CN109816999A - A kind of adaptive dynamic bidirectional green wave Coordinated Control - Google Patents
A kind of adaptive dynamic bidirectional green wave Coordinated Control Download PDFInfo
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Abstract
The present invention relates to the green wave control technology fields of main line in traffic signalization, and disclose a kind of adaptive dynamic bidirectional green wave Coordinated Control, the following steps are included: 1) collect following parameter, need the crossway of the main stem quantity N of coordinated control, the distance for coordinating Adjacent Intersections on main line, i.e., from the stop line of this intersection to the distance between the stop line of next intersection Disti.The adaptive dynamic bidirectional green wave Coordinated Control, the adaptive dynamic bidirectional green wave control technology proposed through the invention can be completed in the green wave control of a main line, different sections of highway difference driving direction uses different green wave band speed, and section road conditions can be adapted to automatically, dynamic adjusts the phase difference of each associated cross mouth of main line, implement with easy, each intersection phase difference when meeting the requirement of real road moving law and quick and precisely solving dynamic bidirectional green wave, and can reach green wave and start from the feature for making the wide maximum of arterial highway green wave band under green light initial conditions.
Description
Technical field
The present invention relates to the green wave control technology field of main line in traffic signalization, specially a kind of adaptive dynamic bidirectional
Philodendron ‘ Emerald Queen' technology.
Background technique
Currently, urban road network, the intersection, arterial highway in China much uses signal control technology, main control strategy
There are single-point control and Arterial Coordination Control etc., however the single-point control model that individually controls of each intersection will cause vehicle and intersect
Frequent parking at mouthful causes road network operational efficiency lowly and the traffic problems such as trip delay increases, to solve this problem, usually
The traffic signals of Adjacent Intersections on one main line are uniformly subject to coordinated control, are prolonged to reduce the traffic of wagon flow on main line
Accidentally it is of great significance with parking, the traffic condition for improving entire city, the design method master of arterial highway Philodendron ‘ Emerald Queen'
Ills method and algebraic method etc. are wanted, wherein graphical method is intuitively easy to operate, but time-consuming and laborious, it usually needs obtain preferable green wave effect
Fruit needs to be adjusted repeatedly, while when intersection is more especially seems difficult or even helpless, and algebraic method has calculating
Succinctly, the advantages of realizing convenient and strong operability, has obtained centainly in some arterial road coordinate control actual system designs
Using.
The parameter configuration of the green wave control of traditional main line is not easy, and needs to adjust test repeatedly, and be only adapted to a kind of speed,
It not being adapted dynamically, section needs to configure each intersection phase difference when different green wave band speed and green wave band in different times,
It is limited to designed capacity reason, arterial highway Philodendron ‘ Emerald Queen' technology usually takes identical green wave band speed on a main line,
Or different sections of highway uses different green wave band speed, but this green wave band speed is not the best green wave band speed in section itself
Degree, only because the limitation of designing technique and have no alternative but be arranged, a however best green wave band speed when Arterial Coordination Control
It is different under the different situations such as morning peak, evening peak, Ping Feng, morning and evening flat peak and night, the even same time is different
Section, with the different directions of a road section, best green wave band speed may also be different, and inappropriate green wave band parameter is set
Arterial Coordination Control effect cannot be given full play to by setting, so that the passage effect of green wave band is had a greatly reduced quality.
Summary of the invention
(1) the technical issues of solving
The green wave control of traditional main line needs to adjust test repeatedly, and is usually only adapted to a kind of speed, in a main line
On take identical green wave band speed, be not adapted dynamically；Some green waves of conventional rail also have different sections of highway using different green
Wavestrip speed, but in this way design the reason of be limitation due to designing technique rather than the needs of section characteristic, the road Shuo Mou of illustrating
Section normally travel speed can achieve 60km/h, but be 30km/h since design reasons require this road section green wave tape speed, significantly
Limit section traffic efficiency；Traditional green wave band coordinated control is at morning peak, evening peak, Ping Feng, sooner or later flat peak and night
Etc. configuration under different situations be different, splitting time when time-division transfer can only be relatively fixed, cannot according to circumstances from
It adapts to.
In view of the deficiencies of the prior art, the present invention provides a kind of adaptive dynamic bidirectional green wave Coordinated Control, tools
Standby each section speed of main line is inconsistent and variable, and phase difference is adaptive to the vehicle flowrate and speed in each section of main line, the green wave of main line
The advantages that bandwidth is maximum, the parameter configuration for solving the green wave control of traditional main line be not easy, can not adaptive adjusting parameter lack
Point.
