CN106530763B - The supersaturated traffic Adaptive Signal Control method that inlet flow rate is coupled with egress capacity - Google Patents
The supersaturated traffic Adaptive Signal Control method that inlet flow rate is coupled with egress capacity Download PDFInfo
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Abstract
The present invention provides a kind of supersaturated traffic Adaptive Signal Control methods that inlet flow rate is coupled with egress capacity, first by ring coil detector, detect that vehicle occupies the time of detector, determine telecommunication flow information statistical parameter；Next establishes phase threshold accounting equation, calculates the phase threshold of each phase and its threshold value of active path；It is finally phase adaptation control, choose the maximum phase of phase threshold, calculate self adaptive control parameter, give the phase once minimum green time, and the phase threshold of each phase of real-time update after the phase green light terminates chooses the maximum phase of phase threshold, updates minimum green time, the phase assignments minimum green time is given, is looped back and forth like this.The present invention can be according to the green time and sequence of intersection real-time condition auto-adaptive controling signal control parameter and each phase, be conducive to save path resource, avoid traffic congestion, improve Assessment of Serviceability of Roads, the reasonable distribution in the final optimal control and spatial distribution for realizing traffic flow on Annual distribution.
Description
Technical field
The present invention relates to a kind of Traffic Systems, and in particular to a kind of supersaturation traffic Adaptive Signal Control method.
Background technique
With the development of the social economy, the raising of Living consumption, more and more city dwellers possess the small of oneself
Automobile, so that the quantity of urban automobile increases sharply.And Urban spatial recourses are limited after all, are insufficient for increasing with vehicle
The transport need for adding and increasing, thus traffic congestion is increasingly severe.The essential reason for generating traffic congestion is local passage
Ability do not match that with current demand, is that demand is greater than the contradiction of supply and causes traffic to be distributed if control mode signal is not scientific
Concentrations can also trigger Urban Arterial Roads Intersection in the traffic flat peak phase and fall into oversaturated circumstances.
Research interdisciplinary it has been proved that Traffic Systems are a unbalanced concussion stochastic systems, traffic flow
Reach with it is discrete be filled with it is uncertain, it is this it is uncertain with transportation network scale increase and what is become does not know more.This
It was found that having highlighted the limitation of the signal control method based on Optimum Theory, tradition optimizes traffic signal control system can only
For to the Off-line control for determining traffic scene, control strategy can only to realize a certain zonule based on preset periodically plan
Interior centerized fusion.These limitations are it is meant that the waste of green time often can not when phase exterior traffic stream is unbalanced
It avoids.Based on this, self-adapting traffic signal control starts to attract attention, it can flexibly be formulated most preferably according to traffic flow operating index
Decision, it is to solve the oversaturated Critical policies in intersection that coordination is each, which orderly to utilize intersection time-space distribution to conflict traffic flow,.
Along with the progress of infomation detection and Predicting Technique and the development of traffic flow theory, occur three types altogether
Crossing self-adapting traffic signal control system.The first kind is fixed off-lined signal control system, is based on historical traffic stream
Data are measured, to optimize intersection efficiency as target, TRANSYT and MAXBAND are Typical Representatives therein.This kind of control system
Adaptive ability of uniting is poor, but its signal optimization algorithm is more practical, and latest edition has also merged Cell Transmission Model, preliminary to have
For the ability for handling supersaturated traffic.Second class and third class adaptive traffic signal control system are widely used to domestic outer city
City, on-line operation are that they are different from the main feature of first kind whistle control system.Second class system is in preset phase, phase sequence
Under, Optimal Signals are found using detector data and control three parameters, and SCATS and SCOOT are its Typical Representatives.Third class system is not
Optimization three parameter of signal is only focused on, but evolves to and surmounts the limitation of preset phase phase sequence, it is theoretical based on intensified learning, it finds optimal
Phase sequence, phase, green duration, the ability that signaling plan adapts to traffic flow variation are stronger.
Three of the above type is primarily due to the reasons such as oneself factor, time, place, is not to be all suitable in all occasions；
Secondly, the calibration of model parameter is comparatively laborious, the experience of traffic study personnel is fully relied on, without what foundation；Finally can only
Handle the traffic flow and realize the optimization within the scope of finite time that stop line nearby arrives at.
Summary of the invention
Goal of the invention: in view of the above-mentioned deficiencies in the prior art, it is an object of the present invention to provide a kind of inlet flow rate and outlet holds
Measure the supersaturated traffic Adaptive Signal Control method of coupling.
