CN108389411B - Tramcar signal priority control method based on multi-line intersection - Google Patents
Tramcar signal priority control method based on multi-line intersection Download PDFInfo
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Abstract
The invention relates to the technical field of road traffic signal control, and particularly discloses a tramcar signal priority control method based on a multi-line intersection, which comprises the following steps: detecting priority request signals of tramcars of each line in real time; establishing a request queuing sequence of the tramcar; when a priority request signal of the tramcar on a certain line is received, sorting the tramcars according to the priority of the priority request signal of the tramcar on the line in the request queuing sequence; generating a request priority response sequence according to the priority sequence of the priority request signals of the tramcars in the current request queuing sequence, and updating the request priority response sequence in real time; and executing real-time signal priority control of each line of the tramcar according to the current request priority response sequence. The tramcar signal priority control method based on the multi-line intersection ensures safe and orderly passing of the intersection and priority passing of tramcar intersection signals.
Description
Technical Field
The invention relates to the technical field of road traffic signal control, in particular to a tramcar signal priority control method based on a multi-line intersection.
Background
The modern tramcar as a medium-traffic-volume type rail transportation mode has the advantages of low cost, punctuality, comfort and the like, generally runs on a road in a semi-independent right-of-way mode, a special rail running area is arranged on a road section, the right-of-way is shared with social traffic and pedestrians at a road intersection, and signal priority mode control is adopted at the intersection to improve the traffic efficiency and attract more people to take.
With the increase of construction and lines of modern tramcar projects in China, the situation that a plurality of tramcar lines pass through crossways at intersections appears in succession, so that traffic conflicts exist between the tramcar lines and conventional road traffic flows. At present, a signal control mode of firstly requesting to firstly pass through firstly is generally adopted for the situation of multi-line crossing, but the passing efficiency is low, the requirements of simultaneously requesting to pass through an intersection in multiple lines and close shifts cannot be met, and the requirement of the operation accuracy of the electric cars on all lines cannot be balanced.
Therefore, in order to ensure safe and orderly traffic at the intersection and preferential traffic of tramcar intersection signals, the invention provides a tramcar signal priority control method for multi-line intersection.
Disclosure of Invention
The invention aims to solve at least one technical problem in the prior art, and provides a tramcar signal priority control method based on a multi-line intersection so as to solve the problems in the prior art.
As one aspect of the present invention, there is provided a tramcar signal priority control method based on a multi-lane intersection, the tramcar signal priority control method based on a multi-lane intersection including:
detecting priority request signals of tramcars of each line in real time;
establishing a request queuing sequence of the tramcar;
when a priority request signal of the tramcar on a certain line is received, sorting the tramcars according to the priority of the priority request signal of the tramcar on the line in the request queuing sequence;
generating a request priority response sequence according to the priority sequence of the priority request signals of the tramcars in the current request queuing sequence, and updating the request priority response sequence in real time;
and executing real-time signal priority control of each line of the tramcar according to the current request priority response sequence.
Preferably, the tramcar signal priority control method based on multi-line crossing further comprises the following steps:
when the priority request signal of the tramcar is not received, the control mode of the intersection is a reference signal timing scheme.
Preferably, when receiving a priority request signal of a tram on a certain line, the sorting according to the priority of the priority request signal of the tram on the line in the request queuing sequence includes:
when a priority request signal of a tramcar on a certain line is received, according to the line conflict condition and the signal phase condition of the tramcar, the received priority request signal of the tramcar on the line and the priority request signal in the request queuing sequence are subjected to priority level judgment one by one to obtain a judgment result, and sequencing is carried out according to the judgment result.
Preferably, the step of judging the priority level of the received priority request signal of the tramcar on the line and the priority request signal in the request queuing sequence one by one to obtain a judgment result includes:
judging whether the current signal phase is the phase of the line;
if yes, judging whether the sum of the green light running time of the current signal phase and the expected signal phase extension time is greater than the maximum green time of the signal phase;
if the sum of the green light running time of the current signal phase and the expected signal phase extension time is greater than the maximum green time of the signal phase, locking the priority request signal of the tramcar of the line to be not responded, and returning to execute the step of judging whether the current signal phase is the phase of the line when waiting for the next signal phase;
and if the sum of the green light time of the current signal phase and the expected signal phase extension time of the signal is not more than the maximum green time of the signal phase, arranging the received priority request signal of the tramcar on the line in the first sequence in the request queue sequence.
Preferably, the step of judging the priority level of the received priority request signal of the tramcar on the line and the priority request signal in the request queuing sequence one by one to obtain a judgment result further includes:
if the current signal phase is not the phase of the line, judging whether the request queuing sequence is empty;
if the request queuing sequence is empty, arranging the received priority request signal of the tramcar on the line in a first sequence in the request queuing sequence;
if the request queuing sequence is not empty, judging whether the received priority request signal of the tramcar on the line and the priority request signal of the tramcar in the request queuing sequence are in the same line direction;
if so, locking the priority request signal of the tramcar on the line to be not responded, and returning to execute the step of judging whether the current signal phase is the phase of the line or not when waiting for the next period;
if not, judging whether the received priority request signal of the tramcar on the line and the priority request signal in the request queuing sequence are released in the same phase;
if so, arranging the received priority request signal of the tramcar on the line in the same sequence with the priority request signal in the request queuing sequence;
if not, judging whether the received priority request signal of the tramcar on the line and the priority request signal of the tramcar in the previous request queue sequence are in the same line direction;
if so, arranging the priority request signal of the tramcar on the line behind the priority request signal of the tramcar before the request queue sequence;
and if not, comprehensively judging the priority levels of the front and rear requests according to the real-time running data and the signal phase sequence state of the tramcar.