(2) technical solution
Make the maximum purpose of arterial highway green wave band width for realization is above-mentioned, another technical problem to be solved by the present invention is that providing one
The adaptive dynamic bidirectional green wave Coordinated Control of kind, comprising the following steps:
1) collect following parameter, need the crossway of the main stem quantity N of coordinated control, coordinate Adjacent Intersections on main line away from
From that is, from the stop line of this intersection to the distance between the stop line of next intersection Disti；
2) intersection headed by first intersection of setting calculates subsequent intersection at a distance from first intersection, is denoted as
Row distance Forwardi, the intersection headed by the last one intersection, calculate remaining intersection and the last one intersection away from
From being denoted as Bottom Runby Backwardi；
3) the best single-point control parameter for calculating each intersection, according to the flow parameter in each lane of intersection, in conjunction with friendship
The parameters such as number of track-lines, the gradient, lane width, the bicycle quantity of all directions of prong obtain the optimal intersection signal period
The best green duration GRNi and split Gi of Ci and each phase, it is first phase that phase is coordinated in setting；
4) it is C that the initial common period in each intersection of main line is coordinated in setting0=max (Ci)；
5) the best green wave band speed ForwardV of uplink, each section of downlink is estimatediAnd BackwardVi, pass through each intersection
The best green wave band speed ForwardV of uplink of detector estimation intersection between mouthfuliWith the best green wave band speed of downlink
BackwardVi, for the sake of simplicity, the best green wave band speed ForwardV of initial uplinkiWith the best green wave band speed of downlink
BackwardViIt is set as the max. speed of this period speed distribution 60% within the scope of speed limit；
6) without loss of generality, if first intersection is reference point, green wave phase difference is zero, and other intersections calculate opposite
Phase difference in this intersection calculates the ideally row interval of other intersections according to the uplink green wave band speed in each section first
Time point ForwardTi, calculation formula ForwardTi=ForwardTi-1+Disti/ForwardVi；
It 7) is ForwardT by the uplink interval time point that 6) can be calculated the last one intersectionN, it is assumed that downlink
Initial time of the green strainer in the last one intersection is Chong Die with upstream time, i.e. BackwardTN=ForwardTN；
8) the green wave start time point of ideal downlink of remaining each intersection, BackwardT are calculatedi-1=BackwardTi+
Disti/BackwardVi；
9) according to the green wave initial time ForwardT of green duration, uplink of each intersectioniWith the green wave initial time of downlink
BackwardTi, calculate the best relative phase difference Diff of each intersectioniThe green wave width GW in intersection at this timei；
A) enable the difference of the green wave initial time of downlink and the green wave initial time of uplink divided by the intersection period be gap, Ji Keling
Gap=(BackwardTi-ForwardTi) %C；
If b) gap is less than the green duration of current intersection, current intersection phase difference can be set as the uplink green wave time
Divided by the remainder in period, i.e. Diffi=ForwardTi%C, under this condition, the green wave width of uplink are gap, and the green wave width of downlink is Gi–
gap；
If c) gap < C-Gi, then current intersection is unsatisfactory for two-way green wave condition, it is necessary to reset, if gap > C-Gi,
Then positive green wave width may be set to wid1, and the phase difference that can correspondingly acquire current intersection is Diffi=(ForwardTi–
(Gi- wid1)) %C, at this point, the green wave width of uplink is wid1=gap-(C-Gi), the green wave width of downlink is gap；
10) the phase difference Diff of all intersections is calculatediAfter the green wave of uplink wide wid1 and the wide wid2 of the green wave of downlink, enable
The overall green wide wid=min of wave (wid1, wid2), saves the green wave band width wid under current state；
11) downlink green wave band position is adjusted, the phase difference Diff of the last one intersection is reducedN=DiffN- 1, and again
Repetitive process 3), new green wave width is recalculated, and compared with former resulting green wave width, retain the larger value, this process
Number of repetition be the last one intersection green duration GN；
12) each road section green wave tape speed is finely tuned, and is repeated 5) to 11) process, in the hope of maximum green wave width, Ke Yigen
According to needing to be solved within the scope of 3 to 5km/h near setting speed limit value, to solve maximum green wave width wid and accordingly
The relative phase difference Diff of each intersectioni；
13) suitably increase the period of each intersection, and keep the split of each intersection constant, maximum can be obtained by comparing
Green wave band is wide, retains that maximum green wave band is wide and each intersection phase difference at this time.
