left turn traffic with also must not more than outlet to the number of track-lines sum of wagon flow of turning right.
17, the Dai Hang district parking twice line that do not stop arranges theorem: parking twice line need meet:
1) vehicle waited in Dai Hang district does not affect the traffic flow of letting pass and passes through;
2) the parking twice line in each track can not on same straight line; 1) prerequisite under make crossing stop line to the minimum stroke distance Min (s of each parking twice line
jlong as far as possible.
Note 3:1) money is for ensureing traffic safety unimpeded and the condition of establishing:
2) money is for improving entry time G in advance
jfthe upper limit and expand T as far as possible
j;
Example 5: according to this optimum canalization standard, can the optimum canalization accompanying drawing 5 at crossing, get Dai Hang district.As first unit speed 1.5m/s, left-hand rotation Dai Hang district minimum stroke distance 60m, left-hand rotation T
j=60/1.5=40s, craspedodrome Dai Hang district minimum stroke distance 48m, craspedodrome T
j=48/1.5=32s.As all entry time G in advance
jfbe less than or equal to corresponding T
j, then enter the first unit in Ge Daihang district with reasonable 1.5m/s at a slow speed, can not stop in Dai Hang district; Subsequent vehicle can certainly not stop in Dai Hang district.
For avoiding that traffic conflict occurs, crossing, Dai Hang district also needs copper sulfate basic to be separated conflict traffic flow, therefore must accurately calculate.
18, the shortest copper sulfate basic in Dai Hang district calculates theorem: Dai Hang district does not change conflict area and the shortest copper sulfate basic I
mijquantity.Calculate I between each traffic flow
mijformula (6) still set up; Difference is: after line, key point enters distance and starts at from parking twice line, and before line, key point enters distance and starts at from import stop line, respectively empties distance and all starts at from import stop line.
19, key point position changeable theorem: before and after parking twice line, key point can be completely different because entering the greatest differences of the admission velocity value in Dai Hang district in the orientation of conflict area.The Distance geometry that empties of relatively each key point enters apart from also therefore different.
20, Dai Hang district key point theorem: crossing, Dai Hang district, the key point of traffic flow i and the traffic flow j that conflicts in traffic flow i have maximum empty distance track and traffic flow j there is the Critical Conflict district converged in the minimum track entering distance, converging angle g and minimumly emptying speed Min{v according to Critical Conflict district
ciand maximum admission velocity Max{v
ejkey point position can be determined as follows:
As there is Min{v
ci< Max{v
ejcosg, be then positioned to enter outside first unit and leave Critical Conflict region place foremost;
As there is Max{v
ej< Min{v
cicosg, be then positioned at meet inside Critical Conflict Regional Traffic Flow;
In addition, be all positioned to enter outside the first unit in Critical Conflict region and enter conflict area place foremost.As shown in Figure 3.
Example 6: the determination of each distance needs first for speed parameter determination key point orientation, and the concrete speed parameter data adopted are shown in example 4 and embodiment 2.The position data of concrete key point is shown in embodiment 3, as shown in the red some 1-10,56,57 in accompanying drawing 5.
From patent ZL201010103079.2 and the PCT/CN2011/070879 of the present inventor, the less optimum road canalization for target lost time average period without " first straight rear left " the chain race to make " lost time average period is minimum " at crossing, Dai Hang district is the form of accompanying drawing 4.Have surprising similar to accompanying drawing 5.
Does is this only coincidence, or the certainty of certain scientific law? accurate answer should be the latter, sees accompanying drawing 7.
21, comprise and compatible theorem: signal control field can be divided into without friendship: can not field, She Daihang district, Dai Hang district parking lot and Dai Hang district parking lot 3 part hardly; Tradition can be divided into without friendship without Dai Hang district signal control field: can not field, She Daihang district, can establish but field 2, Wei Shedaihang district part; Wherein can to establish but all control programs in field, Wei Shedaihang district are all the special cases of corresponding Dai Hang district parking toll scheme hardly: special just special in its each entry time=0 and first unit does not stop by Dai Hang district with the normal speed of a motor vehicle in advance; Therefore can establish but field, Wei Shedaihang district belong to Dai Hang district hardly parking lot a part; Can to establish but all concepts in field, Wei Shedaihang district, term, formula, the natural law and feasible optimizing index, control technology Dou Daihang district exist in parking lot hardly naturally, expression way is similar and covering scope is wider, and every control technology scheme is generally feasible.
The characteristic in what this " contained " be meant to remove Ju Daihang district just can return to can be established but Wei Shedaihang district field situation.Canalization and all formula herein of accompanying drawing 5 all show this containing.
Comprise and to achieve the secondary that classical signal control field extend to " not stopping in Dai Hang district " field significantly with compatible theorem and expand, as accompanying drawing 7.This expansion also has meaning and the necessity of said TC Systematical control field expansion theorem above.
Comprise just to be with the realistic meaning of compatible theorem can Shi Daihang district not parking lot comprise the every known and unknown achievement in research without Dai Hang district TC, make to treat row district not the various knowledge of regularity of parking lot and control technology more ripe, improve, the Dai Hang district not hierarchy of control of parking lot and complete optimization adaptive approach, system and equipment can be set up rapidly.
22, Dai Hang district traffic capacity theorem: the traffic capacity at crossing, Dai Hang district is the summation of each traffic flow traffic capacity in crossing; The traffic capacity of crossing framework wagon flow j is by its imported car number of channels n
jembody with the product of the traffic capacity in import effective green time; Import Effective Green Time clearance time G
ejfor:
G
ej＝G
j+G
jf+A-l＝Cλ
j＝CQ
j/n
jQ
sj(9)
In formula: Q
j---the actual flow of wagon flow j, (pcu/h);
Q
sj---the bicycle road saturation volume of wagon flow j, (pcu/h);
N
j---the imported car number of channels of wagon flow j.
Example 7: in expression formula (9), only comparatively expression formula (1) adds wagon flow j and shifts to an earlier date entry time G
jfone; For without Dai Hang district situation, G
jf=0; Expression formula (9) covers formula (1) really; Although the numerical value of green light lost time 1 is different.
Example 8: first unit is gone slowly must increase green just lost time, but the time interval that shunting makes vehicle cross crossing stop line reduces gradually, if front 7 be respectively 6.1,4.9,4.0,3.2,2.6,2.2,2.0s/pcu, then green just lost time is 11s.Normal saturation volume rate is reached after Dai Hang district import clearance 23s.Much larger than the 1.35s green just lost time without Dai Hang district.
23, do not stop green light theorem lost time in Dai Hang district: green light lost time 1 is can not clearance loss of time of saturated clearance:
l＝G
j+G
jf+A-G
ej＝G
j+G
jf+A-CQ
j/n
jQ
sj(10)
Not stopping and can eliminate the loss of peak-to-peak green time in Dai Hang district, makes 1 to be present in import and to let pass beginning of time, end; 1 size and each copper sulfate basic length have nothing to do, and can expand because of the track number ratio of Dai Hang district and import and reduce, work as G
jf=T
jtime 1 maximum, maximal value can be added up and be determined; Relevant with entering first unit speed, as first unit admission velocity=Min{s
j}/G
jftime, 1 is almost minimum.
As shown in the curve of accompanying drawing 15.As shown in Figure 2, Ruo Daihang district capacity is less for the import flow rate profile stopped in Dai Hang district, then the first wave of accompanying drawing 2 is let pass and do not reached saturation peak, and green light lost time 1 is difficult to accurately determine.
Obviously, the compatible formula (1) without Dai Hang district of the computing formula (9) of the effective green time in Dai Hang district.Thus in conjunction with optimum road canalization, likely help to solve the 4th class technical matters existed at present.
For solving the Equations of The Second Kind technical matters existed at present, treat the right of way implication of the necessary clear and definite following traffic signals of row area scheme:
24, the right of way implication of row area scheme traffic signals is treated
The outlet half-roadway right that parking twice line crossed by display vehicle also needs beacon signal, but only needs 2 kinds of light colors: red light stops, and green light is capable; Because of at the green tail of outlet signal, without car in Dai Hang district, outlet does not need amber light.Commander is different, and outlet each signal lamp group to wagon flow does not show same light color simultaneously, can by left, straight, right arrangement or additional arrows to show difference, as accompanying drawing 5.
If after outlet half-roadway right signal lamp group, the red, green, yellow signal of original signal lamp group just changes into and only shows the import half-roadway right beacon signal that crossing stop line crossed by vehicle.
