CN110085037A - Integrative design intersection and speed guide system under a kind of bus or train route cooperative surroundings - Google Patents
Integrative design intersection and speed guide system under a kind of bus or train route cooperative surroundings Download PDFInfo
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- CN110085037A CN110085037A CN201910226753.7A CN201910226753A CN110085037A CN 110085037 A CN110085037 A CN 110085037A CN 201910226753 A CN201910226753 A CN 201910226753A CN 110085037 A CN110085037 A CN 110085037A
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- 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
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/065—Traffic control systems for road vehicles by counting the vehicles in a section of the road or in a parking area, i.e. comparing incoming count with outgoing count
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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
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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
- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
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Abstract
The invention discloses integrative design intersections under a kind of bus or train route cooperative surroundings and speed to guide system, including mobile unit, roadside device and Signalized control module, wherein the on-vehicle information transmission module in mobile unit obtains information of vehicles and is sent to Signalized control module, and the information of Signalized control module feedback is sent to data obtaining module；Trackside data obtaining module in roadside device obtains trackside information and stores to intersection basic information memory module, intersection basic information memory module is stored in advance intersection information and historical data, and wireless communication module is by trackside information, intersection information and historical data Wireless transceiver to Signalized control module；In Signalized control module, based on information of vehicles, trackside information, intersection information and historical data, and optimal timing scheme information and driving recommendations information is calculated using the procedural model of Signalized control inside modules, and driving recommendations information is fed back into mobile unit.
Description
Technical field
The present invention relates to intelligent traffic signal control field, integrative design intersection under specifically a kind of bus or train route cooperative surroundings
And speed guides system.
Background technique
Bus or train route cooperative system (Cooperative Vehicle Infrastructure System, CVIS), thinks substantially
Think it is to make full use of the new technologies such as network communication, parallel computation with the method for multi-crossed disciplines fusion, realizes vehicle and traffic
The intelligent coordinated and cooperation between equipment, between vehicle and vehicle is controlled, reaches system resource Optimum utilization, improve road traffic
Safety, the target for alleviating traffic congestion.
Intersection is the bottleneck of the road network traffic capacity, influences road network traffic efficiency.Under bus or train route cooperative surroundings, according to signal
State realization move vehicle cooperates with optimization to be particularly important with traffic signals.However existing research is mostly only for vehicle speed
The bootstrap technique of degree, the position and state parameter for not accounting for move vehicle are combined with signal control carries out speed guidance
Method also has ignored the influence of the driving behaviors such as vehicle cut-ins, therefore less effective in practical applications.For this purpose, base of the present invention
In bus or train route Synergy, a kind of intelligent transportation operating system is proposed using inertial navigation and control machine control logic.
Summary of the invention
The object of the present invention is to provide integrative design intersections under a kind of bus or train route cooperative surroundings and speed to guide system, with reality
Road travel collaboration system is now established, the conevying efficiency of traffic safety, road efficiency and energy consumption of unit product is improved.