(3) beneficial effect
Compared with prior art, the present invention provides a kind of adaptive dynamic bidirectional green wave Coordinated Control, have with
It is lower the utility model has the advantages that
The adaptive dynamic bidirectional green wave Coordinated Control, the adaptive dynamic bidirectional green wave proposed through the invention
Control technology can be completed in the green wave control of a main line, and different sections of highway difference driving direction can be according to vehicle flowrate and optimized vehicle
Speed uses different green wave band speed, and can adapt to road section traffic volume road conditions automatically, dynamically changes the green wave band speed in each section, and
The phase difference for adjusting each associated cross mouth of main line in due course, has and easily implements, and meets the requirement of real road moving law and quickly standard
Each intersection phase difference when dynamic bidirectional green wave is really solved, and can reach green wave and start from making arterial highway under green light initial conditions
The feature of the wide maximum of green wave band.
Detailed description of the invention
Fig. 1 is a kind of algorithm flow chart of adaptive dynamic bidirectional green wave control technology of the present invention；
Fig. 2 is the wide solution flow chart of green wave band of an intersection in the present invention；
Fig. 3 is a kind of adaptive dynamic bidirectional green wave control technology system-wide section of the present invention using same green wave band speed 60km/h's
Time space graph；
Fig. 4 is that a kind of first intersection of adaptive dynamic bidirectional green wave control technology uplink of the present invention exists to third intersection
The more time space graph of vehicle；
Fig. 5 is a kind of first intersection of adaptive dynamic bidirectional green wave control technology uplink of the present invention to third intersection and the
The five intersections time space graph more there are vehicle to the 7th intersection.
Specific embodiment
Below in conjunction with the embodiment of the present invention, technical solution in the embodiment of the present invention is clearly and completely retouched
It states, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the present invention
In embodiment, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
A kind of algorithm of adaptive dynamic bidirectional green wave control technology of the invention, is illustrated below:
If certain city has eight intersections to need to be designed to bidirectional green wave band, without loss of generality, it may be assumed that its intersection generation
It number is C1, C2, C3, C4, C5, C6, C7, wherein first intersection is C1, the last one intersection is C7, according to intersection
Parameter and traffic condition, the common signal period that main line green wave coordination is calculated is 108 seconds, the distance between each intersection,
It is as shown in the table to coordinate the green duration of phase, coordination phase split.
It, can be very square if being limited in the range of ± 2km/h when defaulting system-wide section using same green wave band speed 60km/h
Just acquiring best green wave band speed is 58km/h, the phase difference of corresponding each intersection is 0,92,50,38,102,34,
60, as shown in the table.
Corresponding green wave time space graph (obtains maximum green wave band, uplink green wave band as shown in Figure 3 when running speed is 58km/h
Width is 16 seconds, and downlink green wave band width is 19 seconds, and second intersection shows that phase difference is conveniently to add because drawing for -16 in figure
A cycle 108, i.e. 92-108=-16).
If the first intersection of uplink is more to there are vehicles for third intersection, 40km/h can only achieve, it at this time can be instant
The phase difference of each intersection is adjusted, the new phase difference parameter of each intersection can be calculated are as follows: 0,8,81,70,26,65,
90, as shown in the table.
(the green wave band speed of default uplink and downlink is 58km/h to corresponding time space graph, wherein C1 to C2, C2 as shown in Figure 4
Uplink green wave band speed to C3 is 38km/h, and overall uplink green wave band width is 19 seconds at this time, and downlink green wave band width is 18
Second).
If the first intersection of uplink to third intersection, the 5th intersection to the 7th intersection is there are vehicle is more, only
40km/h can be reached, the phase difference of each intersection can also be adjusted immediately at this time, the new phase of each intersection can be calculated
Poor parameter are as follows: 0,6,79,67,23,72,89, as shown in the table.
(the green wave band speed of default uplink and downlink is 60km/h to its corresponding time space graph, wherein C1 to C2, C2 as shown in Figure 5
Uplink green wave band speed to C3, C5 to C6, this four sections C6 to C7 is 40km/h, and overall uplink and downlink green wave band is wide at this time
It is 21 seconds).