This beacon signal is arranged exists following six kinds of practical signal combination, its DISPLAY ORDER and right of way implication corresponding as follows:
1) import is green, goes out lipstick: half-roadway right signal, is only permitted vehicle and crosses crossing stop line, but mustn't cross parking twice line;
2) import is yellow, goes out lipstick: half-roadway right signal, is only permitted vehicle and crosses crossing stop line, but mustn't cross parking twice line, and warning is prohibited from entering the red light of crossing stop line by bright;
3) import is green, exports green: be equivalent to traditional view picture clearance green light, allows vehicle view picture to pass through;
4) import is yellow, exports green: be equivalent to traditional view picture clearance amber light, and warning is prohibited from entering the red light of crossing stop line by bright, allows vehicle view picture to pass through;
5) import is red, exports green: be equivalent to traditional view picture clearance red light, represents and forbids that crossing stop line crossed by vehicle; But the vehicle having entered Dai Hang district still has the half-roadway right that preferentially can roll crossing away from, and other vehicle should be given precedence to;
6) import is red, goes out lipstick: be equivalent to traditional view picture clearance red light, completely mustn't vehicle pass-through; But the vehicle having entered Dai Hang district still has the half-roadway right that preferentially can roll crossing away from, and other vehicle should be given precedence to.
To same wagon flow in same signal sequence sequence, signal combination 2) and 3) can not all occur, only there will be wherein a kind of.
Be provided with the countdown of outlet red light, display distance outlet red light extinguishes the remaining time, is convenient to first unit according to the far and near autonomous regulation speed of distance parking twice line, just arrives also legal parking hardly then when exporting green light and starting and crosses parking twice line.
Be provided with the countdown of import amber light, display distance import amber light extinguishes the remaining time, the driver not yet crossing import stop line can be helped independently to judge decision-making according to the distance apart from import stop line, as can not import red light rise bright before safety cross import stop line, just must stop in turn before import stop line, can not make a dash across the red light.
25, countdown display principle: countdown display information is driver's decision-making foundation, must be genuine and believable, must not disorderly become midway.
Therefore change auto-adaptive control scheme parameter can only be carried out after each countdown display information.
Promote Dai Hang district not stopping technical, the independent signal lamp group increasing number need teleseme to connect, controlling.If teleseme is inadequate, can use multiple phase differential be each other 0 teleseme cooperation Dai Hang district not parking toll scheme.
By embodiment 7 and accompanying drawing 8, have:
Dai Hang district is straight, parting on the left side theorem: pedestrian's street crossing ability only retrains the minimum green time of each straightgoing vehicle framework view picture, does not retrain left-hand rotation car, therefore forms difference and the differentiation of 2 kinds of framework wagon flows.
For solving the three types of technology problem existed at present, can setting principle according to Dai Hang district, have
26, Dai Hang district empties theorem: enter all vehicles in Dai Hang district, all must leave Dai Hang district during outlet is let pass.Same wagon flow should be more than or equal to the traffic capacity of import in the traffic capacity of parking twice line, and the half range green light of outlet at least must be greater than ratio Max{s than the half range amber light of import slow shut-in time
j}/Min{v
ej.
26, Dai Hang district shifts to an earlier date entry time theorem: for any control program arranging Dai Hang district, wagon flow j in its Dai Hang district with front clearance wagon flow j-1 all Lothrus apterus; The entry time G in advance of wagon flow j
jfbe all the amount that can accurately calculate, size is limited by the wagon flow j-2 of the front baffle again green light slow break time of view picture chain race figure and the shortest copper sulfate basic I
j-2, j, and along with front view picture green time G
j-1increase and increase; If front view picture green time G
j-1during close to minimum green time, G
jfalso be limited by the green time of the conflict pedestrian and non motorized vehicle of same inflow point; G
jfalways be greater than G
jprevious phase time.
Greatest differences is there is, I between the 2 kinds of admission velocities do not stopped in this last judgement Shi Yindaihang district
j-2, jmuch smaller than I
j-2, j-1.
Example 9: the concrete related constraint element relation calculated is shown in accompanying drawing 10, the similar restriction relation had with bicycle and pedestrian.Embodiment 11 and 12 describes G
jfalso be limited by the situation of the minimum green time of the pedestrian and non motorized vehicle that inflow point intersects.Embodiment 8-12 also describes G
jfcan accurately calculate, always than only carrying previous phase time, to enter time in Dai Hang district large.
27, form Opened design theorem: although in advance entry time and controlling plan design loaded down with trivial details, complicated, repeatedly need balance, utilize serial computation sheet that all calculating just can be made to become simple, transparent, can review, make real result, credible, feasible.
Concrete each computation sheet is shown in the form 1-16 in each embodiment.The three types of technology problem existed at present can be solved.
Can be known by embodiment 11 and 12:
28, Dai Hang district view picture signal can abnormal theorem: view picture signal is the combination of 2 half range signals, each under the minimum ability of the passing by one's way prerequisite of pedestrian in guarantee, allow to there is some and differ from phenomenon without Dai Hang district crossing convention: view picture green time can be less than 0, and phase length can be less than 0; The 2nd can be had) plant signal combination " import is yellow, goes out lipstick ".
When traffic demand unsaturation, crossing clearance ability need not be maximum, should make respectively can to clearance ability self-adaptation respectively to traffic demand, be equivalent to and make λ all can not searching in parking toll scheme in time
j>=
λ j the chain race scheme integer solution set up, the best approach is iterative search.Idiographic flow as shown in Figure 14.
To each split demands such as nights
λ jthe very little period, there is minimum period 30s scheme.The optimization of not stopping of Dai Hang district, accompanying drawing 5 crossing is adaptive should be able to also can only be carried out between cycle 30s-98s, and integer solution limited amount, can thorough search.
29, whether do not stop the cooperation control that or not that can realize with adjacent intersection under regulation speed of a motor vehicle v in Dai Hang district.
Concrete grammar is: carry out uniform period C with adjacent intersection, and by each split demand designing respective crossing not parking toll scheme to traffic demand; As there is certain entry time G in advance because cycle C is excessive
jfbe greater than the limit crossing time T of its correspondence
j; By reducing this G
jf, realize Dai Hang district and do not stop; Key is that the phase differential between each crossing can method be determined as follows:
1) what formed at a slow speed in the face of first unit traitorously plays, can by this crossing stop line, and calculating distance between next crossing=coordinate wagon flow shifts to an earlier date entry time G
jf× v+ parking twice line is to the traveled distance of next crossing import stop line;
2) again by traditional each phase differential scheme of " between crossing climb displacement distance-velocity linear method " Exact Design.
3) Internet technology is utilized, the time of crossing change green light, a left side above, straight, right vehicle fleet size, initiatively tell vehicle driver, induction driver adjusts the speed of a motor vehicle automatically according to these information with to the path distance of crossing stop line, just arrives also legal parking then when crossing import discharges oneself preceding vehicle and crosses parking twice line.
This cooperation control not only can realize traditional cooperation control, and can overcome traditional cooperation control shortcoming, improves coordinating efficiency.
Notice that the shortest copper sulfate basic in Dai Hang district calculates theorem, substitute (1) with (9), the loss of cycle time formula that Dai Hang district is not set can be made to be changed to by (7) (11) of not stopping in Dai Hang district
L＝∑(Max{t
ci}-Min{t
ej})+l×n+X-∑G
jf(11)
Formula (11) comparatively (7) adds "-Σ G
jf".This is that first bus passes the Dai Hang district time used, is from-Min{t
ejin science to separate.Thus confirm that " first bus is the T that do not stop of most slow train Su Shidaihang district rationally theoretically
jand even ∑ G
jflarge as far as possible " science, can greatly reduce loss of cycle time L, improve the clearance ability Σ λ at crossing
j.Though there is the composition of the accidental sudden caprice of inventor in Gu Daihang district not stopping technical, more there is abundant scientific theory basis.According to the natural law, have
30, the optimum self-adaptation theorem of the Dai Hang district traffic capacity: do not stop with Σ λ in Dai Hang district
jbe target to the maximum, there are 8 complementary technologies:
1) optimum canalization Shi Gedaihang district minimum stroke distance Min{s
jmaximum, make limit crossing time T
j=Min{s
j}/v
ejmaximize;
2) optimum canalization makes the number of track-lines in Dai Hang district many as far as possible, thus can improve the follow-up speed of a motor vehicle, reduces 1;
3) select " first straight rear left " chain race, determine phase structure and order, make each view picture link L mean value minimum;
4) set out the countdown of lipstick modulating signal can induce and do not stop;
5) the import steady yellow countdown that can reduce by 1 is set;
6) design of copper sulfate basic minimum compatible combination is selected, namely 2 straight to { I in the same phase intervals time
ijsum equals 2 oblique { I
ijsum, reduce X and cycle as far as possible;
7) first unit can make T as far as possible at a slow speed
jmaximize;
8) corresponding T is being not more than
junder prerequisite, make each G
iflarge as far as possible, with the view picture green time G increasing front conflict wagon flow
j-1.
As being not more than T
jprerequisite under realize all G
jf=T
j, and each first unit gets rationally most slow train speed v
ej, then have the crossing clearance ability of optimum road canalization maximum.If there is traffic demand unsaturation, then clearance ability need not be maximum, answers adaptive flow demand.