Preferably, the comprehensively determining the priority levels of the front and rear requests according to the real-time running data and the signal phase-sequence state of the tramcar comprises:
judging whether the running time of the current signal phase exceeds the minimum green time length or not, and calculating the remaining time of the current signal phase when the minimum green time running is executed;
judging the sequence between the phase sequence number of the current signal in the period and the phase sequence number of the priority request signal of the tramcar on the line, and calculating the time required for the non-tramcar request signal to execute the minimum phase time to adjust to the request phase when responding to the request;
calculating the predicted arrival time of the tramcar on the line at the stop line of the intersection;
comparing the sequence of the open phase of the priority request signal of the tramcar on the line with the open phase of the priority request signal of the previous tramcar to obtain a comparison result;
according to the comparison result, respectively calculating to obtain a discrimination function value of the priority request signal priority of the tramcar on the line and a discrimination function value of the priority request signal priority of the previous tramcar;
comparing the discrimination function value of the priority request signal of the tramcar on the line with the discrimination function value of the priority request signal of the previous tramcar to obtain the magnitude relation of the discrimination function values;
determining the priority level of the priority request signal of the tramcar on the line and the priority request signal of the tramcar before the tramcar in the request queuing sequence according to the magnitude relation of the discrimination function values;
if the priority level of the priority request signal of the tramcar on the line is higher than that of the priority request signal of the tramcar before the request queuing sequence, arranging the priority request signal of the tramcar on the line in front of the priority request signal of the tramcar before the request queuing sequence, and returning to execute the step of judging whether the current signal phase is the phase of the line;
and if the priority level of the priority request signal of the tramcar on the line is not higher than that of the prior tramcar in the request queue sequence, arranging the priority request signal of the tramcar on the line behind the priority request signal of the prior tramcar in the request queue sequence.
Preferably, the performing of the real-time signal priority control of each line of the tram according to the current request priority response sequence includes:
judging whether the phase of the current running signal is a first sequence request phase;
if so, opening the special tramcar signals corresponding to all the requests in the first sequence, and adopting a tramcar phase green light extension strategy.
Preferably, the adopting of the streetcar phase green light extension strategy comprises:
calculating the phase green light extension time of the tramcar;
judging whether the current time reaches the green light extension time or not;
if the current time reaches the green light extension time, clearing all the request signals in the first sequence in the request queue sequence, and advancing the sequence of the subsequent request queue;
and if the current time does not reach the green light extension time, setting the adjustment step length to be 1 second, executing a signal step length, and increasing the time of the tramcar of each line by 1 second at the early and late points.
Preferably, the performing of the real-time signal priority control of each line of the tram according to the current request priority response sequence further includes:
if the current operation signal phase is not the first sequence request phase, judging whether the request queuing sequence has only one row of priority requests;
if so, preferentially responding to a priority request signal of the tramcar by adopting a strategy of green light extension or green light shortening in an unsolicited phase aiming at the single line request;
and if not, responding to the multi-line request, and executing the minimum green mode operation by the non-tramcar.
Preferably, the strategy of adopting the non-request phase green light extension or green light shortening for the single line request preferentially responds to the priority request signal of the tramcar, and comprises the following steps:
judging whether the opening time of the request phase according to the fixed period is larger than the expected arrival stop line time of the tramcar;
if yes, adopting an unsolicited phase green light shortening mode;
if not, adopting an unsolicited phase green light extension mode.
The tramcar signal priority control method based on the multi-line intersection provided by the invention is used for detecting the tramcar priority requests in real time, integrating various data to sequence the tramcar priority requests in real time, generating a request response queue, and considering the characteristics of tramcar line conflict to ensure that tramcars safely and orderly pass through the intersection; the relation between the phase sequence of the request phase and the release phase of the electric car is considered, so that a later request line can pass through the adjacent phase preferentially, and the integral priority efficiency in a period is improved; the method has the advantages that the early and late point time of the tramcar on each line is considered, the line punctuality rate can be balanced, vehicles at a late point can pass through the intersection preferentially, and safe and orderly passing of the intersection and preferential passing of tramcar intersection signals are guaranteed.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart of a tramcar signal priority control method based on a multi-line intersection provided by the invention.
FIG. 2 is a flow chart illustrating the priority response ordering of multi-line requests according to the present invention.
FIG. 3 is a schematic diagram of comprehensive determination of priority levels of two requests according to the present invention.
Fig. 4 is a flow chart of priority control of multi-line real-time signals according to the present invention.
Fig. 5 is a schematic diagram of a six-line crossing intersection of the tramcar provided by the invention.
