CN105788252B - Arterial street track of vehicle reconstructing method based on fixed point detector and signal timing dial data fusion - Google Patents
Arterial street track of vehicle reconstructing method based on fixed point detector and signal timing dial data fusion Download PDFInfo
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
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Abstract
The present invention is a kind of arterial street track of vehicle reconstructing method based on fixed point detector and signal timing dial data fusion, and this method comprises the following steps：（1）Establish basis matrix：This method passes throughtMoment vehicle operation Matrix C ar [vehicle,t] determine the moment road occupancy situation matrix Point [n,distance,t], further according to road occupancy situation matrix Point [n,distance,t] calculatet+t 0 The most probable operating status of moment vehicle, thus generate Car [vehicle,t+t 0 ] continuous iterative process；（2）Vehicle generates：（3）Vehicle behavior decision-making and (4）Judge whether trajectory reconstruction finishes；This have the advantage that：Fixed point detector and signal timing dial data are merged, do not depend on the floating car data of high quality, it is small to traffic data collection environmental requirement.It is widely applicable suitable for multilane, the situation for the vehicle interference traffic that comes in and goes out.It is complete and comprehensive to reconstruct track, can realize the functions such as environmental assessment, signal control coordination, travel time estimation, congestion status early warning on its basis.
Description
Technical field
The invention belongs to traffic information field, and in particular to a kind of based on fixed point detector and signal timing dial data fusion
Arterial street track of vehicle reconstructing method.
Background technology
In traffic engineering field, there are two levels for cognition and understanding for the reconstruct of vehicle running orbit：First level
It is the driving path of vehicle, refers to the section between the origin and destination and connection origin and destination of vehicle and node, be usually used in road network
The estimation of OD (Origin Destination) matrix；Second level is the running orbit of vehicle, refers to that vehicle is being run over
Complete physical track in journey, can embody car speed with time and the changing rule in space.It is second that the present invention, which is directed to,
The reconstruct of the vehicle running orbit of level, vehicle running orbit are the expression shapes most fully and completely to traffic flow running rate
Formula, can not only embody driving path of the vehicle on road, but also running velocity can be reflected with time and space
Changing rule, contains very abundant telecommunication flow information.The continuous improvement of transport information level cause city road network it is a wide range of,
Continuously, automatically the collection of fixed point and mobile detection data becomes a reality, so that become can for the acquisition of vehicle running orbit
Energy.Wherein, locality and time interval can be directly acquired by pinpointing detection device (e.g., coil, earth magnetism, microwave radar etc.)
The sections such as speed, flow, occupation rate and the traffic flow character parameter of intersection；Mobile detection apparatus (such as Floating Car, vehicle are certainly
Dynamic identification (Automatic Vehicle Identification, AVI) equipment etc.) can be with the beginning and the end of direct estimation Some vehicles
Point, the driving path of space and time continuous, point-to-point the single unit vehicle such as journey time operation information.
Reconstruct vehicle running orbit can comprehensively, accurately reproduce spatial and temporal distributions and the traffic of city road net traffic state
The Evolution of stream, so as to improve traffic state data (for example, travel speed, journey time, queue length, delay etc.) estimation
With the precision of prediction and the efficiency of traffic signalization.Meanwhile with reference to vehicle discharge and energy consumption model, vehicle operation rail
Mark information can be also used for the tail gas of road network automobile traffic generation and the assessment of energy consumption.Therefore, vehicle running orbit
Reconstruct lifts China road for exploring and developing become more meticulous traffic control and management strategy and system under transport information environment
Road transport information, intelligent level, have important practical significance.Traditional trajectory reconstruction method is based primarily upon Theory of Variational Principles
The road network traffic flow analytic modell analytical model of (Variational Theory) and relative transit capacity consistency, are floated by merging taxi
Car data, AVI data and signal control parameter carry out road vehicle trajectory reconstruction, the results showed that when the discrepancy in object section
Mouthful position is laid with AVI facilities and when Floating Car ratio reaches more than 5%, it is possible to relatively accurately estimates city road
The running orbit of all vehicles on the section of road.
The research of traditional track reconstructing method is summarized, is primarily present problems with present：
(1) bicycle road, the situation of a small amount of disengaging interference can only be directed to
The algorithm is not suitable for the situation that China major urban arterial highway track is more, trackside entrance vehicles while passing amount is big.
(2) arithmetic accuracy depends on the floating car data of high quality
The occupation rate of Floating Car is higher and when upload frequencies are higher, and reconstruct track quality is higher.Once Floating Car quality drops
Low, then algorithm accuracy reduces rapidly.The upload frequencies of China city floating car data are low, and accounting is also low, it is difficult to obtain extensively
Practical application.