These 8 complementary technologies cover the complementary technology that the system not arranging Dai Hang district reduces 4 systems of loss of cycle time theorem, have only lacked the countdown of import red signal.
The countdown of import red signal can make the whole start up curve shifted forward of accompanying drawing 15 in theory, thus helps to reduce l; But because being provided with the countdown of outlet red signal, can help to a certain extent to control first bus speed, driving and change the whole start up curve climbing speed of accompanying drawing 15, does not stop to omit completely and arranges the countdown of import red signal in Gu Daihang district.
31, the not fully loaded theorem in Dai Hang district: if G
jf+ G
j+ A is not long, and be not enough to Shi Daihang district and be fully loaded with, even if first bus enters Dai Hang district and stops before parking twice line at full speed, also can not there is the second clearance ripple, then clearance efficiency is more bigger than not stopping clearance efficiency.
the a series of Xin Daihang district of the present invention control method for stopping, system and embodiment hardly
1, crossing is provided with a TC system of stopping hardly in Dai Hang district, and comprise crossing road canalization, teleseme and signal display apparatus, is characterized in that, can realize Dai Hang district as follows and stop hardly:
1) determine phase sequence and road canalization, on one piece of region that the special import track of framework wagon flow j is extended continuously in crossing, in a period of time before being close to its outlet and letting pass, pass through without other traffic flow; If this block region is the Dai Hang district of framework wagon flow j, framework wagon flow j is allowed to enter this period; Claim this period for shifting to an earlier date entry time G
jf; Dai Hang district finishing line is parking twice line; The parking twice line in each track can not on same straight line;
2) determine that framework wagon flow j is by the minimum stroke distance Min{s of crossing stop line to each track parking twice line
j;
3) limit crossing time T in the Dai Hang district of framework wagon flow j is determined
j=Min{s
j}/v
ej, wherein v
ejthe attainable rationally most slow train speed of first unit reality;
4) determine that signal controls, make the entry time G in advance of framework wagon flow j
jfbe less than or equal to crossing time T
j; Then determine the signal timing plan at described crossing, and show according to this signal timing plan control signal display device;
5) as consciously in first bus driver to travel with reasonable most slow train speed, can just arrive when exporting and letting pass and start and then legally hardly parking crosses parking twice line.
2, crossing according to claim 1 is provided with the TC system of stopping hardly in Dai Hang district, it is characterized in that,
1) import amber light is provided with countdown display device, the time that the simultaneous display distance import amber light extinguishing moment is remaining, the each driver not yet arriving import stop line is helped to make decisions on one's own according to the distance apart from import stop line, import red light rise bright before as import stop line can not be crossed safely, just must stop before import stop line in turn in time, not make a dash across the red light;
2) outlet red light in Dai Hang district is provided with countdown display device, enter the Dai Hang district moment in permission wagon flow to start and outlet red light simultaneous display distance exports the excess time of letting pass and starting, genuine and believable, the speed of a motor vehicle of inducing first unit independently to draw oneself up==to the distance/countdown displaying time of parking twice line
Arrive also legal parking then when exporting and letting pass and start so that proper and cross parking twice line;
3) Variation control strategy parameter must not show information in countdown but display information is inconsistent or carry out during pedestrian's blue flash, all countdowns must be kept to show information truth credible, disorderly do not become halfway, be enough to the reliable basis becoming driver's decision-making.
3, a kind of crossing according to claim 1 is provided with the TC system of stopping hardly in Dai Hang district, it is characterized in that, road canalization scheme is preferably formed by least 2 schemes: have at least road in the crossing of a candidate scheme to be made up of class circumferential highway and the road passing through central area, class circumferential highway travels for straightgoing vehicle, class circumferential highway interior central area is straightgoing vehicle Jin Shi district, pass through road and the class circumferential highway crossing on the same level of central area, only travel for left turn traffic; Preferred technical indicator is: fully expand and utilize ground in crossing, Shi Gedaihang district is long as far as possible, and the number of track-lines in Ge Daihang district is many as far as possible; But the no more than outlet of number of track-lines of same craspedodrome wagon flow, same left turn traffic and the number of track-lines sum also no more than outlet to wagon flow of turning right.
4, a kind of crossing is provided with the TC system in Dai Hang district, it is characterized in that, the framework wagon flow being provided with Dai Hang district in the position that commanded wagon flow driver can obviously see is provided with and can shows vehicle and cross the red, green, yellow signal lamp group of the incoming signal of crossing stop line half-roadway right, and can show vehicle and cross red, the green signal lamp group of the outlet signal of parking twice line half-roadway right; Because exporting without car in signal green tail moment Dai Hang district, outlet half-roadway right signal does not need amber light; Control the different next outlet signal lamp group to wagon flow by left, straight, right arrangement, to show difference;
Import and export half-roadway right signal has following six kinds of signal combination, and its DISPLAY ORDER and right of way implication are corresponding as follows:
1) import is green, goes out lipstick: represent that only being permitted vehicle crosses crossing stop line, but mustn't cross parking twice line;
2) import is yellow, goes out lipstick: represent that only being permitted vehicle crosses crossing stop line, but mustn't cross parking twice line, and warn off-limits red light by bright;
3) import is green, exports green: be equivalent to traditional view picture clearance green light, represents and allows vehicle view picture to pass through;
4) import is yellow, exports green: be equivalent to traditional view picture clearance amber light, represents that the off-limits red light of warning is by bright, allows vehicle view picture to pass through;
5) import is red, exports green: be equivalent to traditional view picture clearance red light, represents and forbids that crossing stop line crossed by vehicle; But the vehicle in Yi Daihang district still has the half-roadway right that preferentially can roll crossing away from, and other vehicle should be given precedence to;
6) import is red, goes out lipstick: representing completely mustn't vehicle pass-through, but the vehicle in Yi Daihang district still has the half-roadway right that preferentially can roll crossing away from, and other vehicle should be given precedence to.
5, crossing according to claim 1,3 or 4 arranges and needs the teleseme in row district, it is characterized in that,
1) operation treats that row area scheme needs teleseme to connect at same crossing, the independent signal lamp group quantity of control comparatively increases without Dai Hang district situation, such as at cross junction, at least needs can connect, control 44 independent signal lamp groups;
2) as the inadequate resource of a teleseme, can use multiple phase differential be each other 0 teleseme cooperation;
3) device of these telesemes can be arranged in a rack, and each CPU can use the signal of same clock chip.
6, the crossing according to claim 1,3 or 4 is provided with the TC system in Dai Hang district, it is characterized in that, determines each maximal value I that can guarantee the shortest copper sulfate basic of traffic safety as follows
mij:
1) determine that green light i clearance traffic flow i tail unit is maximum and empty distance s
cjm () and lower one have the traffic flow j head that conflicts with traffic flow i unit are minimum and enter distance s
ej(m), concrete grammar is:
1. determine the key point position of traffic flow i and the traffic flow j that conflicts: traffic flow i have maximum empty distance track and traffic flow j have on the Critical Conflict region converged in the minimum track entering distance, converging angle g and minimumly emptying speed Min{v according to Critical Conflict district
ciand maximum admission velocity Max{v
ej, the position of key point can be determined as follows:
As there is Min{v
ci< Max{v
ejcosg, be then positioned to enter outside first unit and leave Critical Conflict region place foremost;
As there is Max{v
ej< Min{v
cicosg, be then positioned at meet inside Critical Conflict Regional Traffic Flow;
In addition, be all positioned to enter outside the first unit in Critical Conflict region and enter conflict area place foremost;
2. before parking twice line, the distance that enters of the wagon flow of key point is started at from import stop line, to arrival key point; Empty distance to start at, to the tailstock crosses key point from import stop line;
3. after parking twice line, the distance that enters of the wagon flow of key point is started at from parking twice line, to arrival key point; And empty apart from still starting at from import stop line, to the tailstock crosses key point;
2) the longest clean up time Max{t of traffic flow i tail unit is calculated
ciand the shortest entry time Min{t of the first unit of traffic flow j
ej;
3) I between traffic flow i and traffic flow j green light is calculated
mij=A+Max{t
ci-Min{t
ej, wherein A is yellow time.
7, crossing according to claim 1 and 2 is provided with the TC system of stopping hardly in Dai Hang district, it is characterized in that, the traffic capacity of crossing wagon flow j is by its imported car number of channels n
jembody with the product of the clearance ability of its import effective green time; Its import Effective Green Time clearance time G
ejfor:
G
ej＝G
j+G
jf+A-l＝Cλ
j
In formula: G
j---wagon flow j view picture green time is the time of outlet green light start time to import green light finish time, (s);
G
jf---wagon flow j shifts to an earlier date entry time, (s);
A---yellow time, (s);
L---import green light lost time, (s), works as G
jf=T
jtime maximum, maximal value can be added up and be determined; As first unit admission velocity=Min{s
j}/G
jftime, l is almost minimum;
C---cycle, (s);
λ
j---split.