Fig. 6 is a phase diagram of a crossing signal scheme provided by the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
As one aspect of the present invention, there is provided a method for priority control of a tramcar signal at a multi-lane intersection, as shown in fig. 1, the method comprising:
s110, detecting priority request signals of tramcars of each line in real time;
s120, establishing a request queuing sequence of the tramcar;
s130, when a priority request signal of the tramcar on a certain line is received, sorting the tramcars according to the priority of the priority request signal of the tramcar on the line in the request queue sequence;
s140, generating a request priority response sequence according to the priority sequence of the priority request signals of the tramcars in the current request queuing sequence, and updating the request priority response sequence in real time;
and S150, executing real-time signal priority control of each line of the tramcar according to the current request priority response sequence.
The tramcar signal priority control method based on the multi-line intersection provided by the invention is used for detecting the tramcar priority requests in real time, integrating various data to sequence the tramcar priority requests in real time, generating a request response queue, and considering the characteristics of tramcar line conflict to ensure that tramcars safely and orderly pass through the intersection; the relation between the phase sequence of the request phase and the release phase of the electric car is considered, so that a later request line can pass through the adjacent phase preferentially, and the integral priority efficiency in a period is improved; the method has the advantages that the early and late point time of the tramcar on each line is considered, the line punctuality rate can be balanced, vehicles at a late point can pass through the intersection preferentially, and safe and orderly passing of the intersection and preferential passing of tramcar intersection signals are guaranteed.
Specifically, the tramcar signal priority control method based on multi-line crossing further comprises the following steps:
when the priority request signal of the tramcar is not received, the control mode of the intersection is a reference signal timing scheme.
A detection device is provided at an upstream link position of each intersection to detect a priority request signal of the tram on each link in real time.
Specifically, each line is provided with a tram priority request passing intersection detection point, and is usually arranged in a track running area of a road section at the upstream of the intersection, and is arranged at a platform position if a platform is arranged.
It should be further noted that, in the intersection signal scheme, the special tramcar signal and tramcar passable phase of each line are set: the special tramcar signal can be released along with a collision-free road traffic signal, and a special tramcar phase is set under special conditions.
Detecting the tramcar priority request signal of each line in real time, if the tramcar priority request signal of a certain line, entering the step S120, if the tramcar request is not received, the intersection recovers the control of the reference signal control scheme.
Specifically, when receiving a priority request signal of a tramcar on a certain line, the sorting according to the priority of the priority request signal of the tramcar on the line in the request queuing sequence includes:
when a priority request signal of a tramcar on a certain line is received, according to the line conflict condition and the signal phase condition of the tramcar, the received priority request signal of the tramcar on the line and the priority request signal in the request queuing sequence are subjected to priority level judgment one by one to obtain a judgment result, and sequencing is carried out according to the judgment result.
It will be appreciated that a request queue sequence for the tram is established, the sequence ordering representing a tram request priority level and the same sequence request representing the same priority level. And according to the tramcar line conflict situation and the signal phase situation, judging and sequencing the priority levels of the detected tramcar requests and the request signals in the queue one by one.
More specifically, the step of judging the priority level of the received priority request signal of the tramcar on the line and the priority request signal in the request queuing sequence one by one to obtain a judgment result includes:
judging whether the current signal phase is the phase of the line;
if yes, judging whether the sum of the green light running time of the current signal phase and the expected signal phase extension time is greater than the maximum green time of the signal phase;
if the sum of the green light running time of the current signal phase and the expected signal phase extension time is greater than the maximum green time of the signal phase, locking the priority request signal of the tramcar of the line to be not responded, and returning to execute the step of judging whether the current signal phase is the phase of the line when waiting for the next signal phase;
and if the sum of the green light time of the current signal phase and the expected signal phase extension time of the signal is not more than the maximum green time of the signal phase, arranging the received priority request signal of the tramcar on the line in the first sequence in the request queue sequence.
More specifically, the calculation formula that the sum of the green time when the current signal phase has been operated and the expected phase extension time of the signal is greater than the maximum green time of the signal phase is as follows:
wherein, TcurrentRepresenting the current operating time;
indicating the starting moment of green light of the current phase i;
the tramcar of the priority request signal A of the tramcar representing the line predicts the time required from the request detection point to the stop line of the intersection;
the time of the tramcar of the priority request signal A of the tramcar on the line is predicted to pass through the intersection;
representing the maximum green time of the current signal phase i.
Specifically, the step of judging the priority level of the received priority request signal of the tramcar on the line and the priority request signal in the request queuing sequence one by one to obtain a judgment result further includes:
if the current signal phase is not the phase of the line, judging whether the request queuing sequence is empty;
if the request queuing sequence is empty, arranging the received priority request signal of the tramcar on the line in a first sequence in the request queuing sequence;
if the request queuing sequence is not empty, judging whether the received priority request signal of the tramcar on the line and the priority request signal of the tramcar in the request queuing sequence are in the same line direction;
if so, locking the priority request signal of the tramcar on the line to be not responded, and returning to execute the step of judging whether the current signal phase is the phase of the line or not when waiting for the next period;
if not, judging whether the received priority request signal of the tramcar on the line and the priority request signal in the request queuing sequence are released in the same phase;
if so, arranging the received priority request signal of the tramcar on the line in the same sequence with the priority request signal in the request queuing sequence;
if not, judging whether the received priority request signal of the tramcar on the line and the priority request signal of the tramcar in the previous request queue sequence are in the same line direction;
if so, arranging the priority request signal of the tramcar on the line behind the priority request signal of the tramcar before the request queue sequence;
and if not, comprehensively judging the priority levels of the front and rear requests according to the real-time running data and the signal phase sequence state of the tramcar.