The content of the invention
The technical problems to be solved by the invention are existing for the relatively low situation of China's floating current car data quality, fusion
Fixed point detector data and data traffic signal, determine partial parameters with reference to video data, imitated according to traffic characteristics and traffic
The genuine way of thinking, it is proposed that a kind of more to meet being examined based on fixed point for China typical urban turnpike road traffic information collection environment
Survey device and the arterial street track of vehicle reconstructing method of signal timing dial data fusion, it is intended to which multilane, there is any discrepancy, and vehicle interference is handed over
The track of vehicle of degree of precision is reconstructed in the case of logical.
The basic applicable elements of the method for the present invention are as follows：
1st, the flow and speed data in fixed point detector energy divided lane detection section, upload frequencies are not less than 1 minute once,
And without missing fixed point detector section, as shown in Figure 1.
2nd, there is the intersection signal timing scheme that each intersection is detailed.
3rd, without the intersection of public traffic in priority.
The basic thought of the method for the present invention is：Start with from the aspect selected using constrained optimization and used for reference traffic simulation
Vehicle generation mechanism and operation mechanism, basic thought are as follows：First by a certain number of vehicles at the appointed time, specify section or
Crossing is input in system, if no constraints can produce countless possible driving trace.Then according to actual conditions
Certain constraint is introduced with traffic theory, a small amount of reasonable track is filtered out from a large amount of possible tracks.Turn finally to actual friendship
Logical operating condition, extracts some parameters of actual traffic operation conditions alternatively standard, selects closest to the optimal of reality
Track, completes trajectory reconstruction.
In the process, the trajectory reconstruction of single unit vehicle generates vehicle by certain condition in research section somewhere, this
The behavior of each second of vehicle is all to carry out decision-making according to certain constraints according to the overall status at current time, so as to produce
Raw continuous path, until vehicle rolls research range away from or reaches search time.
The method have the characteristics that under the conditions of the data source not comprising high quality Floating Car in China, mathematics side is utilized
Analysis method (traffic flow correlation theory, the car of method (dynamic programming and the processing to timesharing accounting flow) and traffic engineering
Following-speed model) fusion, reconstruct track of vehicle by various constraintss, and based on the overall status in section to vehicle
Transient behavior carries out decision-making so that reconstruct track more meets actual state, improves trajectory reconstruction accuracy.
The technical problems to be solved by the invention are realized by following technical solution.The present invention is that one kind is based on
The arterial street track of vehicle reconstructing method of fixed point detector and signal timing dial data fusion, its main feature is that, include the following steps：
Step 1：Establish basis matrix
Establish three-dimensional road timesharing and take matrix Point [n, distance, t] (n expressions track, distance expressions
For this with a distance from research section starting point, t represents the research moment).The function of the matrix is to reflect the real-time road at current time
(at such as 30s moment, have 5 meters of vehicles of a length to be present at 20 meters of 1 track, then [1,15,30] to [1,20,30] is arranged to take),
And next second vehicle is generated and is run formation constraint as constraints.
Establish vehicle operation Matrix C ar [vehicle, t] (numbering of vehicle expression vehicles, the t expression researchs of two dimension
Moment), each matrix element is bivector, including residing track and with a distance from research section starting point.The function of the matrix
It is to react the operation conditions for having generated vehicle, and for updating the space-time occupancy situation of road.
This method is exactly the road occupancy situation run Matrix C ar [vehicle, t] by t moment vehicle and determine the moment
Matrix Point [n, distance, t], t+t is calculated further according to road occupancy situation matrix Point [n, distance, t]0When
The most probable operating status of vehicle is carved, so as to generate Car [vehicle, t+t0] continuous iterative process.
Step 2：Vehicle generates
Initial vehicle is formed at research first, section fixed point detector (being the Detector 1 in Fig. 3) place, each
Timesharing period TnInterior vehicle generation quantity is set as each track timesharing accounting volume of traffic q that fixed point detector obtainsi(such as Fig. 4 institutes
Show, The Scarlet Letter represents timesharing period TnThe interior volume of traffic), the specific random times t for generating the moment for this in the timesharing periodn-j(use
Random.Next (0, T) function distributes the generation moment of each car).By track of vehicle forward it is counter be pushed into research section starting point, and
Extend toward downstream.
Step 3：Vehicle behavior decision-making
The vehicle generated all carries out behaviour decision making in each second according to the space-time seizure condition of road network, and decision-making meets necessarily
Constraints, including following four constraint：
(1) basic constraint：Track of vehicle needs to be on time and reasonability spatially, it is impossible to overlaps, tangent or phase
Hand over；Fleet track needs to meet traffic flow shock wave shape facility.
(2) signal control constraints：Vehicle needs to observe signal conditioning in signal-control crossing.
(3) traffic flow parameter constrains：Vehicle advances according to average link speed when driving in section；Trajectory reconstruction causes
Every track reconstruct the volume of traffic need observe actual measurement traffic data, otherwise carry out reasonable lane change or supplement vehicle.
