CN107293133B - A kind of method for controlling traffic signal lights - Google Patents

A kind of method for controlling traffic signal lights Download PDF

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CN107293133B
CN107293133B CN201710692895.3A CN201710692895A CN107293133B CN 107293133 B CN107293133 B CN 107293133B CN 201710692895 A CN201710692895 A CN 201710692895A CN 107293133 B CN107293133 B CN 107293133B
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parking group
traffic signal
group ratio
signal lights
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CN107293133A (en
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张凯
连福诗
陈博奎
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Shenzhen Graduate School Tsinghua University
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G08G1/081—Plural intersections under common control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • 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
    • G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • 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
    • G08G1/0125—Traffic data processing
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • 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
    • G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
    • G08G1/0145—Measuring and analyzing of parameters relative to traffic conditions for specific applications for active traffic flow control

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  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses a kind of method for controlling traffic signal lights, include the following steps: S1, initialization: the green time in all sections is adjusted to setting value；S2, it obtains non-parking group ratio: obtaining the non-parking group ratio p of the non-parking group ratio p ' in a period and this period on each section using floating car data；S3, it determines each significance of highway segment c: being determined according to the size and its situation of change of the non-parking group ratio p ' in a upper period and the non-parking group ratio p in this period and determine each significance of highway segment c；S4, the linear programming method according to setting solve the green time of the optimization of each intersection using each significance of highway segment c；S5, optimization circulation: step S2 to S5 is repeated, the green time of optimization is continuously available.The present invention can predict that traffic congestion to change signal lamp in advance to mitigate congestion, postpones the generation of congestion, improves the traffic capacity of road.