More specifically, the comprehensively determining the priority levels of the front and rear requests according to the real-time running data and the signal phase-sequence state of the tramcar comprises:
judging whether the running time of the current signal phase exceeds the minimum green time length or not, and calculating the remaining time of the current signal phase when the minimum green time running is executed;
time remaining for current signal phase
The calculation formula of (2) is as follows:
wherein the content of the first and second substances,
the green light duration of the current signal phase i is represented; y isiA yellow light duration representing a current signal phase i; r isiIndicating the full red duration of the current signal phase i;
a minimum green time representing the current signal phase i; t isrequestIndicating the time when the tram priority request signal is received;
judging the sequence between the phase sequence number of the current signal in the period and the phase sequence number of the priority request signal of the tramcar on the line, and calculating the time required for the non-tramcar request signal to execute the minimum phase time to adjust to the request phase when responding to the request;
specifically, the non-tramcar requests the signal phase to perform the minimum phase time adjustment to the time t required for the request phasezThe calculation formula of (2) is as follows:
wherein j represents the phase number required to be opened by the tramcar; n represents the phase number of the signal period;
representing a phase minimum phase time;
calculating the predicted arrival time of the tramcar on the line at the stop line of the intersection;
specifically, the time T of the predicted arrival of the tramcar on the line at the stop line of the intersection is calculatedreachThe calculation formula of (2) is as follows:
Treach＝Trequest+treach，
wherein, treachRepresenting the estimated time of the tramcar from the request detection point to the intersection stop line;
comparing the sequence of the open phase of the priority request signal of the tramcar on the line with the open phase of the priority request signal of the previous tramcar to obtain a comparison result;
according to the comparison result, respectively calculating to obtain a discrimination function value of the priority request signal priority of the tramcar on the line and a discrimination function value of the priority request signal priority of the previous tramcar;
comparing the discrimination function value of the priority request signal of the tramcar on the line with the discrimination function value of the priority request signal of the previous tramcar to obtain the magnitude relation of the discrimination function values;
determining the priority level of the priority request signal of the tramcar on the line and the priority request signal of the tramcar before the tramcar in the request queuing sequence according to the magnitude relation of the discrimination function values;
if the priority level of the priority request signal of the tramcar on the line is higher than that of the priority request signal of the tramcar before the request queuing sequence, arranging the priority request signal of the tramcar on the line in front of the priority request signal of the tramcar before the request queuing sequence, and returning to execute the step of judging whether the current signal phase is the phase of the line;
and if the priority level of the priority request signal of the tramcar on the line is not higher than that of the prior tramcar in the request queue sequence, arranging the priority request signal of the tramcar on the line behind the priority request signal of the prior tramcar in the request queue sequence.
Specifically, if the open phase of the priority request signal for the tram on the line is before the open phase of the priority request signal for the immediately preceding tram, the discrimination function value Q for the priority request signal a for the tram on the line to be prioritized is determinedAThe calculation formula of (2) is as follows:
discrimination function value Q of prior tramcar priority request signal B priorityBThe calculation formula of (2) is as follows:
wherein, tdelayRepresenting the time of the tramcar at the morning and at the evening (the time of the morning is a negative value) running according to the operation schedule, CminA cycle duration representing a minimum phase time of operation for each phase;
specifically, if the open phase of the priority request signal for the tram on the line is later than the open phase of the priority request signal for the immediately preceding tram, the discrimination function value Q for the priority request signal a for the tram on the line to give priority toAThe calculation formula of (2) is as follows:
priority request signal of the previous tramB priority discrimination function value QBThe calculation formula of (2) is as follows:
comparing discrimination function values to determine the priority sequence of the front and the back requests, wherein the discrimination mode is as follows:
if QA＞QBIf the priority level of the priority request signal A of the tramcar on the line is higher than the priority level of the priority request signal B of the previous tramcarBThe priority level of (1);
if QA＜QBIf the priority level of the priority request signal A of the tramcar on the line is lower than the judgment function value Q of the priority request signal B of the previous tramcarBThe priority level of (2).
Specifically, the performing of the real-time signal priority control of each line of the tramcar according to the current request priority response sequence includes:
judging whether the phase of the current running signal is a first sequence request phase;
if so, opening the special tramcar signals corresponding to all the requests in the first sequence, and adopting a tramcar phase green light extension strategy.
Further specifically, the adopting of the streetcar phase green light extension strategy comprises:
calculating the phase green light extension time of the tramcar;
judging whether the current time reaches the green light extension time or not;
if the current time reaches the green light extension time, clearing all the request signals in the first sequence in the request queue sequence, and advancing the sequence of the subsequent request queue;
and if the current time does not reach the green light extension time, setting the adjustment step length to be 1 second, executing a signal step length, and increasing the time of the tramcar of each line by 1 second at the early and late points.