Technical solution: the present invention provides the supersaturated traffic self-adapting signals that a kind of inlet flow rate is coupled with egress capacity
Control method, comprising the following steps:
(1) Traffic Flux Information Detection and statistical analysis: by being laid with Data mining at intersection every lane interval
Device n1,n2,...nk..., detect that vehicle occupies the time of detectorAnd calculate telecommunication flow information statistical parameter；
(2) phase threshold calculates: determining each signal phase set ψ=(ρ in intersection1, ρ2...) and calculate each exit ramp appearance
Receive ability NV, phase threshold equation is established, the real-time phase threshold value of each phase and the threshold of the effective pass of each phase are obtained
Value；
(3) phase adaptation controls: the phase threshold of each phase of real-time update is chosen the maximum phase of phase threshold, is given
The updated minimum green time of the phase is given, loops back and forth like this, realizes the Adaptive Signal Control of intersection.
Further, step (1) the telecommunication flow information statistical parameter includes that each lane of entrance driveway is lined up vehicle number NS, entrance driveway
The queuing time T of each lane queuing vehicleSAnd each lane of exit ramp can accommodate vehicle number NP。
Further, each lane of step (1) entrance driveway is lined up vehicle number NSCalculating the following steps are included: according to motor vehicle freedom
Flow velocity degree VcWith Vehicle length Lc, calculate freestream conditions motor vehicle and pass through detector time TX:
In formula, d is length of the ring coil detector in track direction；
From entrance driveway lane starting point n-th1A detector starts, whenGreater than TX, nearby section is in crowded to the detector
Otherwise state is in freestream conditions；When entrance driveway lane n-th1What a detector measuredGreater than TX, and the lane n-thk-1
What detector measuredNo more than TX, it is divided into 10m between detector, calculates each lane vehicle queue length S of entrance drivewayPa:
SPa=10nk-1+d
And then it calculates each lane of entrance driveway and is lined up vehicle number NS:
In formula, LcFor Vehicle length, LaFor safe distance before and after vehicle.
Further, the queuing time T of each lane queuing vehicle of step (1) entrance drivewaySFirst be lined up according to the lane
The waiting time of vehicleIt calculates.
Further, step (1) each lane of exit ramp can accommodate vehicle number NPCalculating the following steps are included:
When a certain exit ramp laneWhat a detector measuredGreater than TX, and the laneA detector is surveyed
?No more than TX, 10m is divided between detector, then is had:
In formula, LcFor Vehicle length, LaFor safe distance before and after vehicle；When exit ramp has m lane, then exit ramp institute energy
Accommodate total vehicle number
Further, the foundation of step (2) phase threshold equation is as follows:
In formula, D (ρ) is the phase threshold of phase ρ, D [Lu (ρ)i] indicate phase ρ i-th effective pass threshold
Value, z are effective pass quantity of phase ρ, NSiFor Lu (ρ)iCorresponding entrance driveway is lined up vehicle number NS, TSiFor Lu (ρ)iIt is corresponding
Entrance driveway queuing vehicle queuing time, NPiFor Lu (ρ)iCorresponding exit ramp can accommodate vehicle number, NViFor Lu (ρ)iIt is corresponding
Exit ramp carrying capacity；
Go out the real-time phase threshold value { D (ρ of each phase according to equation calculation1),D(ρ2) ... and each phase it is effectively current
Threshold value { D [Lu (the ρ in pathi)1], D [Lu (ρi)2] ... ....
Further, after step (3) chooses the maximum phase of phase threshold, calculating includes minimum green time, maximum green light
The phase adaptation control parameter of time and yellow time give initial phase once minimum green time.
Further, giving initial phase, once minimum green time uses the Dynamic Signal preference policy in rolling time domain,
The following steps are included:
1. extracting the real-time phase threshold value of each phase and the threshold value of the effective pass of each phase again；
2. updating the corresponding phase of maximum phase threshold value and minimum green time；
3. judging whether the phase of this circulation acquisition and the preceding phase once obtained are identical, if identical, step is executed
4. otherwise directly executing step 5.；
If the phase that this circulation obtains is tired 4. this phase that circulation obtains once minimum green time is given in judgement
Whether the green time that meter obtains is more than maximum green time, this phase that circulation obtains is given if being no more than once most
Short green time, execute step 6., otherwise, execute step 2., give the high phase of phase threshold second once most short green light when
Between, execute step 6.；
5. after previous phase, giving phase ρiEmpty time, Phase-switching to current phase ρi, give current phase
ρi6. primary minimum green time, executes step；
6. being returned to step 1. before this circulation primary minimum green time closes to an end.