The beneficial effects of the present invention are: the adaptive dynamic bidirectional green wave control technology proposed through the invention can be complete
At in the green wave control of a main line, different sections of highway difference driving direction can be according to vehicle flowrate and best speed using different green
Wavestrip speed, and road section traffic volume road conditions can be adapted to automatically, dynamically change the green wave band speed in each section, and adjustment main line is each in due course
The phase difference of associated cross mouth has and easily implements, meets the requirement of real road moving law and quick and precisely solve dynamic bidirectional
Each intersection phase difference when green wave, and can reach green wave and start from keeping arterial highway green wave band width maximum under green light initial conditions
Feature.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (1)
1. a kind of adaptive dynamic bidirectional green wave Coordinated Control, which comprises the following steps:
1) following parameter is collected, the crossway of the main stem quantity N of coordinated control is needed, coordinates the distance of Adjacent Intersections on main line,
I.e. from the stop line of this intersection to the distance between the stop line of next intersection Disti；
2) intersection headed by first intersection of setting calculates subsequent intersection at a distance from first intersection, is denoted as line-spacing
From Forwardi, the intersection headed by the last one intersection calculates remaining intersection at a distance from the last one intersection, remembers
For Bottom Runby Backwardi；
3) the best single-point control parameter for calculating each intersection, according to the flow parameter in each lane of intersection, in conjunction with intersection
The parameters such as number of track-lines, the gradient, lane width, the bicycle quantity of all directions, obtain optimal intersection signal period Ci and
The best green duration GRNi and split Gi of each phase, it is first phase that phase is coordinated in setting；
4) it is C that the initial common period in each intersection of main line is coordinated in setting0=max (Ci)；
5) the best green wave band speed ForwardV of uplink, each section of downlink is estimatediAnd BackwardVi, by between each intersection
Detector estimation intersection the best green wave band speed ForwardV of uplinkiWith the best green wave band speed BackwardV of downlinki,
For the sake of simplicity, the best green wave band speed ForwardV of initial uplinkiWith the best green wave band speed BackwardV of downlinkiSetting
For the max. speed of this period speed distribution 60% within the scope of speed limit；
6) without loss of generality, if first intersection is reference point, green wave phase difference is zero, and other intersections are calculated relative to this
The phase difference of intersection calculates the ideally row interval time of other intersections according to the uplink green wave band speed in each section first
Point ForwardTi, calculation formula ForwardTi=ForwardTi-1+Disti/ForwardVi；
It 7) is ForwardT by the uplink interval time point that 6) can be calculated the last one intersectionN, it is assumed that the green strainer of downlink
Initial time in the last one intersection is Chong Die with upstream time, i.e. BackwardTN=ForwardTN；
8) the green wave start time point of ideal downlink of remaining each intersection, BackwardT are calculatedi-1=BackwardTi+Disti/
BackwardVi；
9) according to the green wave initial time ForwardT of green duration, uplink of each intersectioniWith the green wave initial time of downlink
BackwardTi, calculate the best relative phase difference Diff of each intersectioniThe green wave width GW in intersection at this timei；
A) enable the difference of the green wave initial time of downlink and the green wave initial time of uplink divided by the intersection period be gap, gap=can be enabled
(BackwardTi-ForwardTi) %C；
If b) gap be less than current intersection green duration, can set current intersection phase difference as the uplink green wave time divided by
The remainder in period, i.e. Diffi=ForwardTi%C, under this condition, the green wave width of uplink are gap, and the green wave width of downlink is Gi–gap；
If c) gap < C-Gi, then current intersection is unsatisfactory for two-way green wave condition, it is necessary to reset, if gap > C-Gi, then positive
Green wave width may be set to wid1, and the phase difference that can correspondingly acquire current intersection is Diffi=(ForwardTi–(Gi-
Wid1)) %C, at this point, the green wave width of uplink is wid1=gap-(C-Gi), the green wave width of downlink is gap；
10) the phase difference Diff of all intersections is calculatediAfter the green wave of uplink wide wid1 and the wide wid2 of the green wave of downlink, enable overall green
The wide wid=min of wave (wid1, wid2) saves the green wave band width wid under current state；
11) downlink green wave band position is adjusted, the phase difference Diff of the last one intersection is reducedN=DiffN- 1, and repeat again
Process 3), new green wave width is recalculated, and compared with former resulting green wave width, retain the larger value, the weight of this process
Again number is the green duration G of the last one intersectionN；
12) each road section green wave tape speed is finely tuned, and repeating 5) can be according to need in the hope of maximum green wave width to 11) process
It to be solved setting within the scope of 3 to 5km/h near speed limit value, to solve maximum green wave width wid and corresponding each friendship
The relative phase difference Diff of prongi；
13) suitably increase the period of each intersection, and keep the split of each intersection constant, maximum green wave can be obtained by comparing
Bandwidth, retains that maximum green wave band is wide and each intersection phase difference at this time.
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