Specifically, calculating the i green light extension time of the tramcar phase
The calculation formula of (2) is as follows:
wherein the content of the first and second substances,
indicating the time at which the first request in the request queuing sequence reaches the stop-line.
More specifically, the executing of the real-time signal priority control of each line of the tramcar according to the current request priority response sequence further includes:
if the current operation signal phase is not the first sequence request phase, judging whether the request queuing sequence has only one row of priority requests;
if so, preferentially responding to a priority request signal of the tramcar by adopting a strategy of green light extension or green light shortening in an unsolicited phase aiming at the single line request;
if not, responding to the multi-line request, and executing the minimum green mode operation by the non-tramcar, namely
Further specifically, the strategy of adopting the non-request phase green light extension or green light shortening for the single line request preferentially responds to the priority request signal of the tramcar, and comprises the following steps:
judging whether the opening time of the request phase according to the fixed period is larger than the expected arrival stop line time of the tramcar;
if yes, adopting an unsolicited phase green light shortening mode;
specifically, the time after each phase is shortened
Comprises the following steps:
if not, adopting an unsolicited phase green light extension mode,
specifically, the time after each phase is extended
Comprises the following steps:
wherein, tkRepresenting the fixed phase duration of the non-tramcar;
indicating the streetcar request phase j green light start time.
The tramcar signal priority control method based on the multi-line intersection, provided by the invention, is used for replying the original reference scheme of the intersection to operate when no tramcar request exists in order to reduce the influence on road traffic as much as possible; when only one line is requested, the green light time is compressed or prolonged in a balanced manner, and the minimum green time for safe driving is ensured; when a multi-line request is made, under the condition that the minimum green light of each phase is guaranteed, the rapid cycle rotation is beneficial to all electric cars to pass through the intersection as soon as possible.
The tramcar signal priority control method based on the multi-line intersection provided by the invention is specifically described below with reference to fig. 2 to 4.
(1) The tramcar priority request passing intersection detection points are arranged on all lines, are arranged in a track running area of an upstream road section of an intersection, and are arranged at a platform position if a platform is arranged.
(2) The crossing signal scheme is provided with special tramcar signals and tramcar passable phases of each line: the special trolley bus signal can be released along with a non-conflict road traffic signal, and the special trolley bus phase is set under special conditions.
(3) Detecting a tramcar priority request crossing signal of each line in real time, if the tramcar priority request crossing signal is received, entering the step (4), and if the tramcar priority request is not received, entering the step (8);
(4) and establishing a trolley bus request queuing sequence, wherein the sequence ordering represents the trolley bus request priority level, and the same sequence request represents the same priority level. And according to the tramcar line conflict situation and the signal phase situation, judging and sequencing the priority levels of the detected tramcar requests and the request signals in the queue one by one.
(4.1) judging whether the current phase is the phase of the current request line, if so, entering the step (4.1.1), and otherwise, entering the step (4.2).
(4.1.1) judging whether the sum of the green light time of the current phase operation and the expected phase extension time is more than the maximum green time of the phase, namely
The latch request does not respond and is re-sent to the next phase to step (4.1), otherwise the request is ranked in the first sequence.
Wherein, TcurrentRepresenting the current operating time;
indicating the starting moment of green light of the current phase i;
the time required by the tramcar of the current request A to expect from the request detection point to the intersection stop line is represented;
the time required for the tramcar requesting for the current A to pass through the intersection is represented;
represents the maximum green time of the current phase i;
(4.2) judging whether the request queue is empty, if so, discharging the request into the first sequence position, and if not, entering the step (4.3).
(4.3) judging whether the current request and the request in the queue are in the same line direction of the tramcar, if so, locking and storing the current request, not responding in the period, retransmitting the request to the next period, and entering the step (4.1), otherwise, entering the step (4.4).
(4.4) judging whether the current request and the request in the queue are released in the same phase, if so, arranging the current request and the request in the queue in the same sequence, otherwise, entering the step (4.5).
(4.5) judging whether the current request and the previous request line of the queue are on the same track, if so, queuing the current request after the previous request, otherwise, entering the step (4.6).
And (4.6) comprehensively judging the priority levels of the front request and the rear request according to the real-time running data of the tramcar and the phase sequence state of the signal phase.