The utility model has the advantages that the present invention determines import first by being laid on the ring coil detector of entrance driveway and exit ramp
Each lane in road, which is lined up vehicle number, the queuing time of each lane queuing vehicle of entrance driveway and each lane of exit ramp, can accommodate vehicle number；
Secondly, establishing phase threshold accounting equation, the real-time phase threshold value of each phase and its threshold value of active path are determined, it is last real-time
The maximum phase of phase threshold is updated, updates and calculates minimum green time, it is once newest to give the maximum phase of phase threshold
Minimum green time, loops back and forth like this, and realizes the Adaptive Signal Control of intersection.The present invention can pacify suitable for any
The environment for filling detector is according to the green time and sequence of each phase of the unlimited self adaptive control of intersection real-time condition, ginseng
Number setting is simple and has according to feasible, can analyze processing all traffic flows of transportation network, be conducive to save path resource, avoid handing over
Logical congestion improves Assessment of Serviceability of Roads, the conjunction in the final optimal control and spatial distribution for realizing traffic flow on Annual distribution
Reason distribution, improves the operational efficiency and safety of intersection.
Detailed description of the invention
Fig. 1 is that ring coil detector is laid and telecommunication flow information statistical parameter schematic diagram；
Fig. 2 is phase active path schematic diagram；
Fig. 3 is the Dynamic Signal preference policy flow chart in rolling time domain.
Specific embodiment
Technical solution of the present invention is described in detail below, but protection scope of the present invention is not limited to the implementation
Example.
Embodiment: a kind of supersaturated traffic Adaptive Signal Control method that inlet flow rate is coupled with egress capacity, specifically
Process is as follows:
(1) Traffic Flux Information Detection and statistical analysis
Step 1.1: being laid with detector and obtain the time that vehicle occupies detector
Detector chooses ring coil detector, and taking laying interval d is 10m, all entrance driveway and exit ramp in intersection
Each lane be laid with detector, detector be laid with starting point be located at this intersection, terminal is located at this intersection and adjacent intersection
The middle position of mouth is numbered from the detector for being located at the intersection parking line position, is n1,n2,...nk....Toroid
The laying for enclosing detector is as shown in Figure 1.
When vehicle forward position enters one side of loop coil, detector, which is triggered, generates signal output, and works as vehicle tail
When sailing out of loop coil another side, signal strength closes value, output level zero lower than triggering.The arteries and veins that vehicle passing detection device generates
It rushes signal and forms square-wave signal output after the disposal of gentle filter.One square-wave signal can indicate passing through for a vehicle,
The width of square-wave signal is sent to telecommunication flow information statistical analysis module, and the signal width, that is, vehicle occupies the time of detector
Step 1.2: calculating telecommunication flow information statistical parameter
The vehicle of telecommunication flow information statistical analysis module extract real-time coil checker occupies the time of detectorAnd it counts
Calculate telecommunication flow information statistical parameter: each lane in crossing inlet road is lined up vehicle number NSWith the queuing time T of queuing vehicleSAnd go out
The mouth each lane in road can accommodate vehicle number NP, it specifically calculates as follows:
Step 1.2.1: it calculates freestream conditions motor vehicle and passes through detector time TX
Firstly, determining motor vehicle free stream velocity Vc；According to " People's Republic of China Road Traffic Safety Law implements item
Example " and " urban road design criterion " (CJJ37-2012) it is found that different cities category of roads motor vehicle free stream velocity such as table 1
Shown, concrete condition also needs to consider road speed limit condition, periphery traffic environment factor etc.:
1 different cities category of roads motor vehicle free stream velocity of table
Note: meeting one of following state in motor-driven vehicle going, maximum travel speed must not exceed 30 kilometers per hour:
1. non-motorized lane is passed in and out, when by level crossing, sharp curve way, narrow road, narrow bridge；
2. turn around, turn, lower abrupt slope when；
3. meeting mist, rain, snow, sand and dust, hail, visibility is when within 50 meters；
4. on ice and snow, muddy road when driving；
5. draw the motor vehicle to break down.