Description

A kind of method for controlling traffic signal lights
Technical field
The present invention relates to a kind of method for controlling traffic signal lights, especially real-time Traffic signal control.
Background technique
Signal control is broadly divided into fixed timing signal control and Adaptive Signal Control.China's most cities make now The method of fixed timing, but it flexibility and adaptability it is relatively low, since the state of traffic is real-time change, Gu Determine the problems such as timing method timely and effectively can not make a response to traffic behavior variation, result in traffic congestion.Adaptive letter Number control mode in real time can be adjusted the parameter of signal according to the situation of change of road, be that one kind can be in intersection Magnitude of traffic flow operating status control mode signal adaptive in the case where changing.
Adaptive control method has very much, wherein that most notable is the developed SCOOT system (Split- of Britain TRRL Cycle-Offset Optimization Technique), it came into operation in 1979.The target of SCOOT be reduce delay and Parking, according to true transport need, it carries out the parameters such as cycle length, phase perdurabgility, phase difference regular Small adjustment reduces delay and parking to reach.SCOOT MC3 is the SCOOT of latest edition, it have the characteristics that it is some new, Such as it can skip the phase by bus for the purpose of preferential.1970 or so, highway and sea-freight before Sydney, AUS Service department develops SCATS system (The Sydney coordinated adaptive traffic system).SCATS's Target is to make traffic flow and analogy be saturated (ratio of effective green time and total green time) to maximize.It and SCOOT system It is more similar, but distinguishing is having levels property of SCATS system structure without the optimization program of traffic signalization.
Roberson and Betherton develops a kind of intersection for optimizing separation using dynamic programming method, should Method is called DYPIC (Dynamic Programmed Intersection).University of Arizona develops RHODES (Real- Time Hierarchical Optimized Distributed Effective System) system, it is a kind of with layer The adaptive control system (Mirchandani and Head, 2001) of secondary structure, the system uses phase optimization controls to calculate Method (Controlled Optimization of Phases, COP) has prediction and control function.Farges et al. is opened A kind of PRODYN method of self adaptive control based on Dynamic Programming is sent out.Yu and Recker develops MDP&DP method (Markov Decision Process and Dynamic Programming), this method is by signal control Markov Decision process is solved to model by the method for Dynamic Programming.Pignataro and Rathi is proposed respectively in the eighties Signal control strategy under congestion status, specific method are to extend the green time of downstream intersection and to each intersection in upstream Green time adjusts accordingly, and belongs to a kind of strategy of arterial traffic coordinated control.Hadi et al. carries out TRANSYT-7 It improves, blocked state can be handled.Distinguishing rule of this method using queue length as traffic behavior, signal timing dial can be with Fully consider the queueing message in downstream road section.In this method, queue length is to be obtained by simulation program, rather than pass through Detection device acquisition, it may appear that analog result deviates the case where true traffic behavior.For the section in the state of supersaturation, Owen and Stallard proposes a kind of rule-based (rule-based) Adaptive Signal Control method.This method is not Different rules is distributed with signal lamp, effect is more satisfactory in single crossing.Lin Zhang et al. proposes a kind of simulation Traffic police directs traffic the method based on fuzzy rule of behavior, and this method alleviates the congested in traffic situation of single crossing, but Its control thought is still similar to traditional signal timing dial method.There are also some researchs to have used fuzzy logic control, Multistage Proxy The control methods such as framework.
To under saturation or supersaturated situation, existing traffic control system can only accomplish the evacuation after blocking generation.It is existing Most of flow, occupation rate, saturation degree provided using induction coil of traffic control system etc. as traffic state data, even if Using queue length as traffic state data, nor it is detected from reality, but it is obtained by the simulation.Cause This, existing traffic control system can not differentiate the traffic behavior situation of change before blocking generation, can not be in blocking generation Preceding this trend of discovery simultaneously changes traffic control scheme to avoid the generation and sprawling of local stoppages.Here it is existing traffic controls The unpredictable traffic congestion of system processed so that change the reason of signal lamp is to mitigate congestion in advance.
Summary of the invention
In order to solve the above technical problems, the present invention proposes a kind of method for controlling traffic signal lights, the passage energy of road is improved Power postpones the generation of congestion.
In order to achieve the above objectives, method for controlling traffic signal lights of the invention includes the following steps: S1, initialization: by institute There is the green time in section to be adjusted to setting value；S2, it obtains non-parking group ratio: being obtained one on each section using floating car data The non-parking group ratio p ' in the period and non-parking group ratio p in this period；S3, each significance of highway segment c was determined: according to a upper period Non- parking group ratio p ' and the size and its situation of change of the non-parking group ratio p in this period determine that each section is important to determine Spend c；S4, the linear programming method according to setting solve the green time of the optimization of each intersection using each significance of highway segment c； S5, optimization circulation: step S2 to S5 is repeated, the green time of optimization is continuously available.
The beneficial effect of the present invention compared with prior art is: the present invention is based on floating car data, with non-parking Group ratio is traffic behavior Classification Index, green time is adjusted by linear programming method, since it is by the previous period Judged with the non-parking group ratio value of current period and the trend of variation, it is possible to predict traffic congestion to mention The reason of preceding change signal lamp is to mitigate congestion, to prevent congestion, postpones the generation of congestion, improves the notification capabilities of road.
Detailed description of the invention
Fig. 1 is city of embodiment of the present invention arterial traffic Signalized control schematic diagram.
Fig. 2 is linear programming timing method flow chart of the embodiment of the present invention.
Specific embodiment
Below against attached drawing and in conjunction with preferred embodiment, the invention will be further described.
The present embodiment is illustrated this control method by taking certain intown major trunk roads as an example, which shares 9 sections, 8 intersections are in the east suburb, and west is urban district, and present case simulates 6:00 AM to 10 points of this periods, from suburb to The traffic circulation in urban district, as shown in Figure 1, wherein link is section, DCP is the detector (note: originally being arranged in simulation software Embodiment is tested by way of emulation, such as following).
When one group of vehicle driving is to the main line section, Floating Car can collect the number such as average hourage of these vehicles According to, and parking group and non-two class of parking group are divided into these vehicles.It can be calculated by the average hourage data being collected into The ratio p of non-parking group vehicle out, the value are exactly that the index of traffic behavior is divided in the present invention.Pass through the big of non-parking group ratio Small and its trend for changing over time, the importance in available current each section, the big section of importance will obtain more Big green time is poor.The summation of the product of each significance of highway segment and green time difference will be used as objective function, by every The adjustment of a signal lamp green time optimizes, and obtains one group of new green time.Carry out one within the adjustment process every five minutes It is secondary, realize the real-time control of arterial traffic signal lamp.Wherein related notion is described as follows:
Illustrate 1. non-parking group ratio p