(4) decision-making priority restrictions：The selection thinking of decision-making is on the premise of above three constraint is not violated, and is carried out excellent
The state of first level higher is shifted i.e. in vehicle when driving：Advance>Parking；During parking：Starting>Stop.This decision rule be by
What reality determined, because the vehicle driver of normally travel is influenced be subject to safety, traffic rules and psychology in section, meeting
Tend to keep former speed traveling；Equally, because the vehicle of the factor parking such as red light, front truck parking, can also select in first time
Starting.
Under the limitation of above-mentioned several constraints, according to agenda of the vehicle in reality on section, the behavior of vehicle is determined
Plan result is advance, parking and starting respectively, roll major trunk roads away from, reasonable lane change and drives into major trunk roads, while is needed to track lance
Shield is handled.
Step 4：Judge whether trajectory reconstruction finishes
It will be considered that the track of this car has been reconstructed when vehicle is in following three state to finish：
(i) reconstitution time has exceeded the time range (being directed to any vehicle) studied；
(ii) vehicle is located at added turning lane and by intersection parking line (being directed to turning vehicle)；
(iii) vehicle is located at Through Lane and rolls studied section (being directed to through vehicles) away from.
In walking poly- three, control decision includes with parameter：
(1) advance decision-making
For each generation vehicle, when the space-time of road ahead, which takes matrix, shows unoccupied, vehicle is with section
Average speed v (the road-section average spot speed that research section detector is measured) traveling.
(2) parking and starting decision-making
When running into red light or front vehicles Parking situation, vehicle selection parking；Switch in signal lamp green or preceding
After square vehicle start, vehicle selection starting.
Traffic flow modes are shifted as shown in figure 4, in figure：A, J, C represent that vehicle is lined up in sections of road, in intersection respectively
With in three kinds of states of green time, v, k, w represent flow speeds, vehicle density and the traffic shock wave that traffic behavior transfer occurs respectively
Speed.According to Fig. 5, the parking of current vehicle meets the impact wave characteristic of traffic shock wave with starting, is formed on a spacetime coordinate axis
Triangle influence area, vehicle is stopped and is started to walk in influence area, and vehicle normally advances outside influence area.Wherein, triangle
The periphery of influence area is traffic shock wave, is due to that traffic behavior occurs transfer and produces, the computational methods such as formula of velocity of wave w
(1), Q and k is respectively the magnitude of traffic flow and traffic density.Traffic shock wave is divided into forming ripple and evanescent wave, as shown in Fig. 6 (b)：Formed
Ripple wAJIt is due to switch to J, evanescent wave w from A for traffic behaviorJCIt is due to that traffic behavior is changed into C, the calculating side of two kinds of velocities of wave from J
Method is respectively such as formula (2) and (3).
In formula, for forming ripple wAJ：QA(veh/s) it is the magnitude of traffic flow of signal lamp forefoot area, v (m/s) is represented on section
The average speed of normal vehicle operation, average headstock Ullage when s (m) is parking；For evanescent wave wJC：Q (veh/s) is to sail out of
The magnitude of traffic flow of signal lamp, average headway when h (s) is starting.
(3) reasonable lane change
The vehicle of generation enters lower a road section according to lane function by intersection.Detected at each detector in downstream
Track i each timesharing periods TnPresent situation reconstruct volume of traffic qr-i, the track i actual traffic amounts q that is measured with detectoriCarry out pair
Than as shown in Fig. 6 (a).
If qr-i>qi, then qout-i=qr-i-qi(qr-iFor the reconstruct volume of traffic of track i under current state) car is from car
Road i carries out reasonable lane change, lane change result schematic diagram such as Fig. 6 (b) to the adjacent lane of both sides.If qr-i<qi, then the car is illustrated
The vehicle number passed through in road is less than actual traffic amount, it is necessary to which the intersection position supplement of the detector upstream is corresponding in the i of track
Vehicle qin-i=qi-qr-i。
(4) roll away from, enter major trunk roads
Vehicle passes through reasonable lane change, according to the function in the residing track before intersection parking line, carries out behaviour decision making, determines
Whether it rolls research section away from.
If (i) being in Through Lane, continue to drive into lower a road section；
(ii) if in left-hand rotation or right-turn lane, research section is rolled away from, into intersection leg.
The volume of traffic that detector is lacked between section, then drive into major trunk roads, and the entrance of each car from upstream intersection leg
And at the time of reaching detector location it is timesharing period TnInterior random times tn-j, supplement process such as Fig. 6 (c).
(5) track of vehicle contradiction is handled
When vehicle is carrying out behaviour decision making, if meeting Constrained and without lane change on the basis of, track of vehicle
It can not continue to extend, i.e., inevitable and other intersection of locus, so as to produce track contradiction.The reason for producing this contradiction is this algorithm
Not driven into fully according to vehicle and be sequentially generated vehicle, the sequencing that some section vehicles drive into and roll away from has a small amount of change.