Secondly, determining Vehicle length Lc；It is defined in China " highway technical standard " (JTGB01-2014) motor-driven
Vehicle overall dimension boundary, as shown in table 2:
Design vehicle contour dimension as defined in table 2 " highway technical standard " (JTGB01-2014)
| Type of vehicle | Minibus | Motorbus | Articulated coach | Load truck | Articulated train |
| Overall length (m) | 6 | 13.7 | 18 | 12 | 18.1 |
According to obtained VcAnd Lc, calculate freestream conditions motor vehicle and pass through detector time TX:
In formula, d is length of the ring coil detector in track direction.
Step 1.2.2: each lane vehicle queue length S of entrance driveway is determinedPa
From entrance driveway lane starting point n-th1A detector starts, and judges what detector measuredWith TXSize relation, whenGreater than TX, which is nearby in congestion state in section, otherwise in freestream conditions.
When entrance driveway lane n-th1What a detector measuredGreater than TX, and the lane n-thk-1What detector measuredNo
Greater than TX, 10m is divided between detector, and calculation formula is as follows:
SPa=10nk-1+d。
Step 1.2.3: it calculates each lane of entrance driveway and is lined up vehicle number NS
In formula, LaIt averages for safe distance before and after vehicle by safe distance before and after 100 groups of vehicles of factual survey,
In conjunction with " urban road design criterion ", L is determinedaFor 2m.
Step 1.2.4: the queuing time T of statistics each lane queuing vehicle of entrance drivewayS
The waiting time for the first car that the queuing vehicle waiting time is lined up according to the lane calculates, that is,
Step 1.2.5: statistics each lane of exit ramp can accommodate vehicle number NP
When a certain exit ramp laneWhat a detector measuredGreater than TX, and the laneA detector is surveyed
?No more than TX, detector spacing is 10m, and calculation formula is as follows:
In formula, when exit ramp has m lane, then exit ramp can accommodate total vehicle number
(2) phase threshold calculates
The N obtained according to above-mentioned Traffic Flux Information Detection and statistical analysisS、TS、NP, phase threshold equation is established, is determined each
The phase threshold D (ρ) of phase.
Step 2.1: determining each signal phase set ψ=(ρ in intersection1, ρ2...), draw signal phase figure.
Step 2.2: calculating each exit ramp carrying capacity NV, NVIt is the maximum vehicle that effective exit ramp of headroom can accommodate
Number, i.e. carrying capacity of this intersection to this section of effective exit ramp in Adjacent Intersections middle position:
In formula, n is the exit ramp number of track-lines, LRNFor the length of effective exit ramp.
Step 2.3: establishing phase threshold equation；
Lu(ρ)iIndicate i-th effective pass of phase ρ, D [Lu (ρ)i] indicate i-th of phase ρ effectively current road
The threshold value of diameter.Phase threshold refers to the sum of the threshold value of all effective pass in a certain phase, and effective pass is
Refer to effective flow path channel of traffic flow in a certain phase, for example, all of a certain phase that intersection is shown in Fig. 2 have
Imitate the pass: (Lu (ρ) of path 11), (Lu (ρ) of path 22), (Lu (ρ) of path 33), (Lu (ρ) of path 44), the phase of the phase
Position threshold value is the sum of four effective pass threshold values.
Specific phase threshold equation is as follows:
In formula, D (ρ) is the phase threshold of phase ρ, and z is effective pass quantity of phase ρ, NSiFor Lu (ρ)iIt is corresponding
Entrance driveway be lined up vehicle number NS, TSiFor Lu (ρ)iThe queuing time of corresponding entrance driveway queuing vehicle, NPiFor Lu (ρ)iIt is corresponding
Exit ramp can accommodate vehicle number, NViFor Lu (ρ)iThe carrying capacity of corresponding exit ramp.
Step 2.4: being arranged according to the calculated real-time each lane of each entrance driveway in intersection of traffic information statistical analysis module
Team vehicle number NS, each each lane queuing vehicle of entrance driveway queuing time TSAnd each exit ramp can accommodate vehicle number NP, calculate each phase
Real-time phase threshold value { D (the ρ of position1),D(ρ2) ... and the effective pass of each phase threshold value { D [Lu (ρi)1], D [Lu
(ρi)2] ... ....
(3) phase adaptation controls
The maximum phase of phase threshold is chosen, gives the phase once minimum green time, then each phase of real-time update
Phase threshold chooses the maximum phase of phase threshold, gives the phase assignments updated minimum green time, so recycles past
It is multiple, realize the Adaptive Signal Control of intersection.