In arterial traffic, the vehicle of some straight trips will directly encounter green light and leave the section (non-parking vehicle, Non- stopped vehicles).Other vehicles for forming queue will occupy a part of red time in downstream intersection, wait down One green light could pass through the section (parking vehicle, Stopped vehicles).The quantity and straight traffic of non-parking group vehicle The ratio of quantity be non-parking group ratio.If not the ratio of parking vehicle is higher, then show that the section is more unobstructed, if The ratio of parking vehicle is higher, then shows that the section is more crowded.The value of non-parking group ratio p is the average trip by through vehicles The row time, t was found out, and average hourage t can be directly collected by floating car data.Floating vehicle system (Probe Vehicles System, PVS) data such as hourage, the type of vehicle of vehicle can be provided in real time.Its data acquisition modes are to pass through Mobile detector is completed, and detectors of these movements are the vehicles for being loaded with Position Fixing Navigation System, in actual use, out Hiring a car is most commonly seen Floating Car vehicle.
Illustrate the determination of 2. objective functions
If it is intended to improving the bus capacity of certain a road section, the green time between the two intersections can be increased Poor (two adjacent intersections, the difference of the green time of the green time and upstream intersection of downstream intersection) is due to this hair Bright target is to delay the generation of blocking, we will not only consider the current situation of road when determining section importance, It is also contemplated that variation situation of the road in the current generation, anticipation can be made in advance in this way and adjustment in advance is carried out to signal. Value and its variation herein according to the non-parking group ratio in each section can determine that the different degree in each section is (specific to use Simulated annealing is shown in explanation 3).It is poor that the section high for different degree should give its biggish upstream and downstream intersection green time, More vehicles can be made it through in this way.Thus we determine objective function are as follows: each significance of highway segment and green time are poor Product summation.
Illustrate 3. methods that the optimal different degree in each section is obtained by simulated annealing
By being used in combination for simulated annealing and this chapter control method proposed, this example, which proposes, following obtains section weight Spend the algorithm of optimal solution:
Parameter setting: under initial temperature T=70, each temperature T repeat simulation frequency n=10, rate of temperature fall λ= 0.95, total number of run N=100.θ=(θ1,θ2,...,θ11) be 11 dimensions vectors, and θ1<θ2<…<θ11, generate the side of new explanation Method is random generates.Loss function are as follows:
L (θ)=mean (ConjestionTime)
Its algorithm steps are as follows:
Step 0 (initialization): setting initial temperature T=70, current solution θcurr, by θcurrIt substitutes into simulation model, benefit L (θ is calculated with postrun resultcurr)。
Step 1 (candidate solution): random to determine new explanation θnewAnd pass through simulation calculation L (θnew)。
Step 2 (compares loss function value): if L (θnew)<L(θcurr), then receive θnew.If L (θnew)≥L (θcurr), receive θ using the determination of Metropolis criterionnewProbability, otherwise keep former solution θcurr。
Step 3 (repeats) under fixed temperature: repeating Step 1 and 2 before temperature T change.
Step 4 (cooling): temperature is reduced according to annealing rule, T=α T returns to Step 1.It is effectively restrained until reaching (N=100) algorithm terminates afterwards.
Final result see the table below 2, and obtaining final result is (3,5,11,12,25,27,39,40,41,44,45).
2. simulated annealing table of table
For specific control method as shown in Fig. 2, wherein simperiod is simulation time, Ti is the green time of section i.For Convenient for verifying the effect of this method, we are tested with the method for emulation, specific steps are as follows:
A. it initializes: the green time in all sections is adjusted to the maximum value of setting: 70s.And substitute into emulation platform into Row is emulated and is preheated.Emulation platform uses the micro-simulation simulator VISSIM of the research and development of PTV company, Germany.
B. each significance of highway segment c is determined.Different degree can be according to the size and its change of the non-parking group ratio p in a upper period Change situation to determine.It is denoted as c.P on last stage is denoted as p '.The setting of different degree is determined by simulated annealing, former Reason is shown in explanation 3 with algorithm steps, and the concrete outcome of different degree is shown in Table 1 in this example.
Each section importance determination method of table 1
In upper table 1, p is the non-parking group ratio of current period, and p ' is the non-parking group ratio of upper a cycle, and c is The different degree in section.When the non-parking group large percentage of a cycle on some section, the different degree in the section is with regard to lower.Certain The variation of the non-parking group ratio of section current period and upper a cycle also influences the different degree in section, this is because considering The trend of traffic behavior variation.The specific value of different degree is realized by simulated annealing, and specific steps are shown in be said above Bright 3.
In table 1 repeatedly with and 5% allow index, it is indicated: if the p of some section current state is than the p in a upper period Value increase more than 5%, illustrate that the current road segment degree of crowding is alleviated significantly, different degree is relatively small；If some The p of section current state reduced than the value of the p in a upper period illustrates the deterioration of the traffic behavior in this section sharply more than 5%, Significance of highway segment is relatively large；The two variation is increasing 5% and is reducing between 5%, illustrates that the road section traffic volume state is more steady It is fixed.
C. linear programming model is established, each intersection green time is solved.Specifically:
Wherein (1) s.t. this be the meaning of restrictive condition, Z is the meaning of integer.
It, can be in the hope of the green time of each intersection by formula (1) under current period.In formula (1), work as intersection Preceding green time is the green time of a cycle on intersection, is the different degree in section.It answers in the section high for different degree When giving, its biggish upstream and downstream intersection green time is poor, can make it through more vehicles in this way.Thus we are by mesh Scalar functions determine are as follows: the summation of the product of each significance of highway segment and green time difference.For the green time of each intersection, Variation range is 50s-70s, and there are 8 sections in centre, and each section green time is within this range.We set every time each Green light adjustment time is 2s, i.e., within each period, the green time for needing to adjust can only increase or reduce 2s.
Meanwhile the traffic capacity in order to guarantee road, the vehicle number for needing section downstream to be driven out to drive into more than or equal to upstream Vehicle number.In order to reach this effect, need to increase flow or reduce section upstream vehicle that section downstream vehicle is driven out to The flow driven into, thus the green time of downstream intersection is greater than the intersection green time equal to upstream.
D. each intersection green time is substituted into analogue system and is emulated, obtain new non-parking group ratio p, then will New p is updated in step b, repeats the circulation.
E. when emulation reaches termination condition, (be previously set and emulate total time) stops, output emulation the data obtained.
By l-G simulation test, can know the control method can effectively reduce hourage of vehicle, the delay time at stop, Stop frequency is shown in Table 3
3. linear programming timing method of table and conventional method Comparative result
As can be seen from the above table, non-parking group ratio index, average hourage index, mean delay time index, In average stop frequency index, performance of the linear programming timing method in section 4 and section 5 will match better than Webster fixation Shi Fangfa.Linear programming timing method proposed by the present invention effectively raises the traffic capacity of road, has postponed the hair of congestion It is raw, reach control target.
In addition, this method has used Floating Car to collect data, the cost using tools such as detectors has been saved.China exists There is Floating Car experimental system in multiple cities such as Beijing, Shenzhen, and the real-time traffic states information that these systems provide can be use Family provides the service such as real-time road inquiry, path navigation, it has also become the primary information resource of the business softwares such as Baidu map.It floats Vehicle system mainly collects the information such as position, time and speed, and cost is relatively low.These Floating Cars reality can be directly used in the present invention Data provided by check system carry out real-time control to signal.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that Specific implementation of the invention is only limited to these instructions.For those skilled in the art to which the present invention belongs, it is not taking off Under the premise of from present inventive concept, several equivalent substitute or obvious modifications can also be made, and performance or use is identical, all answered When being considered as belonging to protection scope of the present invention.