Specific schematic diagram 7-8, the step of solving track contradiction be：
(i) judge and position intersecting relative trajectory occur；
(ii) error section after the intersection point of crossover track is deleted；
(iii) according to the deleted track of the chronological order reconstruct of track, until existing without track contradiction.
Relative to traditional trajectory reconstruction method, the method have the advantages that：
(1) fixed point detector and signal timing dial data are merged, the floating car data of high quality is not depended on, traffic data is adopted
It is small to collect environmental requirement.
(2) it is suitable for multilane, the situation for the vehicle interference traffic that comes in and goes out, it is widely applicable.
(3) it is complete and comprehensive to reconstruct track, can realize environmental assessment, signal control coordination, journey time on its basis
The functions such as estimation, congestion status early warning.
Brief description of the drawings
Fig. 1 is that the detector typical case of Chinese city arterial highway lays schematic diagram；
Fig. 2 is the method for the present invention flow chart；
Fig. 3 generates space-time schematic diagram for vehicle；
Fig. 4, Fig. 5 are the transfer of signal-control crossing traffic behavior and traffic shock wave influence area schematic diagram；
Fig. 6 is the reasonable lane change of vehicle and rolls away from, enters major trunk roads decision-making schematic diagram；
Fig. 7, Fig. 8 are contradiction trajectory processing schematic diagram；
Fig. 9 is Qingdao City Hong Kong Road (Shandong road to Foochow South Road) section schematic diagram；
Figure 10, Figure 11 are vehicle parking, starting schematic diagram；
Figure 12-13 is track of vehicle reconstructing method design sketch.
Embodiment
Illustrate embodiments of the present invention below by way of specific instantiation, those skilled in the art can be by this specification
Disclosed content understands other advantages and effect of the present invention easily.The present invention can also pass through in addition different specific realities
The mode of applying is embodied or practiced, the various details in this specification can also be based on different viewpoints with application, without departing from
Various modifications or alterations are carried out under the spirit of the present invention.
Embodiment 1, with reference to Fig. 2-Fig. 8, a kind of arterial street car based on fixed point detector and signal timing dial data fusion
Trajectory reconstruction method, includes the following steps：
Step 1：Establish basis matrix
Establish three-dimensional road timesharing and take matrix Point [n, distance, t] (n expressions track, distance expressions
For this with a distance from research section starting point, t represents the research moment).The function of the matrix is to reflect the real-time road at current time
(at such as 30s moment, have 5 meters of vehicles of a length to be present at 20 meters of 1 track, then [1,15,30] to [1,20,30] is arranged to take),
And next second vehicle is generated and is run formation constraint as constraints.
Establish vehicle operation Matrix C ar [vehicle, t] (numbering of vehicle expression vehicles, the t expression researchs of two dimension
Moment), each matrix element is bivector, including residing track and with a distance from research section starting point.The function of the matrix
It is to react the operation conditions for having generated vehicle, and for updating the space-time occupancy situation of road.
This method is exactly the road occupancy situation run Matrix C ar [vehicle, t] by t moment vehicle and determine the moment
Matrix Point [n, distance, t], t+t is calculated further according to road occupancy situation matrix Point [n, distance, t]0When
The most probable operating status of vehicle is carved, so as to generate Car [vehicle, t+t0] continuous iterative process.
Step 2：Vehicle generates
Initial vehicle is formed at research first, section fixed point detector (being the Detector 1 in Fig. 3) place, each
Timesharing period TnInterior vehicle generation quantity is set as each track timesharing accounting volume of traffic q that fixed point detector obtainsi(such as Fig. 4-
Shown in 5), the specific random times t for generating the moment for this in the timesharing periodn-j(distribute each with Random.Next (0, T) function
The generation moment of car).By track of vehicle forward it is counter be pushed into research section starting point, and toward downstream extend.
Step 3：Vehicle behavior decision-making
The vehicle generated all carries out behaviour decision making in each second according to the space-time seizure condition of road network, and decision-making meets necessarily
Constraints, including following four constraint：
(1) basic constraint：Track of vehicle needs to be on time and reasonability spatially, it is impossible to overlaps, tangent or phase
Hand over；Fleet track needs to meet traffic flow shock wave shape facility.
(2) signal control constraints：Vehicle needs to observe signal conditioning in signal-control crossing.
(3) traffic flow parameter constrains：Vehicle advances according to average link speed when driving in section；Trajectory reconstruction causes
Every track reconstruct the volume of traffic need observe actual measurement traffic data, otherwise carry out reasonable lane change or supplement vehicle.
(4) decision-making priority restrictions：The selection thinking of decision-making is on the premise of above three constraint is not violated, and is carried out excellent
The state of first level higher is shifted i.e. in vehicle when driving：Advance>Parking；During parking：Starting>Stop.This decision rule be by
What reality determined, because the vehicle driver of normally travel is influenced be subject to safety, traffic rules and psychology in section,
It can tend to keep former speed traveling；Equally, because the vehicle of the factor parking such as red light, front truck parking, can also select in first time
Select starting.