8, the crossing according to claim 1 or 7 is provided with the TC system of stopping hardly in Dai Hang district, it is characterized in that, uses following iterative search method, and self-adaptation is found can mate each Dai Hang district to traffic demand not parking toll scheme:
1) according to completely can the optimum canalization scheme in She Daihang district and phase sequence, yellow time A, first unit is most slow train speed v rationally
ejwith treat row section length Min{s
j, determine Dai Hang district limit crossing time T
j=Min [s
j}/v
ej; Determine each the shortest copper sulfate basic; Draw view picture wagon flow chain, determine minimum compatible combination and the coupling permissible error w1 > w2 > 0 at minimum green light interval; To the split demand obtained by any traffic demand
λ j; By any one group of integer solution { G
jset out;
2) by the scheme conversion of chain race, determine each phase, phase intervals, each framework wagon flow signal green light early opens and the slow break time; Determine that other signal green light opens, disconnected relative time, guarantee minimum time and the minimum green time of 3s bicycle of passing by one's way of pedestrian; Determining that each framework wagon flow is maximum in advance can entry time G
jfwith effective green time G
ej;
3) for all j ∈
8, as there is G
jfbe greater than corresponding crossing time T
j, then corresponding view picture wagon flow time G is reduced
j-1; Then form one group and be different from the new integer solution { G trying to separate
j, return 2), otherwise continue;
4) for all j ∈
8, calculate wagon flow split λ
j=G
ej/ C;
5) for j=1,3,5,7, as there is the difference λ of certain craspedodrome wagon flow split
j-
λ j> w1, then reduce cycle C; Then form one group and be different from the new integer solution { G trying to separate
j, return 2), otherwise continue;
6) for j=2,4,6,8, as there is the difference λ of certain left turn traffic split
j-
λ j> w1, then reduce corresponding view picture left-hand rotation time G
j; Then form one group and be different from the new integer solution { G trying to separate
j, return 2), otherwise continue;
7) for j=1,3,5,7, as there is the difference of certain craspedodrome wagon flow split
λ j-λ
j> w2, then expand cycle C; Then form one group and be different from the new integer solution { G trying to separate
j, return 2), otherwise continue;
8) for j=2,4,6,8, as there is the difference of certain left turn traffic split
λ j-λ
j> w2, then expand corresponding view picture left-hand rotation time G
j; Then form one group and be different from the new integer solution { G trying to separate
j, return 2), otherwise continue;
9)END。
9, the crossing according to claim 1 or 8 is provided with the TC system of stopping hardly in Dai Hang district, it is characterized in that, stop hardly and can realize the cooperation control of parking hardly of unified section coordinated speeds v with adjacent intersection in Dai Hang district, method is:
1) uniform period C is carried out with adjacent intersection;
2) as there is certain entry time G in advance because cycle C is excessive
jfbe greater than the limit crossing time T of its correspondence
j, this G can be reduced
jf=T
j, realize Dai Hang district and stop hardly;
3) formed at a slow speed " switch political loyalty and play " different from section speed for first unit, rewriting is determined
By this crossing stop line to next crossing import stop line climb displacement distance=
=coordination wagon flow shifts to an earlier date entry time G
jf× v+ parking twice line is to the stroke of next crossing import stop line;
4) according to climb displacement distance, traditionally " between crossing climb displacement distance-velocity linear method " Exact Design Dai Hang district of cooperation control do not stop cooperation control each crossing between phase differential scheme;
5) Internet technology is utilized, the time of crossing change green light, a left side above, straight, right vehicle fleet size, initiatively tell vehicle driver, induction driver adjusts the speed of a motor vehicle automatically according to these information with to the path distance of crossing stop line, just arrives also legal parking then when crossing import discharges oneself preceding vehicle and crosses import stop line.
10, the crossing according to claim 1 or 8 is provided with the TC system of stopping hardly in Dai Hang district, it is characterized in that, new departure substitutes the conversion work of current programme, just can carry out once less than 10 minutes, do not need design middle transition scheme, and all under keeping each countdown and pedestrian's blue flash to show the constant prerequisite of information truth, carry out as follows:
1) 2 schemes before and after contrast, find when front and back 2 scheme major part light color is consistent and countdown display information is consistent;
2) as this moment at a time when certain scheme countdown is showing information but display information is inconsistent or during pedestrian's blue flash, then forward step 3 to), otherwise forward step 5 to);
3) to contrast in new and old 2 schemes the countdown display information of these " showing information but display information is inconsistent or in pedestrian's blue flash " or pedestrian's blue flash all terminate after operating scheme, check whether all there is the corresponding light color consistent moment, if not being all exist, then return step 2), otherwise continue;
4) the most conversion of maintenance scheme is all being carried out on time in front and back 2 scheme major part light color consistent and countdown display information is consistent moment, only postpone the control program switching time of these countdowns of " showing information but display information is inconsistent or in pedestrian's blue flash " or the signal lamp group involved by pedestrian's blue flash respectively, the light color consistent moment after this countdown display information involved in new and old 2 schemes or pedestrian's blue flash all terminate starts to carry out again;
5) whole conversion is at once completed.
Accompanying drawing explanation
Fig. 1 represents a kind of traditional view picture clearance canalization scheme of usual friendship crossroad.
Fig. 2 represents that the green time loss of letting pass middle 2 times that row phenomenon exists is treated in the parking of Dai Hang district.
Fig. 3 represents the key point of intersection region.
Fig. 4 represents the optimum canalization scheme of the view picture of a kind of usual friendship crossroad that ZL201010103079.2 proposes.
Fig. 5 represents the optimum canalization scheme in a kind of Dai Hang district of usual friendship crossroad, wherein: the blue region at 1-10 place is the conflict area between two between framework wagon flow, 1-10,55,56 is key point (clear for drawing, all the other 36 similar marks are slightly), 11-18 is that chassis flows to message signal lamp, and 19-22 is right-hand bend incoming signal lamp, 23-30 is non-motor vehicle signal lamp, 31-38 is walker signal lamp, and 39-42 is the car signal lamp that turns around, and 43-54 is wagon flow outlet signal lamp.
Fig. 6 represents the expansion schematic diagram of ZL201010103079.2 to classical signal control field before, 57 represent the classical signal control field before being ZL201010103079.2,58 fields representing " the loss of cycle time is negative value " newly increased, 57+58 represent ZL201010103079.2 after signal control field.
Fig. 7 represents the division schematic diagram of new signal control field, 59 represent it is can not the control field in She Daihang district, 60 represent can She Daihang district but the control field in Wei Shedaihang district, also be the field that in the control field of " stopping hardly in Dai Hang district ", first unit passes through Dai Hang district situation with the normal speed of a motor vehicle of tradition, 60+59 represents it is classical signal control field, 61 represent that in the control field of " stopping hardly in Dai Hang district ", first unit is to pass through the field of Dai Hang district situation lower than the normal speed of a motor vehicle of tradition, the control field that 60+61 represents " stopping hardly in Dai Hang district ", 62 represent the control field that " parking of Dai Hang district " relates to.
Fig. 8 represents the constraint of the minimum ability of passing by one's way of pedestrian to minimum green time of keeping straight on.
Fig. 9 represents structure and the data of view picture " first straight rear left " the Lei Lian race at Fig. 5 crossing.
Figure 10 represents that limiting frame wagon flow j shifts to an earlier date the related factors of entry time.
Figure 11 represents the timing control program of Fig. 5 crossing cycle 55s.
Figure 12 represents that the control program that maximum clearance ability gives preferential treatment to the cycle 98s stopped hardly in row district most can be obtained in Fig. 5 crossing.
Figure 13 represents the auto-adaptive control scheme of Fig. 5 crossing cycle 44s.
Figure 14 represents auto-adaptive control scheme design cycle.
Figure 15 represents Dai Hang district vehicle inflow rate-time and green light lost time on parking crossing stop line cross section hardly.
Figure 16 represents the control program of Fig. 5 crossing minimum period 30s.
The corresponding schematic diagram of superposition when Figure 17 represents that Fig. 5 crossing cycle 30s scheme is changed with cycle 44s auto-adaptive control scheme.
Embodiment
Embodiment 1: road canalization scheme is preferably formed by least 2 schemes: selection indicators is that the Dai Hang district of the framework wagon flow making respectively to be provided with Dai Hang district is long as far as possible, and number of track-lines is many as far as possible, but the no more than exit lane number of the number of track-lines of same craspedodrome wagon flow, the number of track-lines of same left turn traffic with to the no more than exit lane number of the number of track-lines sum of wagon flow of turning right; Have at least in candidate scheme an each entrance driveway of candidate scheme by road to roadside by left, straight, right arrangement, in crossing, road is made up of class circumferential highway and the road passing through central area, and class circumferential highway travels for straightgoing vehicle; Circumferential highway interior central area is straightgoing vehicle Jin Shi district, passes through road and the class circumferential highway crossing on the same level of central area, only sails for left-hand bend chassis is popular.