In order to achieve the above object, the technical scheme adopted by the invention is as follows:
Integrative design intersection and speed guide system under a kind of bus or train route cooperative surroundings, it is characterised in that: set including vehicle-mounted
Standby, roadside device and Signalized control module, the mobile unit are set to traveling in each vehicle on road, roadside device
Set on road side, Signalized control module is set in Signalized control cabinet to control Intersections, mobile unit, trackside
Equipment is connect with Signalized control module by wireless telecommunications respectively, in which:
The mobile unit includes on-vehicle information transmission module, data obtaining module, wherein on-vehicle information transmission module with
The car-mounted computer of vehicle self-carrying connects, and on-vehicle information transmission module obtains information of vehicles from car-mounted computer and is wirelessly sent to
The information of Signalized control module, Signalized control module feedback is wirelessly transmitted to data obtaining module；
The roadside device includes trackside data obtaining module, intersection basic information memory module, wireless communication module,
Wherein trackside data obtaining module obtains the trackside information of vehicle driving road and stores to intersection basic information memory module,
Intersection information and historical data is stored in advance in intersection basic information memory module, and wireless communication module is believed from intersection basis
It ceases memory module and obtains trackside information, intersection information and historical data, and by wireless communication module by trackside information, intersection
Information and historical data Wireless transceiver are to Signalized control module；
In the Signalized control module, the trackside that information of vehicles, the roadside device sent based on mobile unit is sent is believed
Breath, intersection information and historical data, and each intersection being calculated using the procedural model of Signalized control inside modules
The optimal timing scheme information of corresponding traffic lights, Signalized control module are based on optimal timing scheme information real-time control
Adjust that the corresponding traffic lights in each intersection are bright, variation of going out, synchronous signal lamp control module is based on optimal timing scheme information
The driving recommendations information of each vehicle is generated, and driving recommendations information is fed back into mobile unit, is obtained by the information of mobile unit
Modulus block receives.
Integrative design intersection and speed guide system under a kind of bus or train route cooperative surroundings, it is characterised in that: described
The information of vehicles that mobile unit is sent includes at least vehicle position information, vehicle speed information.
Integrative design intersection and speed guide system under a kind of bus or train route cooperative surroundings, it is characterised in that: described
In roadside device, the trackside information that trackside data obtaining module obtains includes at least vehicle position, place lane information, vehicle
Traffic flow conditions information near.
Integrative design intersection and speed guide system under a kind of bus or train route cooperative surroundings, it is characterised in that: described
The procedural model courses of work of Signalized control inside modules the following steps are included:
Step (1): section is divided into detection zone and boot section between intersection, by the upstream intersection place of leaving as detection
Area；Middle and lower reaches segment of the boot section in upstream intersection and downstream intersection；
Step (2): vehicle enters detection zone, detector detection traffic flow modes, vehicle arriving rate letter in roadside device
Breath, composition historical data prediction fleet enters arrival rate when boot section, to determine the extension temporal information of signal lamp；
Integrative design intersection and speed guide system under a kind of bus or train route cooperative surroundings, it is characterised in that: described
The prediction technique of prediction arrival rate is as follows in step (2):
Step (2.1): dynamic Roberston model parameter is demarcated based on historical data:
In formula, μiTime window is corresponded to for i-th of moment to leave away the average travel time of vehicle；σiWhen for i-th of moment to correspondence
Between window leave away the journey time standard deviation of vehicle；αiThe motorcade dispersion parameter of time window is corresponded to for i-th of moment；βiWhen being i-th
Carve the journey time coefficient of corresponding time window；The vehicle between the upstream and downstream intersection of time window is corresponded to for i-th of moment
Most short running time；FiFor the parameter value of the model of i-th of moment of upstream corresponding time window；NiIt is total for vehicle in the i-th time window
Number；Indicate the journey time of vehicle j in the i-th time window；