Under the limitation of above-mentioned several constraints, according to agenda of the vehicle in reality on section, the behavior of vehicle is determined
Plan result is advance, parking and starting respectively, roll major trunk roads away from, reasonable lane change and drives into major trunk roads, while is needed to track lance
Shield is handled.
Step 4：Judge whether trajectory reconstruction finishes
It will be considered that the track of this car has been reconstructed when vehicle is in following three state to finish：
(i) reconstitution time has exceeded the time range (being directed to any vehicle) studied；
(ii) vehicle is located at added turning lane and by intersection parking line (being directed to turning vehicle)；
(iii) vehicle is located at Through Lane and rolls studied section (being directed to through vehicles) away from.
In walking poly- three, control decision includes with parameter：
(1) advance decision-making
For each generation vehicle, when the space-time of road ahead, which takes matrix, shows unoccupied, vehicle is with section
Average speed v (the road-section average spot speed that research section detector is measured) traveling.
(2) parking and starting decision-making
When running into red light or front vehicles Parking situation, vehicle selection parking；Switch in signal lamp green or preceding
After square vehicle start, vehicle selection starting.
Traffic flow modes are shifted as illustrated in figures 4-5, in figure：A, J, C represent respectively vehicle in sections of road, in intersection
It is lined up and in three kinds of states of green time, v, k, w represent flow speeds, vehicle density and the friendship that traffic behavior transfer occurs respectively
Logical wave velocity.The parking of current vehicle meets the impact wave characteristic of traffic shock wave with starting, forms three on a spacetime coordinate axis
Angle influence area, vehicle is stopped and is started to walk in influence area, and vehicle normally advances outside influence area.Wherein, triangle influences
The periphery in region is traffic shock wave, is due to that traffic behavior occurs transfer and produces, the computational methods such as formula (1) of velocity of wave w,
Q and k is respectively the magnitude of traffic flow and traffic density.Traffic shock wave is divided into forming ripple and evanescent wave, as shown in Fig. 6 (b)：Form ripple wAJIt is
Due to switching to J, evanescent wave w from A for traffic behaviorJCIt is due to that traffic behavior is changed into C, the computational methods difference of two kinds of velocities of wave from J
Such as formula (2) and (3).
In formula, for forming ripple wAJ：QA(veh/s) it is the magnitude of traffic flow of signal lamp forefoot area, v (m/s) is represented on section
The average speed of normal vehicle operation, average headstock Ullage when s (m) is parking；For evanescent wave wJC：Q (veh/s) is to sail out of
The magnitude of traffic flow of signal lamp, average headway when h (s) is starting.
(3) reasonable lane change
The vehicle of generation enters lower a road section according to lane function by intersection.Detected at each detector in downstream
Track i each timesharing periods TnPresent situation reconstruct volume of traffic qr-i, the track i actual traffic amounts q that is measured with detectoriCarry out pair
Than as shown in Fig. 6 (a).
If qr-i>qi, then qout-i=qr-i-qi(qr-iFor the reconstruct volume of traffic of track i under current state) car is from car
Road i carries out reasonable lane change, lane change result schematic diagram such as Fig. 6 (b) to the adjacent lane of both sides.If qr-i<qi, then the car is illustrated
The vehicle number passed through in road is less than actual traffic amount, it is necessary to which the intersection position supplement of the detector upstream is corresponding in the i of track
Vehicle qin-i=qi-qr-i。
(4) roll away from, enter major trunk roads
Vehicle passes through reasonable lane change, according to the function in the residing track before intersection parking line, carries out behaviour decision making, determines
Whether it rolls research section away from.
If (i) being in Through Lane, continue to drive into lower a road section；
(ii) if in left-hand rotation or right-turn lane, research section is rolled away from, into intersection leg.
The volume of traffic that detector is lacked between section, then drive into major trunk roads, and the entrance of each car from upstream intersection leg
And at the time of reaching detector location it is timesharing period TnInterior random times tn-j, supplement process such as Fig. 6 (c).
(5) track of vehicle contradiction is handled
When vehicle is carrying out behaviour decision making, if meeting Constrained and without lane change on the basis of, track of vehicle
It can not continue to extend, i.e., inevitable and other intersection of locus, so as to produce track contradiction.The reason for producing this contradiction is this algorithm
Not driven into fully according to vehicle and be sequentially generated vehicle, the sequencing that some section vehicles drive into and roll away from has a small amount of change.
Specific schematic diagram 7-8, the step of solving track contradiction be：
(i) judge and position intersecting relative trajectory occur；
(ii) error section after the intersection point of crossover track is deleted；
(iii) according to the deleted track of the chronological order reconstruct of track, until existing without track contradiction.