Similar 90 degree of camber lines in evagination in the middle part of each road for straightgoing vehicle traveling said by so-called class circumferential highway, and the external curve of 4 camber lines can be circular as smoothly linked; But because each outlet varies in size, each straight road number also need not be identical, even if therefore the level and smooth link of the inner curve of 4 camber lines also may not be circular.Canalization like this can be greater than imported car number of channels by Shi Daihang district number of track-lines at double, and minimum stroke distance in Qie Daihang district is long as far as possible.As shown in Figure 5.
Embodiment 2: the data adopting example 4 above, and empty speed and can be designated as: Min{v
ci}=15m/s (i.e. 54km/h), is slightly less than the Maximum speed limit 16.7m/s (i.e. 60km/h) under the ambient environment of section.When there is parking, the first unit in Chu Daihang district is accelerated from static by parking twice line, and acceleration can reach 5m/s
2, Max{v
ej}=15m/s.Acceleration time t
0=3s; Acceleration distance S
0=22.5m, works as s
ejbe less than s
0time Min{t
ej}=(10s)
1/2/ 5, work as s
ejbe greater than s
0time Min{t
ej}=1.5+s
ej/ 15.Unification is got: non-maneuver speed of a motor vehicle v
nj=4m/s/h, quick pedestrian's speed v
pi=1.5m/s, yellow time A=4s.There is capable sudden strain of a muscle=4s.
Even if the outlet speed of a motor vehicle does not reach Max{v
ej, follow formula (4), get Max{v
ej}=15m/s, green light interval is also the safest.If vehicle is all standard car, vehicle commander 6m, (other vehicles can convert with reduction coefficient).
Notice the greatest differences entering and may exist between the maximum admission velocity in Dai Hang district and the maximum admission velocity leaving Dai Hang district, therefore before and after parking twice line, the key point orientation of conflict area is slightly different.
Embodiment 3: because of Max { v
ejbe about 0.13Min{v
ci; and converge Dou Shi obtuse angle, angle as the key point 1,2,3 and 7 of the front conflict area of line in accompanying drawing 5; much larger than critical angle; therefore be positioned at the b point entering and enter conflict area place outside first unit foremost; the angle of converging of key point 5 and 57 is less than critical angle 82.3 degree, therefore is positioned at the c point of meet inside traffic flow; And as the key point 4,6,8,9,10 and 56 of conflict area after line, because of admission velocity with empty similar rate, then be all positioned at the b point entering and enter conflict area place outside first unit foremost.As shown in red some 1-10,56,57 in accompanying drawing 5 blue region.
According to accompanying drawing 5 intersection channelization ratio, the Distance geometry that empties of known relatively each key point enters distance.As table 1 and 2:
Table 1, accompanying drawing 5 crossing framework wagon flow empty distance s
ciwith enter distance s
ej
Import 4 track, 2.8m is wide, curb 0.25m; Have a lot of social connections 11.7m; Export 4 tracks, 2.9m is wide, curb 0.2m, and have a lot of social connections 12.0m; Vehicle commander 2m voluntarily, safety island 10m.
Table 2, the optimum canalization scheme right-hand bend wagon flow in accompanying drawing 5 crossing and row, non-each empty Distance geometry and enter distance
| Conflict point | East is right | West is right | Nan You | North is right | Conflict point | Two-way pedestrian | Bicycle |
| Import non-enter | 2 | 2 | 2 | 2 | Export into | 0.2 | 0.2 |
| Import is advanced | 8 | 8 | 8 | 8 | Min is entered on an outlet left side | 0.2 | 6.00 |
| Import is clearly non- | 14 | 14 | 14 | 14 | Straight, the left clear max of outlet | 11.80 | 13.80 |
| Import house is clear | 20 | 20 | 20 | 20 | The right clear max of outlet | 11.80 | 8.00 |
| 55 right sides are entered | 30 | 28 | 30 | 29 | Min is entered on an import left side | 0.25 | 0.25 |
| 56 is right clear | 42 | 40 | 42 | 41 | The straight min of import | 3.05 | 3.05 |
| Outlet is advanced | 36 | 34 | 36 | 35 | Min is entered on the import right side | 0.25 | 8.65 |
| Export non-enter | 42 | 40 | 42 | 41 | The left clear max of import | 11.45 | 5.05 |
| Export house is clear | 48 | 46 | 48 | 47 | The straight clear max of import | 8.65 | 10.65 |
| Export clearly non- | 54 | 52 | 54 | 53 | The right clear max of import | 11.45 | 13.45 |
Note 4: in table 1,2
" enter " to be expressed as and once enter traffic flow; " enter 2 " and be expressed as secondary to enter traffic flow;
" clearly " is expressed as and empties traffic flow;
" non-" represents the conflict point with bicycle;
" OK " conflict point with pedestrian is represented.
Whether the data of the conflict point 56 and 57 relevant with right-hand bend motor vehicle are necessary, need determine according to actual traffic situation.
Embodiment 4: based on above-mentioned parameter, can obtain the reckoner 3 of respectively the shortest copper sulfate basic
The shortest copper sulfate basic reckoner at table 3, accompanying drawing 5 crossing
Constant speed conditional parameter is: motor vehicle empties speed of a motor vehicle v
ci=15m/s (54km/h), enters the first unit acceleration time t in Dai Hang district
0=v
ej/ a
ej=1s; Acceleration distance s
0=v
ejt
0/ 2=1m, therefore s once
ejbe less than s
0min (t
ej}=s
1/2, s
ejbe greater than s
0min{t
ej}=0.5+s
ej/ 2.
Secondary enters the speed of a motor vehicle and is considered as reaching and the highlyest enters speed of a motor vehicle v
ej=15m/s.Entry time is Min (t
ej}=s
ej/ 15.
Non-maneuver speed of a motor vehicle v
nj=4m/s/h, pedestrian's speed v
pi=1.5m/s, yellow time A=4s.Therefore have table 3 each hurdle computing formula
Embodiment 5: the data according to this table 3 can obtain the shortest copper sulfate basic matrix, as table 4.
The shortest copper sulfate basic matrix at table 4. accompanying drawing 5 crossing
Embodiment 6: can obtain according to table 4, the view picture structure of " first straight rear left " Lei Lian race and data are as accompanying drawing 9.
Therefore patent ZL201010103079.2 and the PCT/CN2011/070879 technology of the present inventor can be applied, select there is the minimum compatible combination { I of copper sulfate basic
ij}: I
1=9s, I
2=8s, I
2 '=8s, I
3=9s, I
4=8s, I
4 '=8s, I
5=9s, I
6=8s, I
6 '=8s, I
7=9s, I
8=8s, I
8 '=8s.
Embodiment 7: the patent ZL201010103079.2 of application the present inventor and PCT/CN2011/070879 technology, with reference to the accompanying drawings each section of 5 crossings crossing length, the minimum street ability of crossing of known guarantee pedestrian need have 3s pedestrian's green light, 4s pedestrian's blue flash.
Known East, West, South, North respectively keep straight on into minimum green time be respectively 16,16,15,15s, the minimum green time of respectively keeping straight on out is respectively 7,7,8,8s.As table 5.
Table 5 accompanying drawing 5 crossing pedestrian secondary crosses the corresponding minimum green time reckoner of street all directions straightgoing vehicle
Embodiment 8: for arbitrary view picture timing Framework: the straight G in east
m1=7s, western left G
m2=3s, the straight G in north
m3=8s, Nan Zuo G
m4=3s, the straight G in west
m5=7s, eastern left G
m6=3s, the straight G in south
m7=8s, northern left G
m8=3s.Minimum compatible combination { the I of copper sulfate basic
ij}: I
1=9s, I
2=8s, I
2 '=8s, I
3=9s, I
4=8s, I
4 '=8s, I
5=9s, I
6=8s, I
6 '=8s, I
7=9s, I
8=8s, I
8 '=8s.The chain length of known different view picture periodic chain is all 55s, is decided to be the cycle.This chain race scheme can be exchanged into conventional phase Framework, in table 6.
Table 6, the comparison of each derivative phase parameter of accompanying drawing 5 crossing cycle C=55s, computation sheet
Then the chain length of different view picture periodic chain is all 55s, is decided to be the cycle.Each phase time: 7,3,8,3s; The phase intervals time: 9,8,9,8s; As accompanying drawing 11.
Embodiment 9: as patent ZL201010103079.2 and the PCT/CN2011/070879 of the present inventor, utilize green light interval, can calculate the entry time in advance of the maximum possible of each framework wagon flow in accompanying drawing 11, in table 7.