Step (2.2): assuming that the rate of leaving away in time window section isCan obtain the i-th moment of upstream corresponds in time window
Wagon flow downstream distribution:
In formula:For downstream intersection interval tdThe vehicle number of interior arrival；T is the journey time of vehicle；It is i-th
A moment corresponds to the most short running time of the vehicle between the upstream and downstream intersection of time window；FiIt is corresponding for i-th of moment of upstream
The parameter value of the model of time window；tuFor the t in current time windowuMoment；
Step (2.3): and so on, arrival of each moment vehicle number is overlapped, obtaining different moments is actually reached
Vehicle number:
In formula: M is sum at the time of division；
Step (2.4) simultaneous can obtain fleet's prediction arrival rate:
Step (3): after vehicle enters boot section, mobile unit carries out information by wireless telecommunications with Signalized control module
Transmission, is transmitted to Signalized control module for the speed, acceleration of vehicle, position, vehicle model information；
Step (4): being transmitted to the information of Signalized control module according to step (3), and Signalized control module carries out data
Processing calculates Optimal Signals timing scheme；
Integrative design intersection and speed guide system under a kind of bus or train route cooperative surroundings, it is characterised in that: described
In step (4), the method for calculating Optimal Signals timing scheme is as follows:
Step (4.1): it calculates as follows:
In formula: i is to indicate phase；J is to indicate direction；1,2,3,4 respectively represents east, south, west, north；I possesses for signal lamp
Maximum phase number；K is to indicate the signal period；K indicates maximum cycle number；J during being executed for phase i in the kth period
Arrival vehicle number on direction；Vehicle number is left on the direction j during executing for phase i in the kth period；For
Delay queuing vehicle number in the kth period at the end of phase i on j direction lane；
Step (4.2): corresponding delay vehicle number is equal to current period first at the end of the last one phase of previous cycle
A phase corresponding delay vehicle number when starting realizes period k with this, the coordination between k-1:
Step (4.3): it calculates as follows:
In formula:For the kth period phase i execute during the direction j vehicle average arrival rate, unit veh/s；gi
(k) green light duration during being executed for kth periodic phase i, unit s；
Step (4.4): it calculates as follows:
In formula:The release status in the direction j during executing for phase i 0 indicates that no through traffic here, and 1 indicates to let pass；sj
For the saturation volume rate in the direction j, unit veh/s；During being executed for c phase before phase i in the kth period on the direction j
Arrival vehicle number；Vehicle number is left on the direction j during executing for c phase before phase i in the kth period；
Step (4.5): to sum up, total delay queuing vehicle number may be expressed as:
Queuing vehicle number when the total delay queuing vehicle number of a cycle is end cycle:
Then signal dynamics optimization problem can be stated are as follows:
s.t.
1)
2)
3)
4)
5)
6)Cmin≤C(k)≤Cmax,
7)
C (k) is the cycle time in kth period herein；
Step (5): after signal time distributing conception realization is optimal, speed guidance is carried out；Speed guidance is carried out to vehicle is reached
Before, it should first judge whether it has the condition of overtaking other vehicles, i.e., according to the resulting traffic information of real-time detection, and net connection vehicle present position
Information, velocity information calculate the probability of success of overtaking other vehicles；When guide vehicle can probability meet the requirements when, speed is carried out to it and is drawn
It leads, otherwise abandons guiding；By the probability being calculated, secure threshold delimited, whether slowing down or overtake other vehicles for vehicle provides suggestion；
Vehicle speed after lane preceding vehicle speed is less than, and has space of overtaking other vehicles enough, then rear car on adjacent left-lane
Selection is borrowed into adjacent lane to complete overtaking process, to pursue maximum driving benefit；
According to the wagon flow discrete model in dynamic Roberston model, vehicle head interval distribution function, and calculates gained and surpass
Safe distance needed for vehicle, predictable net connection vehicle surmount the probability of the non-net connection vehicle in front are as follows:
In formula: t1Accelerate lane-change running time for passing vehicle；t2At the uniform velocity and road running time for passing vehicle；P (x) is
Time headway probability density function；P is the probability of success of overtaking other vehicles；H is time headway；S be wagon detector to stop line at away from
From；For the average speed of wagon flow；X is integration variable；
It by above-mentioned operation, obtains in current green light phase, the possibility probability of net connection vehicle passes through what is be calculated
Probability delimit speed secure threshold；