Embodiment 2, refers to Fig. 9 to Figure 13.It should be noted that the diagram provided in the present embodiment is only with signal side
Formula illustrates the basic conception of the present invention, so when only display is with related component in the present invention rather than according to actual implementation in schema
Component count, shape and size draw, kenel, quantity and the ratio of each component can be a kind of random change during its actual implementation
Become, and its assembly layout kenel may also be increasingly complex.
A kind of arterial street track of vehicle reconstructing method based on fixed point detector and signal timing dial data fusion, in more cars
Road, there is any discrepancy, and vehicle disturbs the track of vehicle that degree of precision is reconstructed under traffic conditions.
The foundation of this method includes the following steps：
1) data acquisition and procession
Qingdao City Shinan District Hong Kong Road Shandong road is chosen to this road section of Foochow South Road as test section.Study section
1.38 kilometers of total length, is two-way eight tracks, comprising 5 signal-control crossings, is respectively：Shandong road crossing, Xin Pulu crossings, Nanjing
Road crossing, sky road crossing and Fuzhou road crossing.Section geometric format, signal lamp, fixed microwave detector position such as Fig. 7 institutes
Show.
Choose on the November 1st, 2014 of morning peak 7:00~8:00 is the research period, chooses Hong Kong Road and intersects from Shandong road
Mouthful to the section in Fuzhou road intersection direction from West to East be research range.
The data of collection include data traffic signal, fixed microwave detector data and video detector data.Signal lamp
Timing scheme is the time segment data of excel forms (.xlsx) form；Video data is the monitoring camera of each intersection, lattice
Formula regards monitoring DVR video files (.h264) for Haikang prestige, shares 1753 parts of record data, total duration 292.17h, this research carries
Take the wherein video data of 336GB；Microwave detector data are database form (.sql), including 465719 records, are originally ground
Study carefully extraction wherein 660 microwave detector data, data content is examined to be pressed in search time section at each detector of minute statistics
Flow (veh/min), average speed (km/h) and the occupation rate measured.
Accurate Calibration is carried out to traffic lights using video data, the results are shown in Figure 9.In figure, the number on road name right side
Numeral on the right side of word and detector represents the distance of intersection and fixed microwave detector relative to research starting point respectively.It is right
The method that each section volume of traffic in section is extracted is fusion treatment video data and microwave detector data：First with regarding
Frequency according to statistics import and export the volume of traffic per minute (i.e. flow and Fuzhou road intersection driven into Shandong road intersection by section
Roll flow away from)；And extract microwave detector database and obtain the microwave detector volume of traffic per minute.Two class data are mutually tied
Close, the time division traffic in Shandong road to five sections section research period between Fuzhou road of Hong Kong Road can be obtained.
The vehicle parameters such as motor vehicle average speed, parking and start-up time are extracted.Vehicle parking is defined with starting
As shown in figs. 10-11, vehicle parameter is read according to video data, sample number is 30.It is motor-driven that research section is obtained by statistics
Car average speed is 11.32m/s, and average down time is 4.1s, start-up time 2.1s.
2) data processing
By the Data Quality Analysis to microwave detector data, it is found that the volume of traffic obtained by microwave detector is slightly below logical
Cross the volume of traffic that video statistics obtain, this is because fixed microwave detector exist must error, accuracy rate for 90%~
95%, the initial data of the magnitude of traffic flow and speed is cleaned using threshold method.
3) reconstruction result
Figure 12-13 is respectively to study the track of vehicle reconstruct that two Through Lanes in the track of four, section are studied in the period
Figure.By taking Figure 13 studies left 3rd track (Through Lane) in section as an example, the more obvious traffic impact of it can be seen from the figure that
The feature of ripple；It can be seen that and not all track is all complete continuous, this is because there are handed in vehicle lane change and section
The behavior that prong vehicle is transferred to or produces.
4) interpretation of result
Journey time reflects overall speed degree of the vehicle in research sections of road, can reflect the car to a certain extent
Research section ride characteristic, when vehicle driving trace is close, then journey time approaches, so journey time can be made
To weigh a kind of parameter of track similitude.In order to verify the effect of this algorithm, herein using contrast traveled distance time and rail
Mark reconstructs method of the journey time as measure algorithm validity.This research is directed to the vehicle for having travelled full journey, using simulation AVI
Mode, obtain 25 groups of observation journey times altogether using artificial statistics；Obtained altogether in 364 groups of track weights using track result is reconstructed
Structure journey time.It is used for weighing observation with the deviation between true value with root-mean-square error (RMSE) i.e. standard error, calculates public
Formula such as (4).
In formula, diFor journey time measured value and the difference of true value.