Each the maximum of framework wagon flow of table 7, accompanying drawing 5 crossing cycle long 55s shifts to an earlier date entry time
Left-hand rotation car can shift to an earlier date 31s and enter Dai Hang district, and 9s is less than 40s for difference; East, west straightgoing vehicle can shift to an earlier date 20s and enter Dai Hang district, and 12s is less than 32s for difference.South, north straightgoing vehicle can shift to an earlier date 19s and enter Dai Hang district, and 13s is less than 32s for difference.All be less than corresponding limit crossing time, belonging to can not parking toll scheme.
Embodiment 10: expand embodiment 8 each framework wagon flow view picture green time { G
ibe respectively: the straight G in east
1=16s, western left G
2=16s, the straight G in north
3=17s, Nan Zuo G
4=15s, the straight G in west
5=16s, eastern left G
6=16s, the straight G in south
7=17s, northern left G
8=15s.
Then keep straight on each G
jfbe all 32s=T
j, left-hand rotation G
jfbe all 40s=T
j.Cycle can reach 98s.
As A=4s; L=11s, then east, craspedodrome split=0.418, west, south, craspedodrome split=0.418, north, east, left-hand rotation split=0.510, west, south, left-hand rotation split=0.490, north.Each framework wagon flow split summation=3.672.
More than going through ability doubles compared with example 2.Concrete data calculate as table 8-11, and timing scheme is as accompanying drawing 12.
This scheme can in each split demand
λ j time larger, such as traffic peak period of blocking up implements in the daytime, can the time that crossing is in congestion status is reduced to the shortest, and crossing, Shi Daihang district enters and can not stop cooperation control state with adjacent intersection as early as possible.
The maximum of each framework wagon flow of table 8, accompanying drawing 5 crossing cycle long 98s in advance can entry time
Each phase time is: 16,16,17,15s; The phase intervals time is: 9,8,9,8s; Cycle long 98s
The relative time that the signal lamp that table 9, the row of accompanying drawing 5 crossing cycle C=98s, non-minimum pass by one's way the time substantially opens, breaks
Note 5: because there being safety island, the distance that empties that under bicycle, half range is let pass can also calculating from the stop line of safety island forward position.And the lower half range of bicycle empties half range under different Dai Hang district, yellow time is had to be 4s.For not being trapped within safety island, lower half range amber light must close (sending out a warning) 22/4=6s late than upper half range amber light.Only have half range amber light in second amplitude ratio of the green light of same bicycle to close (sending out a warning) 22/4=6s late, just may not be trapped within safety island.The car speed that first bus enters Dai Hang district is extremely slow, allows pedestrian to a certain extent, bicycle walks.
Note 6: pedestrian and non motorized vehicle here is not restricted to minimum green time.Because pedestrian and non motorized vehicle is restricted to minimum green light and only for minimum period scheme, can not should all again widens pedestrian and non motorized vehicle road at every turn.
Note 7: 10., minimum green light+blue flash time is set to denominator, is selectable range between molecule and denominator.
The right turn signal green light timing of table 10, accompanying drawing 5 crossing cycle C=98s
Note 8: because right-hand rotation Dai Hang district is little, the entry time in advance that comparatively outlet is let pass is less than or equal to its limit crossing time T
j=30m/1.5m/s=20s.Note it not being before phase place green light, but before outlet clearance.So compare and calculate Ying and 4. arrange and carry out, but not 10. the arrange.
Note 9: open as early as possible for protecting the outlet clearance time of turning right, exit pedestrian break in advance as far as possible in tolerance band.
Note 10: right-hand rotation velocity of discharge is more much larger than the first unit of import, therefore the outlet clearance time can be fewer than import, got for 1/2 import time or at least late than import amber light extinguishing 30m/15m/s=2s can be emptying, generally gets 3s.Lower same.
Crossing control program is magnitude of traffic flow Demand and service, and magnitude of traffic flow demand is ever-changing, and all directions clearance ability should be made when unsaturation transport need that is proper and each framework wagon flow to match.This is equivalent to and makes λ all can not searching in parking toll scheme
j>=
λ j the chain race scheme integer solution set up, the best approach is iterative search.
Embodiment 11: the one group of traffic demand provided for example 3 above.Get split error w1=0.2, w2=0.005.
Key flow chain is comprise 2 straight wagon flow chains of east.
According to the adaptation scheme design cycle proposed above, from the view picture timing Framework of embodiment 8, the split λ of east, west straightgoing vehicle
j=(G
j+ G
jff+A-l)/C=(7+20+4-11)/55=0.364, the split λ of south, north straightgoing vehicle
j=(8+19+4-11)/55=0.364, the split λ of each left-hand rotation car
j=(3+31+4-11)/55=0.491.All be greater than error w=0.05, need green time be reduced.
......
View picture chain race scheme integer solution { G is obtained through iterative search
j}: east, the straight G in west
1=8s, south, the straight G in north
7=7s, east, west left-hand rotation=-2s, south, north left-hand rotation=-3s; Each phase time is: 8 ,-2,7 ,-3s; The phase intervals time is: 9,8,9,8s; Cycle long 44s.Each framework wagon flow 0 is broken late; Thing craspedodrome G
jf=14s, the G kept straight in south, north
jf=14s, east, west left-hand rotation G
if=23s, south, north left-hand rotation G
jf=24s.Split=0.34 kept straight in east, west, other split all=0.32.Meet the error of each split demand.Data calculate as table 11-14, adaptation scheme as accompanying drawing 13, cycle 44s:
The maximum of each framework wagon flow of table 11, accompanying drawing 5 crossing cycle long 44s in advance can entry time
Minimum compatible combination { the I of copper sulfate basic
ij}: I
1=9s, I
2=8s, I
2=8s, I
3=9s, I
4=8s, I
4=8s, I
5=9s, I
6=8s, I
6=8s, I
7=9s, I
8=8s, I
8=8s.Each phase time is: 8 ,-2,7 ,-3s; The phase intervals time is: 9,8,9,8s
Note 11: wherein the slow break time of bicycle and pedestrian is determined by following table.
The relative time that the signal lamp that table 12, the row of accompanying drawing 5 crossing cycle C=44s, non-minimum pass by one's way the time substantially opens, breaks
The right turn signal green light timing of table 13, accompanying drawing 5 crossing cycle C=44s
Embodiment 12: to each split demands such as accompanying drawing 5 crossing nights
λ jthe very little period, there is minimum period 30s scheme: each view picture craspedodrome G
j=7s, each view picture left-hand rotation G
j=-8s; Each phase time: 1 ,-3,1 ,-3s; The phase intervals time: 9,8,9,8s; Cycle long 30s.Each craspedodrome G
jf=8s, respectively turn left G
jf=16s.First bus speed can be greater than 1.5m/s completely and accelerate to maximal rate early by parking twice line; Each Through Lane Effective Green Time 12s can enter 2pcu even 3pcu, and each left turn lane Effective Green Time 17s can enter 3pcu even 4pcu, then each craspedodrome split λ
j=0.2-0.3, respectively turn left split=0.3-0.4.The data of getting 1.5m/s at a slow speed calculate in Table 14-17, and timing scheme is as accompanying drawing 16.
The relative time that the signal lamp that table 14, the row of accompanying drawing 5 crossing cycle C=30s, non-minimum pass by one's way the time substantially opens, breaks
Minimum compatible combination { the I of copper sulfate basic
ij}: I
1=9s, I
2=8s, I
2 '=8s, I
3=9s, I
4=8s, I
4 '=8s, I
5=9s, I
6=8s, I
6 '=8s, I
7=9s, I
8=8s, I
8 '=8s.Each phase time is: 1 ,-3,1 ,-3s; The phase intervals time is: 9,8,9,8s;
The relative time that the signal lamp that table 15, the row of accompanying drawing 5 crossing cycle C=30s, non-minimum pass by one's way the time substantially opens, breaks
The right turn signal green light timing of table 16, accompanying drawing 5 crossing cycle C=30s
Embodiment 13: the G being not difficult to find this minimum timing scheme
jf+ G
j+ A length is neither enough to Shi Daihang district and is fully loaded with.The vehicle number entered from import 2 track during the nearly 12s of craspedodrome effective green time almost can reach 10pcu; Be distributed on 4 tracks, each track almost reaches 3pcu.But difference is also little, in order to traffic behavior is unified, preferably still implements Dai Hang district and stops hardly.
Stop hardly and can realize the cooperation control that do not stop of unified section coordinated speeds v with adjacent intersection in embodiment 14: Dai Hang district, concrete data example can see the cooperation control patent of the present inventor
zL200510117553.6, just do not describe in detail herein.
Embodiment 15: promote Dai Hang district stopping technical hardly, the independent signal lamp group increasing number need teleseme to connect, controlling.If teleseme is inadequate, can use multiple phase differential be each other 0 teleseme cooperation Dai Hang district parking toll scheme hardly.The device of these telesemes can be arranged in a rack, and each CPU can use the signal of same clock chip.Just be able to synchronous operation, then phase differential is 0 naturally.