(4.6.1) judging whether the current phase operation time exceeds the minimum green time length, and calculating the remaining time of the current phase when the minimum green time operation is executed
The calculation formula is as follows:
wherein the content of the first and second substances,
the green light duration of the current signal phase i is represented; y isiA yellow light duration representing a current signal phase i; r isiIndicating the full red duration of the current signal phase i;
a minimum green time representing the current signal phase i; t isrequestIndicating the time when the tram priority request signal is received;
(4.6.2) judging the sequence of the current phase sequence number and the request phase sequence number in the period, and calculating the time t required by the minimum phase execution time of the non-electric vehicle request phase to be adjusted to the request phase when responding to the requestzCalculatingThe formula is as follows:
wherein the content of the first and second substances,
wherein j represents the phase number required to be opened by the tramcar; n represents the phase number of the signal period;
representing a phase minimum phase time;
(4.6.3) calculating the time T at which the electric train is expected to reach the stop line of the intersectionreachThe calculation formula is as follows:
Treach＝Trequest+treach，
wherein, treachRepresenting the estimated time of the tramcar from the request detection point to the intersection stop line;
(4.6.4) judging whether the previous request open phase is before the current request open phase, if so, the priority judging function of the current request A is QAThe discriminant function of the prior request B is QBThe calculation formula is as follows, otherwise step (4.6.5) is entered:
wherein, tdelayRepresenting the time of the tramcar at the morning and at the evening (the time of the morning is a negative value) running according to the operation schedule, CminA cycle duration representing a minimum phase time of operation for each phase;
(4.6.5) if the previous request open phase is after the current request open phase, the discriminant function of the priority of the current request A is QAThe discriminant function of the prior request B is QBThe calculation formula is as follows:
(4.6.6) comparing the discrimination function values to determine the priority of the front and back requests, the discrimination method is:
if QA＞QBIf the priority level of the priority request signal A of the tramcar on the line is higher than the priority level of the priority request signal B of the previous tramcarBThe priority level of (1);
if QA＜QBIf the priority level of the priority request signal A of the tramcar on the line is lower than the judgment function value Q of the priority request signal B of the previous tramcarBThe priority level of (2).
(4.7) if the priority level of the current request is higher than that of the previous request, exchanging the sequence of the current request with the sequence of the previous request, and continuing to sort in the step (4.1), otherwise, after the current request is ranked in the previous request, entering the step (5).
(5) And updating the request priority response queue in real time.
(6) And according to the priority request response queue, performing priority control on the multi-line real-time signals of the tramcar, and performing periodic operation according to a timing scheme phase sequence without phase skipping or phase insertion control.
And (6.1) judging whether the current operation phase is the first sequence request phase, if so, entering the step (6.1.1), and otherwise, entering the step (6.2).
(6.1.1) opening the special signal of the tram corresponding to all the requests of the first sequence, adopting a tram phase green light extension strategy, and calculating the tram phase i green light extension time
The calculation method comprises the following steps:
wherein the content of the first and second substances,
indicating the time at which the first request in the request queuing sequence reaches the stop-line.
(6.1.2) judging whether the current time reaches the green light extension time, if so, entering the step (7), otherwise, entering the step (6.4).
(6.2) judging whether the request queue has only one row of priority requests, if so, entering the step (6.2.1), otherwise, entering the step (6.3).
(6.2.1) responding to the signal priority of the electric car by adopting a strategy of prolonging green light or shortening green light in an unsolicited phase aiming at the single line request, judging that the open time of the solicited phase according to a fixed period is more than the predicted stop line arrival time of the electric car, adopting an unsolicited phase green light shortening mode, and shortening the time of each phase
Comprises the following steps:
if not, adopting an unsolicited phase green light extension mode,
specifically, the time after each phase is extended
Comprises the following steps:
wherein, tkRepresenting the fixed phase duration of the non-tramcar;
indicating the streetcar request phase j green light start time.
And (6.4) entering the step after the calculation is finished.
(6.3) in response to the multiline request, the off-train phase performs a minimum green mode operation, i.e.
Go to step (6.4).
(6.4) setting the adjustment step length to be 1 second, executing a signal step length, adding 1 second to the early and late point time of each line electric car, and entering the step (6.5).
(6.5) detecting the tram request in real time, if a new request is detected, returning to the step (4.1), and if no new request exists, returning to the step (6.1).
(7) All requests in the first sequence are cleared, and the subsequent request queue is sequentially moved forward. And (4) judging whether a queuing request exists in the request queue, if so, entering the step (6.1), and if not, entering the step (8).
(8) And recovering the control scheme control of the reference signal at the intersection.
The following describes a specific embodiment of the tramcar signal priority control method based on a multi-line intersection according to the present invention with reference to fig. 5 and 6.
Taking a case that six trams cross an intersection as an example, as shown in fig. 5, the six trams cross the intersection, the trams run on the road, two trams enter the intersection in three directions, and it is assumed that 5 directions continuously request to pass through the intersection in the order of 1-2-3-5-6 within a phase 3 time period. The tramcar priority request passing intersection detection points are arranged on all lines, and detection information comprises line directions, train numbers, priority request signals, the time of the tramcar at the morning and evening points and the like.
a) The special tramcar signal and the tramcar passable phase of each line are set as follows: the intersection signal adopts a conventional four-phase scheme, the trolley-bus special signal is released along with a collision-free road traffic signal, the lines 4 and 5 are released along with an east-west straight phase, the lines 1 and 6 are released along with an east-west left-turning phase, and the lines 2 and 3 are released along with a north-south left-turning phase, such as an intersection signal scheme phase diagram shown in fig. 6.
b) If the line 1 request signal is detected in the phase 3, judging that the current phase is not the phase of the current request line 1 according to the step (4.1), entering the step (4.2) to judge that the request queue is empty, and arranging the current request into the first sequence position to generate a priority request response queue. And (6) judging that the current phase is an unsolicited phase and is a single solicited response, and executing 1-second signal adjustment step length by adopting green lamp lengthening or shortening strategies of phase 3 and phase 4 according to the judgment of the step (6.2.1).