It is corresponding from all samples to have chosen 20 groups of data calculating root-mean-square errors, wherein reconstruct track journey time conduct
Measured value, observation journey time obtain RMSE=23.05s as true value.There are 23.05s root-mean-square error the main reason for
For：
(i) reconstruct data are the average datas obtained by based on a large amount of vehicle datas, and observe data and only have a small amount of vehicle, are deposited
In certain contingency.
(ii) reading of data is observed there are certain error, is specially that the error that judges the stop-start time, vehicle to pass through
Reading error of time etc..
(iii) auto model in trajectory reconstruction is trolley, there is a certain proportion of cart in actual traffic stream.
The present invention of table 1 is compared with conventional method
Table 1 is the comparison with conventional method in the case where whetheing there is high quality floating car data of the invention.It can be seen that in table
During conventional method floating car data containing high quality, the accuracy and conventional method of this method are closer to；When conventional method is free of
When having high quality floating car data, the accuracy of this method is significantly larger than conventional method.This explanation the method for the present invention is suitable for me
State lacks the data source condition of high quality floating car data, has very high application value.
Claims (4)
1. a kind of arterial street track of vehicle reconstructing method based on fixed point detector and signal timing dial data fusion, its feature exist
In this method comprises the following steps：
(1) basis matrix is established：
Establish three-dimensional road timesharing and take matrix Point [n, distance, t], wherein n represents track, and distance is represented
For this with a distance from research section starting point, t represents the research moment；The function of the matrix is to reflect the real-time road at current time,
And next second vehicle is generated and is run formation constraint as constraints；
The vehicle operation Matrix C ar [vehicle, t] of two dimension is established, wherein vehicle represents the numbering of vehicle, and t represents research
Moment, each matrix element are bivector, including residing track and with a distance from research section starting point；The function of the matrix is
Reaction has generated the operation conditions of vehicle, and for updating the space-time occupancy situation of road；
This method runs Matrix C ar [vehicle, t] by t moment vehicle and determines that the road timesharing at the moment takes matrix
Point [n, distance, t], takes matrix Point [n, distance, t] further according to road timesharing and calculates t+t0Moment car
Most probable operating status, so as to generate Car [vehicle, t+t0] continuous iterative process；
(2) vehicle generates：
Initial vehicle, each timesharing period T are formed at research first, section fixed point detectornInterior vehicle generation quantity is set
It is set to each track timesharing accounting volume of traffic q of fixed point detector acquisitioni, it is specific generate the moment for this random in the timesharing period when
Carve tn-j, with Random.Next (0, T) function distribution each car the generation moment, by track of vehicle forward it is counter be pushed into research section
Starting point, and extend toward downstream；
(3) vehicle behavior decision-making：
The vehicle generated all carries out behaviour decision making in each second according to the space-time seizure condition of road network, and decision-making meets certain pact
Beam condition, including following four constraint：
A is constrained substantially：Track of vehicle needs to be on time and reasonability spatially, it is impossible to overlaps, is tangent or intersecting；Fleet
Track needs to meet traffic flow shock wave shape facility；
B signal control constraints：Vehicle needs to observe signal conditioning in signal-control crossing；
C traffic flow parameters constrain：Vehicle advances according to average link speed when driving in section；Per car caused by trajectory reconstruction
The road reconstruct volume of traffic needs to observe actual measurement traffic data, otherwise carries out reasonable lane change or supplement vehicle；
D decision-making priority restrictions：The selection thinking of decision-making is on the premise of above-mentioned 3 constraints are not violated, and carries out priority more
High state is shifted i.e. in vehicle when driving：Advance>Parking；During parking：Starting>Stop；This decision rule is by real feelings
What condition determined, because the vehicle driver of normally travel is influenced be subject to safety, traffic rules and psychology in section, can tend to
Keep former speed traveling；Equally, also can be in first time selection starting because the vehicle of the factor parking such as red light, front truck parking；
Under the limitation of above-mentioned several constraints, according to agenda of the vehicle in reality on section, the behaviour decision making knot of vehicle
Fruit is advance, parking and starting respectively, roll major trunk roads away from, reasonable lane change and drives into major trunk roads, while as needed to track lance
Shield is handled；
(4) judge whether trajectory reconstruction finishes:
It will be considered that the track of this car has been reconstructed when vehicle is in following three state to finish：
(i) reconstitution time has exceeded the time range studied；
(ii) vehicle is located at added turning lane and passes through intersection parking line；
(iii) vehicle is located at Through Lane and rolls studied section away from.