Embodiment 16: accompanying drawing 17 is that the control program of Fig. 5 crossing cycle 30s superposes with the auto-adaptive control scheme conversion of cycle 44s and contrasts schematic diagram, in figure, thick vertically blue line is exactly selected switch instant, thickness why is selected to reach the thick line of 1s, say that this initial time can have larger opereating specification, instead of written in water; Scheme switch instant respectively in each blue frame at a time when during thing turns left, keep straight in north and south, thing is turned right outlet red light countdown display, therefore the controlling on lamp group scheme that only need postpone to change involved by these countdowns terminates the rear light color consistent moment to countdown display, whole conversion can complete in 11s.
The new departure generated by same chain race and existing scheme have similar phase structure and order, easily look for scheme switch instant.
Above 16 embodiments confirm Dai Hang district parking lot technology all non-NULLs hardly of aforementioned each theorem and claim.
the beneficial effect of the invention:
By these Dai Hang districts stopping technical scheme hardly, four class technical matterss above can be eliminated, realize following beneficial effect:
1) really entry time can be shifted to an earlier date with the whole of Zu Daihang district;
2) completely eliminate current Dai Hang district to stop the green light lost time made in the middle of vehicle 2 clearances existed;
3) completely eliminate the Dai Hang district implemented at present to stop and cut off and the cooperation control that do not stop between adjacent intersection, eliminate the chance of occurrence of conflict pedestrian and non motorized vehicle " collective makes a dash across the red light and goes across the road ";
4) completely eliminate the Dai Hang district implemented at present and stop " cause the average stop frequency of vehicle to increase, there is the oil consumption loss of ramp to stop again in accelerator, tail gas pollution and brake noise " of existing;
5) can shorten crossing traffic to block up the time, crossing can be entered early can cooperation control state efficient with adjacent intersection;
6) any traffic flow waits for 90s at the most at crossing, completely eliminates and there is certain red time at present more than 3 minutes phenomenons;
7) traditional crossing control program traffic capacity of providing of Phase Proportion 2, crossing and even the road network traffic capacity of being multiplied and clearance efficiency, be equivalent to build a urban ground road network again.The economic results in society caused are really very huge.
8) the obvious increase of the remarkable minimizing that it can bring people's living standard and the extreme of oppressive mood of blocking up is improved, the extreme of traffic congestion is alleviated, traffic is mistaken, greatly the reducing of transportation cost, enterprises and institutions' work efficiency, the remarkable increase of enterprise tax, the remarkable increase of various business economic construction investment is attracted, ..., wait chain reaction.
The present invention is to improve going through ability i.e. " reducing the ratio in loss of cycle time and cycle " for stopping hardly optimum adaptation scheme in goal seeking Dai Hang district; The various adaptation schemes do not stopped in Dai Hang district can be distinguished and mate whole day various transport need in 24 hours in time, comprise the few low-valley interval of car at night and the peak period on daytime.Reproducible, can promote.
In a word, together with 2001, the art of this patent finds that crossings exist Dai Hang district space resources and can shift to an earlier date entry time resource, and 2010 to propose green light lost time be negative value technology, forms the triple jump of TC theory, has started the New Times of TC technology, " traffic of the king's formula " epoch.The patented technology of involved is all inventor.Therefore can, also should reasonably extensively promote.
Raising traffic efficiency is equivalent to and alleviates traffic pressure.People are afraid of traffic congestion most, traffic congestion impact be not only mood, impact is more or economical, pollute and healthy.Under the system of global competition, urban economy will be run business big and strong, and can not fall behind and realize, technological innovation be relied on to carry out grow by protection.Running counter to the natural law, is finally to run counter to economic law, punishes by economic law.
Reform is happened at that time in China, needs to allow masses know the inside story more and participates in, discuss more, build consensus.
The public is one of force at the core of traffic congestion and pollution control, and no one more knows oneself traffic congestion at one's side and the severe situation of pollution than ordinary people, and also no one more cherishes the home of oneself than us.Time, null resource be non-renewable, can not recover.As utilized early, promote Dai Hang district not stopping technical, then traffic is very fortunate indeed, national very fortunate indeed, and country is very fortunate indeed, and the world is very fortunate indeed.
How abstruse have the patented technology of many Benefits might not be, just layer window paper, once disclosing brokenly.But nobody knows that window paper also also exists the world so beautiful just like " Dai Hang district not parking lot " over there really before breaking.
Lenin said: a fine example has the boundless power.This example uncommon can encourage everybody, all for physical presence problem at one's side, actively plays intelligence and wisdom, uses one's brains, and works hard for realizing our state basic policy " promote popular start an undertaking, millions of people innovation ".
Need the control program that row district stops hardly and all do not have before this, former capital belongs to the scope of patent protection of the application.
Claims (10)
1. crossing is provided with a TC system of stopping hardly in Dai Hang district, and comprise crossing road canalization, teleseme and signal display apparatus, is characterized in that, can realize Dai Hang district as follows and stop hardly:
1) determine phase sequence and road canalization, on one piece of region that the special import track of framework wagon flow j is extended continuously in crossing, in a period of time before being close to its outlet and letting pass, pass through without other traffic flow; If this block region is the Dai Hang district of framework wagon flow j, framework wagon flow j is allowed to enter this period; Claim this period for shifting to an earlier date entry time G
jf; Dai Hang district finishing line is parking twice line; The parking twice line in each track can not on same straight line;
2) determine that framework wagon flow j is by the minimum stroke distance Min{s of crossing stop line to each track parking twice line
j;
3) limit crossing time T in the Dai Hang district of framework wagon flow j is determined
j=Min{s
j}/v
ej, wherein v
ejthe attainable rationally most slow train speed of first unit reality;
4) determine that signal controls, make the entry time G in advance of framework wagon flow j
jfbe less than or equal to crossing time T
j; Then determine the signal timing plan at described crossing, and show according to this signal timing plan control signal display device;
5) as consciously in first bus driver to travel with reasonable most slow train speed, can just arrive when exporting and letting pass and start and then legally hardly parking crosses parking twice line.
2. crossing according to claim 1 is provided with the TC system of stopping hardly in Dai Hang district, it is characterized in that,
1) import amber light is provided with countdown display device, the time that the simultaneous display distance import amber light extinguishing moment is remaining, the each driver not yet arriving import stop line is helped to make decisions on one's own according to the distance apart from import stop line, import red light rise bright before as import stop line can not be crossed safely, just must stop before import stop line in turn in time, not make a dash across the red light;
2) outlet red light in Dai Hang district is provided with countdown display device, enter the Dai Hang district moment in permission wagon flow to start and outlet red light simultaneous display distance exports the excess time of letting pass and starting, genuine and believable, the speed of a motor vehicle of inducing first unit independently to draw oneself up==to the distance/countdown displaying time of parking twice line, just to arrive when exporting and letting pass and start and legal parking crosses parking twice line then;
3) Variation control strategy parameter scheme must not show information in countdown but display information is inconsistent or carry out during pedestrian's blue flash, all countdowns must be kept to show information truth credible, disorderly do not become halfway, be enough to the reliable basis becoming driver's decision-making.
3. a crossing according to claim 1 is provided with the TC system of stopping hardly in Dai Hang district, it is characterized in that, road canalization scheme is preferably formed by least 2 schemes: have at least road in the crossing of a candidate scheme to be made up of class circumferential highway and the road passing through central area, class circumferential highway travels for straightgoing vehicle, class circumferential highway interior central area is straightgoing vehicle Jin Shi district, pass through road and the class circumferential highway crossing on the same level of central area, only travel for left turn traffic; Preferred technical indicator is: fully expand and utilize ground in crossing, Shi Gedaihang district is long as far as possible, and the number of track-lines in Ge Daihang district is many as far as possible; But the no more than outlet of number of track-lines of same craspedodrome wagon flow, same left turn traffic and the number of track-lines sum also no more than outlet to wagon flow of turning right.
4. a crossing is provided with the TC system in Dai Hang district, it is characterized in that, the framework wagon flow being provided with Dai Hang district in the position that commanded wagon flow driver can obviously see is provided with and can shows vehicle and cross the red, green, yellow signal lamp group of the incoming signal of crossing stop line half-roadway right, with can show vehicle and cross red, the green signal lamp group of the outlet signal of parking twice line half-roadway right: because of in outlet signal green tail moment Dai Hang district without car, export half-roadway right signal and do not need amber light; Control the different next outlet signal lamp group to wagon flow by left, straight, right arrangement, to show difference;
Import and export half-roadway right signal has following six kinds of signal combination, and its DISPLAY ORDER and right of way implication are corresponding as follows:
1) import is green, goes out lipstick: represent that only being permitted vehicle crosses crossing stop line, but mustn't cross parking twice line;
2) import is yellow, goes out lipstick: represent that only being permitted vehicle crosses crossing stop line, but mustn't cross parking twice line, and warn off-limits red light by bright;
3) import is green, exports green: be equivalent to traditional view picture clearance green light, represents and allows vehicle view picture to pass through;
4) import is yellow, exports green: be equivalent to traditional view picture clearance amber light, represents that the off-limits red light of warning is by bright, allows vehicle view picture to pass through;
5) import is red, exports green: be equivalent to traditional view picture clearance red light, represents and forbids that crossing stop line crossed by vehicle; But the vehicle in Yi Daihang district still has the half-roadway right that preferentially can roll crossing away from, and other vehicle should be given precedence to;
6) import is red, goes out lipstick: representing completely mustn't vehicle pass-through, but the vehicle in Yi Daihang district still has the half-roadway right that preferentially can roll crossing away from, and other vehicle should be given precedence to.