Step 3.1: the real-time phase threshold value { D (ρ of each phase is extracted from step 2.41),D(ρ2) ... and each phase
Threshold value { D [Lu (the ρ of effective passi)1], D [Lu (ρi)2] ... ....
Step 3.2: choosing the corresponding initial phase ρ of maximum phase threshold valuei, wherein ρi=max (D (ρ1), D
(ρ2) ... ...).
Step 3.3: calculate self adaptive control parameter:
Step 3.3.1: initial minimum green time G is calculatedmin, minimum green time should allow the vehicle of all queuings all
It can enter intersection, steps are as follows for calculating:
Determine phase ρiThe middle maximum effective pass of threshold value is Lu (ρi)k；
Lu(ρ)k=max { D [Lu (ρi)1], D [Lu (ρi)2] ... ...
Calculate minimum green time Gmin；
Gmin=4+2NSk
In formula, NSkFor Lu (ρi)kThe queue length in the lane of shared entrance driveway.
Step 3.3.2: maximum green time G is calculatedmax:
It is assumed that calculating the optimal period of the intersection and the green light of each phase under using the control of timing signal
Time.The method of timing signal timing dial not states that the green time that each phase is calculated is G (ρ herei), it calculates most
Big green time Gmax=1.25G (ρi)。
Step 3.3.3: yellow time T is calculatedY:
In formula, t is time of driver's reaction, v85For the 85th percentile speed, a is car deceleration degree, and g is the gradient, and use is small
Number indicates.
According to " urban road design criterion " (CJJ37-2012), time of driver's reaction value 1s, car deceleration degree is taken
Value is 3, unit m/s2.85th percentage bit rate can add a standard deviation with average speed, and a standard deviation takes
Empirical value 2.2m/s, i.e. v85=Vc+2.2。
Step 3.4: giving initial phase ρiPrimary minimum green time, the present embodiment are believed using the dynamic in rolling time domain
Number preference policy, specific to roll process as shown in Figure 3:
Step 3.5: extracting the real-time phase threshold value and each phase effective pass of each phase again from step 2.4
Threshold value；
Step 3.6: updating the corresponding phase ρ of maximum phase threshold valueiWith minimum green time Gmin；
Step 3.7: judging the phase ρ that this circulation obtainsiIt is whether identical as the preceding phase once obtained, if identical,
Step 3.8 is executed, step 3.9 is otherwise directly executed；
Step 3.8: if this phase ρ that circulation obtains is given in judgementiWhen primary minimum green time, this circulation is obtained
The phase ρ takeniWhether the accumulative green time obtained is more than maximum green time, just gives this phase ρ that circulation obtainsiOne
Secondary Minimum Green Time executes step 3.10；Otherwise, step 3.6 is executed, it is once most short to give the high phase of phase threshold second
Green time executes step 3.10；
Step 3.9: after previous phase, giving phase ρiEmpty time, Phase-switching to current phase ρi, give and work as
Preceding phase ρiPrimary minimum green time, executes step 3.10；
Step 3.10: before this circulation primary minimum green time closes to an end, returning to step 3.5.
Claims (6)
1. a kind of supersaturated traffic Adaptive Signal Control method that inlet flow rate is coupled with egress capacity, it is characterised in that: packet
Include following steps:
(1) Traffic Flux Information Detection and statistical analysis: by being laid with ring coil detector n at intersection every lane interval1,
n2,...nk..., detect that vehicle occupies the time of detectorAnd telecommunication flow information statistical parameter is calculated, including entrance driveway is each
Lane is lined up vehicle number NS, each lane queuing vehicle of entrance driveway queuing time TSAnd each lane of exit ramp can accommodate vehicle number NP；
(2) phase threshold calculates: determining each signal phase set ψ=(ρ in intersection1, ρ2...) and calculate each exit ramp receiving energy
Power NV, phase threshold equation is established, the real-time phase threshold value of each phase and the threshold value of the effective pass of each phase are obtained；
The foundation of phase threshold equation is as follows:
In formula, D (ρ) is the phase threshold of phase ρ, D [Lu (ρ)i] indicate phase ρ i-th effective pass threshold value, z is
Effective pass quantity of phase ρ, NSiFor Lu (ρ)iCorresponding entrance driveway is lined up vehicle number, TSiFor Lu (ρ)iCorresponding entrance driveway
The queuing time of queuing vehicle, NPiFor Lu (ρ)iCorresponding exit ramp can accommodate vehicle number, NViFor Lu (ρ)iCorresponding exit ramp
Carrying capacity；
Go out the real-time phase threshold value { D (ρ of each phase according to equation calculation1),D(ρ2) ... and the effective pass of each phase
Threshold value { D [Lu (ρi)1], D [Lu (ρi)2] ... ...；
(3) phase adaptation controls: the phase threshold of each phase of real-time update chooses the maximum phase of phase threshold, gives this
The updated minimum green time of phase, loops back and forth like this, realizes the Adaptive Signal Control of intersection.