Claims (10)

1. a kind of method for controlling traffic signal lights, which comprises the steps of:
S1, initialization: the green time in all sections is adjusted to setting value；
S2, it obtains non-parking group ratio: obtaining the non-parking group ratio p ' in a period and sheet on each section using floating car data The non-parking group ratio p in period, wherein the through vehicles for directly encountering green light on section and leaving the section are non-parking group Vehicle, the ratio of the quantity of the quantity and through vehicles on the section of non-parking group vehicle are non-parking group ratio；
S3, each significance of highway segment c was determined: according to the non-parking group ratio p of the non-parking group ratio p ' in a upper period and this period Size and its situation of change determine each significance of highway segment c；
S4, the linear programming method according to setting solve the green time of the optimization of each intersection using each significance of highway segment c；
S5, optimization circulation: step S2 to S4 is repeated, the green time of optimization is continuously available.
2. method for controlling traffic signal lights according to claim 1, which is characterized in that in step S1, by all sections Green time is adjusted to the maximum value of setting.
3. method for controlling traffic signal lights according to claim 2, which is characterized in that in step S3, the setting of different degree It is determined by simulated annealing.
4. method for controlling traffic signal lights according to claim 3, which is characterized in that in step S3, when on some section When the non-parking group large percentage of a cycle, the different degree in the section is with regard to lower, certain section current period and upper a cycle Non- parking group ratio variation also influence section different degree.
5. method for controlling traffic signal lights according to claim 1, in step S4, the green light of the optimization of each intersection is solved Include following strategy when the time: it is poor that its biggish upstream and downstream intersection green time is given in the section high for different degree.
6. method for controlling traffic signal lights according to claim 4, which is characterized in that in step S4, each intersection it is excellent The green time of change be by solve objective function maximum value method obtain, objective function are as follows: each significance of highway segment with it is green The summation of the product of lamp time difference.
7. method for controlling traffic signal lights according to claim 5, which is characterized in that in step S4, solve each intersection Optimization green time when include following strategy: the green time of downstream intersection is greater than the intersection green light equal to upstream Time.
8. method for controlling traffic signal lights according to claim 1, which is characterized in that in step S2, non-parking group ratio p Value be to be found out by the average hourage t of through vehicles, average hourage t is directly collected by floating car data.
9. method for controlling traffic signal lights according to claim 8, it is characterised in that: floating vehicle system provides vehicle in real time Hourage data, its data acquisition modes are completed by mobile detector.
10. method for controlling traffic signal lights according to claim 9, it is characterised in that: the detector of the movement is to carry There is the vehicle of Position Fixing Navigation System.
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