5. crossing according to claim 1,3 or 4 arranges and needs the teleseme in row district, it is characterized in that,
1) operation treats that row area scheme needs teleseme to connect at same crossing, the independent signal lamp group quantity of control comparatively increases without Dai Hang district situation, such as at cross junction, at least needs can connect, control 44 independent signal lamp groups;
2) as the inadequate resource of a teleseme, can use multiple phase differential be each other 0 teleseme cooperation;
3) device of these telesemes can be arranged in a rack, and each CPU can use the signal of same clock chip.
6. the crossing according to claim 1,3 or 4 is provided with the TC system in Dai Hang district, it is characterized in that, determines each maximal value I that can guarantee the shortest copper sulfate basic of traffic safety as follows
mij:
1) determine that green light i clearance traffic flow i tail unit is maximum and empty distance s
cim () and lower one have the traffic flow j head that conflicts with traffic flow i unit are minimum and enter distance s
ej(m), concrete grammar is:
1. determine the key point position of traffic flow i and the traffic flow j that conflicts: traffic flow i have maximum empty distance track and traffic flow j have on the Critical Conflict region converged in the minimum track entering distance, converging angle g and minimumly emptying speed Min{v according to Critical Conflict district
ciand maximum admission velocity Max{v
ej, the position of key point can be determined as follows:
As there is Min{v
ci< Max{v
ejcosg, be then positioned to enter outside first unit and leave Critical Conflict region place foremost;
As there is Max{v
ej< Min{v
cicosg, be then positioned at meet inside Critical Conflict Regional Traffic Flow;
In addition, be all positioned to enter outside the first unit in Critical Conflict region and enter conflict area place foremost;
2. before parking twice line, the distance that enters of the wagon flow of key point is started at from import stop line, to arrival key point; Empty distance to start at, to the tailstock crosses key point from import stop line;
3. after parking twice line, the distance that enters of the wagon flow of key point is started at from parking twice line, to arrival key point; And empty apart from still starting at from import stop line, to the tailstock crosses key point;
2) the longest clean up time Max{t of traffic flow i tail unit is calculated
ciand the shortest entry time Min{t of the first unit of traffic flow j
ej;
3) I between traffic flow i and traffic flow j green light is calculated
mij=A+Max{t
ci-Min{t
ej, wherein A is yellow time.
7. crossing according to claim 1 and 2 is provided with the TC system of stopping hardly in Dai Hang district, it is characterized in that, the traffic capacity of crossing wagon flow j is by its imported car number of channels n
jembody with the product of the clearance ability of its import effective green time; Its import Effective Green Time clearance time G
ejfor:
G
ej＝G
j+G
jf+A-l＝Cλ
j
In formula: G
j---wagon flow j view picture green time is the time of outlet green light start time to import green light finish time, (s);
G
jf---wagon flow j shifts to an earlier date entry time, (s);
A---yellow time, (s);
L---import green light lost time, (s), works as G
jf=T
jtime maximum, maximal value can be added up and be determined; As first unit admission velocity=Min{s
j}/G
jftime ,/almost minimum;
C---cycle, (s);
λ
j---split.
8. the crossing according to claim 1 or 7 is provided with the TC system of stopping hardly in Dai Hang district, it is characterized in that, uses following iterative search method, and self-adaptation is found can mate each Dai Hang district to traffic demand parking toll scheme hardly:
1) according to completely can the optimum canalization scheme in She Daihang district and phase sequence, yellow time A, first unit is most slow train speed v rationally
ejwith treat row section length Min{s
j, determine Dai Hang district limit crossing time T
j=Min{s
j}/v
ej; Determine each the shortest copper sulfate basic; Draw view picture wagon flow chain, determine minimum compatible combination and the coupling permissible error w1 > w2 > 0 at minimum green light interval; To the split demand obtained by any traffic demand
λ j; By any one group of integer solution { G
jset out;
2) by the scheme conversion of chain race, determine each phase, phase intervals, each framework wagon flow signal green light early opens and the slow break time; Determine that other signal green light opens, disconnected relative time, guarantee minimum time and the minimum green time of 3s bicycle of passing by one's way of pedestrian; Determining that each framework wagon flow is maximum in advance can entry time G
jfwith effective green time G
ej;
3) for all j ∈
8, as there is G
jfbe greater than corresponding crossing time T
j, then corresponding view picture wagon flow time G is reduced
j-1; Then form one group and be different from the new integer solution { G trying to separate
j, return 2), otherwise continue;
4) for all j ∈
8, calculate wagon flow split λ j=G
ej/ C;
5) for j=1,3,5,7, as there is the difference λ of certain craspedodrome wagon flow split
j-
λ j> w1, then reduce cycle C; Then form one group and be different from the new integer solution { G trying to separate
j, return 2), otherwise continue;
6) for j=2,4,6,8, as there is the difference λ of certain left turn traffic split
j-
λ j> w1, then reduce corresponding view picture left-hand rotation time G
j; Then form one group and be different from the new integer solution { G trying to separate
j, return 2), otherwise continue;
7) for j=1,3,5,7, as there is the difference of certain craspedodrome wagon flow split
λ j-λ
j> w2, then expand cycle C; Then form one group and be different from the new integer solution { G trying to separate
j, return 2), otherwise continue;
8) for j=2,4,6,8, as there is the difference of certain left turn traffic split
λ j-λ
j> w2, then expand corresponding view picture left-hand rotation time G
j; Then form one group and be different from the new integer solution { G trying to separate
j, return 2), otherwise continue;
9)END。
9. the crossing according to claim 1 or 8 is provided with the TC system of stopping hardly in Dai Hang district, it is characterized in that, stop hardly and can realize the cooperation control of parking hardly of unified section coordinated speeds v with adjacent intersection in Dai Hang district, method is:
1) uniform period C is carried out with adjacent intersection;
2) as there is certain entry time G in advance because cycle C is excessive
jfbe greater than the limit crossing time T of its correspondence
j, this G can be reduced
jf=T
j, realize Dai Hang district and stop hardly;
3) first unit is formed at a slow speed different from section speed " switch political loyalty and play ", rewrite climb displacement determining by this crossing stop line to next crossing import stop line apart from=
=coordination wagon flow shifts to an earlier date entry time G
jf× v+ parking twice line is to the stroke of next crossing import stop line;
4) according to climb displacement distance, traditionally " between crossing climb displacement distance-velocity linear method " Exact Design Dai Hang district of cooperation control stop hardly cooperation control each crossing between phase differential scheme;
5) Internet technology is utilized, the time of crossing change green light, a left side above, straight, right vehicle fleet size, initiatively tell vehicle driver, induction driver adjusts the speed of a motor vehicle automatically according to these information with to the path distance of crossing stop line, just arrives also legal parking then when crossing import discharges oneself preceding vehicle and crosses import stop line.
10. the crossing according to claim 1 or 8 is provided with the TC system of stopping hardly in Dai Hang district, it is characterized in that, new departure substitutes the conversion work of current programme, just can carry out once less than 10 minutes, do not need design middle transition scheme, and all under keeping each countdown and pedestrian's blue flash to show the constant prerequisite of information truth, carry out as follows:
1) 2 schemes before and after contrast, find when front and back 2 scheme major part light color is consistent and countdown display information is consistent;
2) as this moment at a time when certain scheme countdown is showing information but display information is inconsistent or during pedestrian's blue flash, then forward step 3 to), otherwise forward step 5 to);
3) to contrast in new and old 2 schemes the countdown display information of these " showing information but display information is inconsistent or in pedestrian's blue flash " or pedestrian's blue flash all terminate after operating scheme, check whether all there is the corresponding light color consistent moment, if not being all exist, then return step 2), otherwise continue;
4) the most conversion of maintenance scheme is all being carried out on time in front and back 2 scheme major part light color consistent and countdown display information is consistent moment, only postpone the control program switching time of these countdowns of " showing information but display information is inconsistent or in pedestrian's blue flash " or the signal lamp group involved by pedestrian's blue flash respectively, the light color consistent moment after this countdown display information involved in new and old 2 schemes or pedestrian's blue flash all terminate starts to carry out again;
5) whole conversion is at once completed.
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