2. the supersaturated traffic Adaptive Signal Control side that inlet flow rate according to claim 1 is coupled with egress capacity
Method, it is characterised in that: each lane of step (1) entrance driveway is lined up vehicle number NSCalculating the following steps are included: according to motor vehicle freedom
Flow velocity degree VcWith Vehicle length Lc, calculate freestream conditions motor vehicle and pass through detector time TX:
In formula, d is length of the ring coil detector in track direction；
From entrance driveway lane starting point n-th1A detector starts, whenGreater than TX, the neighbouring section of the detector is in crowded shape
Otherwise state is in freestream conditions；When entrance driveway lane n-th1What a detector measuredGreater than TX, and the lane n-thk-1Inspection
Survey what device measuredNo more than TX, it is divided into 10m between detector, calculates each lane vehicle queue length S of entrance drivewayPa:
SPa=10nk-1+d
And then it calculates each lane of entrance driveway and is lined up vehicle number NS:
In formula, LcFor Vehicle length, LaFor safe distance before and after vehicle.
3. the supersaturated traffic Adaptive Signal Control side that inlet flow rate according to claim 1 is coupled with egress capacity
Method, it is characterised in that: the queuing time T of each lane queuing vehicle of step (1) entrance drivewaySThe first car being lined up according to the lane
Waiting timeIt calculates.
4. the supersaturated traffic Adaptive Signal Control side that inlet flow rate according to claim 1 is coupled with egress capacity
Method, it is characterised in that: step (1) each lane of exit ramp can accommodate vehicle number NPCalculating the following steps are included:
When a certain exit ramp laneWhat a detector measuredGreater than TX, and the laneWhat a detector measured
No more than TX, 10m is divided between detector, then is had:
In formula, LcFor Vehicle length, LaFor safe distance before and after vehicle；When exit ramp has m lane, then exit ramp can accommodate
Total vehicle number
5. the supersaturated traffic Adaptive Signal Control side that inlet flow rate according to claim 1 is coupled with egress capacity
Method, it is characterised in that: after step (3) chooses the maximum phase of phase threshold, when calculating including minimum green time, maximum green light
Between and yellow time phase adaptation control parameter, give initial phase once minimum green time.
6. the supersaturated traffic Adaptive Signal Control side that inlet flow rate according to claim 5 is coupled with egress capacity
Method, it is characterised in that: give initial phase once Dynamic Signal preference policy of the minimum green time using rolling time domain, packet
Include following steps:
1. extracting the real-time phase threshold value of each phase and the threshold value of the effective pass of each phase again；
2. updating the corresponding phase of maximum phase threshold value and minimum green time；
3. judging whether the phase of this circulation acquisition and the preceding phase once obtained are identical, if identical, step is executed 4., it is no
Then directly execute step 5.；
If the phase accumulation that this circulation obtains obtains 4. this phase that circulation obtains once minimum green time is given in judgement
Whether the green time obtained is more than maximum green time, and it is once most short green that this phase that circulation obtains is given if being no more than
6. the lamp time executes step, otherwise, execute step 2., give phase threshold second a high Minimum Green Time of phase, hold
Row step is 6.；
5. after previous phase, giving phase ρiEmpty time, Phase-switching to current phase ρi, give current phase ρiOne
6. secondary minimum green time, executes step；
6. being returned to step 1. before this circulation primary minimum green time closes to an end.
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| CN111599190B (en) * | 2020-05-14 | 2021-10-29 | 安徽师范大学 | Intelligent traffic light system and adjusting method |
| CN111882878B (en) * | 2020-09-02 | 2021-07-02 | 烟台大学 | Method for maximizing traffic capacity of key roads based on traffic flow prediction |
| CN112907950B (en) * | 2021-01-20 | 2022-04-01 | 东南大学 | Cellular transmission model improvement method for vehicle-road cooperative environment |
| CN114627660B (en) * | 2022-03-11 | 2023-01-20 | 公安部交通管理科学研究所 | Real-time iterative optimization control method for intersection signals facing unbalanced traffic flow |
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