2. according to the method described in claim 1, it is characterized in that, the behaviour decision making of poly- (3) vehicle of step includes：
A advance decision-makings：
For each generation vehicle, when the space-time of road ahead, which takes matrix, shows unoccupied, vehicle is with road-section average
Speed v is travelled；
B stops and starting decision-making：
When running into red light or front vehicles Parking situation, vehicle selection parking；Switch to green or front car in signal lamp
Starting after, vehicle selection starting；
The reasonable lane changes of c
The vehicle of generation enters lower a road section according to lane function by intersection；Track i is detected at each detector in downstream
Each timesharing period TnPresent situation reconstruct volume of traffic qr-i, the track i actual traffic amounts q that is measured with detectoriContrasted, if
qr-i>qi, then qout-i=qr-i-qi, qr-iFor the reconstruct volume of traffic of track i under current state, vehicle is from track i to both sides
Adjacent lane carries out reasonable lane change；If qr-i<qi, then illustrate the track the vehicle number passed through be less than actual traffic amount, it is necessary to
The intersection position of the detector upstream supplements corresponding vehicle q in the i of trackin-i=qi-qr-i；
D is rolled away from, is entered major trunk roads：
Vehicle passes through reasonable lane change, according to the function in the residing track before intersection parking line, carries out behaviour decision making, determines that it is
It is no to roll research section away from；
If (i) being in Through Lane, continue to drive into lower a road section；
(ii) if in left-hand rotation or right-turn lane, research section is rolled away from, into intersection leg；
The volume of traffic that detector is lacked between section, then drive into major trunk roads from upstream intersection leg, and the entrance of each car and arrives
Up to being the timesharing period T at the time of detector locationnInterior random times tn-j。
3. according to the method described in claim 2, it is characterized in that, in b parkings and starting decision-making：When traffic flow modes shift,
A, J, C represent that vehicle is lined up and in three kinds of states of green time in sections of road, in intersection respectively, and v, k, w represent car respectively
Flow velocity degree, vehicle density and the traffic wave velocity that traffic behavior transfer occurs；The parking of current vehicle meets traffic shock wave with starting
Impact wave characteristic, form the triangle influence area on a spacetime coordinate axis, vehicle is stopped and is started to walk in influence area,
Vehicle normally advances outside influence area；Wherein, the periphery of triangle influence area is traffic shock wave, is due to that traffic behavior occurs to turn
Move and produce, the computational methods such as formula (1) of velocity of wave w, Q and k are respectively the magnitude of traffic flow and traffic density；Traffic shock wave is divided into shape
Cheng Bo and evanescent wave, form ripple wAJIt is due to switch to J, evanescent wave w from A for traffic behaviorJCIt is due to that traffic behavior is changed into from J
C, the computational methods of two kinds of velocities of wave are respectively such as formula (2) and (3)：
<mrow>
<mi>w</mi>
<mo>=</mo>
<mfrac>
<mrow>
<msub>
<mi>Q</mi>
<mn>1</mn>
</msub>
<mo>-</mo>
<msub>
<mi>Q</mi>
<mn>2</mn>
</msub>
</mrow>
<mrow>
<msub>
<mi>k</mi>
<mn>1</mn>
</msub>
<mo>-</mo>
<msub>
<mi>k</mi>
<mn>2</mn>
</msub>
</mrow>
</mfrac>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<msub>
<mi>w</mi>
<mrow>
<mi>A</mi>
<mi>J</mi>
</mrow>
</msub>
<mo>=</mo>
<mfrac>
<msub>
<mi>Q</mi>
<mi>A</mi>
</msub>
<mrow>
<mfrac>
<msub>
<mi>Q</mi>
<mi>A</mi>
</msub>
<mi>v</mi>
</mfrac>
<mo>-</mo>
<mfrac>
<mn>1</mn>
<mi>s</mi>
</mfrac>
</mrow>
</mfrac>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>2</mn>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<msub>
<mi>w</mi>
<mrow>
<mi>J</mi>
<mi>C</mi>
</mrow>
</msub>
<mo>=</mo>
<mo>-</mo>
<mfrac>
<msub>
<mi>Q</mi>
<mi>C</mi>
</msub>
<mrow>
<mfrac>
<mn>1</mn>
<mi>s</mi>
</mfrac>
<mo>-</mo>
<mfrac>
<mn>1</mn>
<mi>h</mi>
</mfrac>
</mrow>
</mfrac>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>3</mn>
<mo>)</mo>
</mrow>
</mrow>
In formula, for forming ripple wAJ：QANormal vehicle operation on section is represented for the magnitude of traffic flow veh/s, v of signal lamp forefoot area
Average speed m/s, average headstock Ullage m when s is parking；For evanescent wave wJC：QCTo sail out of the magnitude of traffic flow of signal lamp
Average headway s when veh/s, h are starting.
4. according to the method described in claim 1, it is characterized in that, in step (3), the track contradiction be when vehicle into
During row behaviour decision making, if meeting Constrained and without lane change on the basis of, track of vehicle can not continue to extend, i.e., inevitable
With other intersection of locus, so as to produce track contradiction；Solve track contradiction the step of be：
(i) judge and position intersecting relative trajectory occur；
(ii) error section after the intersection point of crossover track is deleted；
(iii) according to the deleted track of the chronological order reconstruct of track, until existing without track contradiction.
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