c) The line 2 request signal is continuously detected in phase 3 and line 2 is queued after line 1 in the response queue, as determined from step (4.5) to be the same ingress track as request line 1 in the queue. The first queue line 1 is preferentially adjusted to perform a 1 second signal adjustment step size in a non-trolley phase minimum green mode according to step (6.3).
d) The line 3 request signal is continuously detected in phase 3, the line 3 and the line 2 are judged to be in the same release phase according to the step (4.4), the line 3 request and the line 2 are arranged in the same sequence, and the line 1 priority step length adjustment is continuously executed.
e) Continuously detecting the line 5 request signal in phase 3, comprehensively judging the priority of the line 5 and the previous request line 2, and comprehensively judging Q according to the step (4.6)5＞Q2Then line 5 is prioritized before line 2; continuing to judge the priority level of the line 5 and the previous request line 1, if Q is comprehensively judged according to the step (4.6)5＜Q1Line 5 is prioritized behind line 1 and line 1-prioritized step size adjustment continues.
f) The line 6 request signal is continuously detected at phase 3, and the line 6 request and line 5 are arranged in the same sequence by determining that line 6 and line 5 are in the same release phase according to step (4.4), and line 1 priority adjustment of the step size is continued as shown in the following table.
g) And (6) executing the step according to the adjustment step length according to the real-time request response queue, opening the line trolley signal when the line trolley is operated to the first sequence request phase, and operating in a green light extension mode until the phase is finished.
h) The first sequence of requests is cleared, the queue of requests is advanced, and the execution of the requests in the response queue is continued until there are no priority requests in the queue.
i) And restoring the original reference control scheme.
In summary, the tramcar signal priority control method based on the multi-line intersection provided by the invention is characterized in that a tramcar request detector and a tramcar passable phase are arranged aiming at the condition that a plurality of tramcar lines are crossed at the intersection and implement priority passing, the conflict characteristics of the tramcar lines, the request parameters of each line, the early and late point time of the tramcar and the phase sequence condition of the intersection signal are comprehensively considered, a priority level discrimination function is established to sequence the priority requests of each line, a priority request response queue is generated and updated in real time, the requests in the first sequence are adjusted in real time in a non-tramcar phase shortening or prolonging mode, a tramcar phase prolonging mode and other control modes, and the original reference signal control scheme is recovered when the requests in the queue are completely responded. On one hand, the problems of low crossing passing efficiency and unbalanced line running caused by a conventional mode of firstly requesting to firstly pass preferentially and firstly passing can be solved, and on the other hand, the minimum passing time of each phase and normal rotation can be guaranteed, so that the passing influence on road traffic is reduced as much as possible.
It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.
Claims (8)
1. A tramcar signal priority control method based on a multi-line intersection is characterized by comprising the following steps:
detecting priority request signals of tramcars of each line in real time;
establishing a request queuing sequence of the tramcar;
when a priority request signal of the tramcar on a certain line is received, sorting the tramcars according to the priority of the priority request signal of the tramcar on the line in the request queuing sequence;
generating a request priority response sequence according to the priority sequence of the priority request signals of the tramcars in the current request queuing sequence, and updating the request priority response sequence in real time;
executing real-time signal priority control of each line of the tramcar according to the current request priority response sequence;
when receiving a priority request signal of a tramcar on a certain line, the sequencing according to the priority of the priority request signal of the tramcar on the line in the request queuing sequence comprises the following steps:
when a priority request signal of a tramcar on a certain line is received, according to the line conflict condition and the signal phase condition of the tramcar, the received priority request signal of the tramcar on the line and the priority request signal in the request queuing sequence are subjected to priority level judgment one by one to obtain a judgment result, and sequencing is carried out according to the judgment result;
if the current signal phase is not the phase of the line, judging whether the request queuing sequence is empty;
if the request queuing sequence is empty, arranging the received priority request signal of the tramcar on the line in a first sequence in the request queuing sequence;
if the request queuing sequence is not empty, judging whether the received priority request signal of the tramcar on the line and the priority request signal of the tramcar in the request queuing sequence are in the same line direction;
if so, locking the priority request signal of the tramcar on the line to be not responded, and returning to execute the step of judging whether the current signal phase is the phase of the line or not when waiting for the next period;
if not, judging whether the received priority request signal of the tramcar on the line and the priority request signal in the request queuing sequence are released in the same phase;
if so, arranging the received priority request signal of the tramcar on the line in the same sequence with the priority request signal in the request queuing sequence;
if not, judging whether the received priority request signal of the tramcar on the line and the priority request signal of the tramcar in the previous request queue sequence are in the same line direction;
if so, arranging the priority request signal of the tramcar on the line behind the priority request signal of the tramcar before the request queue sequence;
and if not, comprehensively judging the priority levels of the front and rear requests according to the real-time running data and the signal phase sequence state of the tramcar.
2. The method of claim 1, wherein the method further comprises:
when the priority request signal of the tramcar is not received, the control mode of the intersection is a reference signal timing scheme.
3. The tramcar signal priority control method according to claim 1, wherein the step of determining the priority level of the received tramcar priority request signal for the link and the priority request signal in the request queue sequence one by one to obtain a determination result comprises:
judging whether the current signal phase is the phase of the line;
if yes, judging whether the sum of the green light running time of the current signal phase and the expected signal phase extension time is greater than the maximum green time of the signal phase;
if the sum of the green light running time of the current signal phase and the expected signal phase extension time is greater than the maximum green time of the signal phase, locking the priority request signal of the tramcar of the line to be not responded, and returning to execute the step of judging whether the current signal phase is the phase of the line when waiting for the next signal phase;
and if the sum of the green light time of the current signal phase and the expected signal phase extension time of the signal is not more than the maximum green time of the signal phase, arranging the received priority request signal of the tramcar on the line in the first sequence in the request queue sequence.
4. The tram signal priority control method based on multi-way intersection as claimed in claim 1, wherein the comprehensively determining the priority levels of the front and rear requests according to the real-time running data and the signal phase sequence state of the tram comprises:
judging whether the running time of the current signal phase exceeds the minimum green time length or not, and calculating the remaining time of the current signal phase when the minimum green time running is executed;
judging the sequence between the phase sequence number of the current signal in the period and the phase sequence number of the priority request signal of the tramcar on the line, and calculating the time required for the non-tramcar request signal to execute the minimum phase time to adjust to the request phase when responding to the request;
calculating the predicted arrival time of the tramcar on the line at the stop line of the intersection;
comparing the sequence of the open phase of the priority request signal of the tramcar on the line with the open phase of the priority request signal of the previous tramcar to obtain a comparison result;
according to the comparison result, respectively calculating to obtain a discrimination function value of the priority request signal priority of the tramcar on the line and a discrimination function value of the priority request signal priority of the previous tramcar;
comparing the discrimination function value of the priority request signal of the tramcar on the line with the discrimination function value of the priority request signal of the previous tramcar to obtain the magnitude relation of the discrimination function values;
determining the priority level of the priority request signal of the tramcar on the line and the priority request signal of the tramcar before the tramcar in the request queuing sequence according to the magnitude relation of the discrimination function values;
if the priority level of the priority request signal of the tramcar on the line is higher than that of the priority request signal of the tramcar before the request queuing sequence, arranging the priority request signal of the tramcar on the line in front of the priority request signal of the tramcar before the request queuing sequence, and returning to execute the step of judging whether the current signal phase is the phase of the line;
and if the priority level of the priority request signal of the tramcar on the line is not higher than that of the prior tramcar in the request queue sequence, arranging the priority request signal of the tramcar on the line behind the priority request signal of the prior tramcar in the request queue sequence.
5. The method according to claim 1, wherein the performing of the real-time signal priority control of each line of the tram according to the current request priority response sequence comprises:
judging whether the phase of the current running signal is a first sequence request phase;
if so, opening the special tramcar signals corresponding to all the requests in the first sequence, and adopting a tramcar phase green light extension strategy.
6. The method for priority control of tram signals at a multi-lane intersection according to claim 5, wherein the tram phase green light extension strategy comprises:
calculating the phase green light extension time of the tramcar;
judging whether the current time reaches the green light extension time or not;
if the current time reaches the green light extension time, clearing all the request signals in the first sequence in the request queue sequence, and advancing the sequence of the subsequent request queue;
and if the current time does not reach the green light extension time, setting the adjustment step length to be 1 second, executing a signal step length, and increasing the time of the tramcar of each line by 1 second at the early and late points.
7. The method according to claim 5, wherein the performing of the real-time signal priority control of each line of the tram according to the current request priority response sequence further comprises:
if the current operation signal phase is not the first sequence request phase, judging whether the request queuing sequence has only one row of priority requests;
if so, preferentially responding to a priority request signal of the tramcar by adopting a strategy of green light extension or green light shortening in an unsolicited phase aiming at the single line request;
and if not, responding to the multi-line request, and executing the minimum green mode operation by the non-tramcar.
8. The method for priority control of tramcar signals at a multi-line intersection as claimed in claim 7, wherein the strategy of adopting an unsolicited phase green light extension or green light shortening for a single line request preferentially responds to the tramcar priority request signal comprises:
judging whether the opening time of the request phase according to the fixed period is larger than the expected arrival stop line time of the tramcar;
if yes, adopting an unsolicited phase green light shortening mode;
if not, adopting an unsolicited phase green light extension mode.
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| CN110364003B (en) * | 2019-07-18 | 2021-05-14 | 大连海事大学 | Intersection double-line tramcar signal priority control method based on Internet of vehicles |
| CN111402603B (en) * | 2020-03-17 | 2021-01-26 | 杭州海康威视***技术有限公司 | Traffic signal control method and device, electronic equipment and machine-readable storage medium |
| CN113442973A (en) * | 2021-07-07 | 2021-09-28 | 卡斯柯信号(成都)有限公司 | Tramcar operation control method based on 5G-V2X and car-car communication |
| CN115294779A (en) * | 2022-07-21 | 2022-11-04 | 杭州海康威视数字技术股份有限公司 | Control method of road traffic signal, terminal device, and computer storage medium |
| CN117198075B (en) * | 2023-07-03 | 2024-03-29 | 杭州珈合智能技术有限公司 | Tramcar intersection passing control method |
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