Step (6): after Signalized control module obtains calculated result, vehicle is transmitted information to by signal transmission module
?；If netting connection vehicle it is recommended that overtaking other vehicles by speed pilot model and changing driving behavior；
In the speed guiding module, carried out for the vehicle that can not pass through in the residue effective green time of downstream
Speed guidance；System is to be delayed vehicle number as intersection Performance Evaluating Indexes, by carrying out speed guidance to net connection vehicle to mention
The vehicle departure rate of high previous cycle reduces the initial queue length of current period, and detailed process is as follows:
Step (6.1): assuming that i-th of period and after, vehicle can not be by downstream stop line, then the model is to i
All nets connection vehicle in period provides corresponding guidance speed vi；
Step (6.2): when signal state of a control has met maximum green time gmax, i.e., can not continue to extend green time
When, for still shortening t can not be passed through by the vehicle of intersectioniThe vehicle that moment leaves detector reaches downstream stop line
Shortest timeIt moves forward be distributed the vehicle in the region, so that more vehicles pass through in the effective green time of downstream
Stop line；
Step (6.3): it is generally lower that vehicle travels speed per hour degree on urban road, brakes suddenly in front truck, and rear car is through anti-
The safe distance between vehicles S under scene is followed by braked between seasonable are as follows:
Arrangement can obtain:
In conclusion the suggestion travel speed during retarding braking are as follows:
vmin=0,
In formula: d is the safe distance between vehicles kept when driving, takes 2m；S1For the braking distance of front truck；S2For rear car braking away from
From；tfFor the reaction time, 2s is taken；tsFor acceleration rise time, 0.2s is taken；a1xFor front truck braking acceleration；a2xFor rear car system
Dynamic acceleration, takes 5m/s2；v01For front truck travel speed；v02For rear car travel speed；vtFor in all operation vehicles of current lane
Minimum travel speed；vmaxMaximum speed is guided for speed；vminMinimum speed is guided for speed；
Step (6.4): speed guiding target is as follows:
s.t.
1)
2)
3)
In formula: tgxFor remaining green time；qdTo reach vehicle number；TminFor minimum green time；To guide speed；
vminFor minimum boot speed；vmaxSpeed is guided for maximum；Speed is limited for the section maximum.
Compared with prior art, advantage of the present invention are as follows:
(1) present invention controls program by signal lamp main control module and calculates Optimal Signals timing scheme and suggestion Travel vehicle
For speed, it can be achieved that the green wave traffic of vehicle is gone on a journey, reduction vehicle delay improves road passage capability.Alleviate to a certain extent and hands over
Logical congestion, improves road transport efficiency, achievees the effect that energy-saving and emission-reduction.
(2) real-time monitoring work of the present invention, real-time Transmission induction information can be made according to current traffic condition and change in real time
Become, to cope with and solve the problems, such as dynamic traffic, flexibility is good.
(3) present invention can be connect with Cloud Server simultaneously, and Cloud Server is connected with remote control module, is realized remotely with this
The working condition of real-time monitoring system.
Detailed description of the invention
Fig. 1 is present system structural schematic diagram.
Fig. 2 is mobile unit of the present invention and roadside device information exchange schematic diagram.
Fig. 3 is present system work flow diagram.
Fig. 4 is present system working principle diagram.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.
As shown in Figure 1 and Figure 2, integrative design intersection and speed guide system under a kind of bus or train route cooperative surroundings, including vehicle-mounted
Equipment, roadside device and Signalized control module, the mobile unit are set to traveling in each vehicle on road, and trackside is set
Standby to be set to road side, Signalized control module is set in Signalized control cabinet to control Intersections, mobile unit, road
Side apparatus is connect with Signalized control module by wireless telecommunications respectively, in which:
The mobile unit includes on-vehicle information transmission module, data obtaining module, wherein on-vehicle information transmission module with
The car-mounted computer of vehicle self-carrying connects, and on-vehicle information transmission module obtains information of vehicles from car-mounted computer and is wirelessly sent to
The information of Signalized control module, Signalized control module feedback is wirelessly transmitted to data obtaining module；
The roadside device includes trackside data obtaining module, intersection basic information memory module, wireless communication module,
Wherein trackside data obtaining module obtains the trackside information of vehicle driving road and stores to intersection basic information memory module,
Intersection information and historical data is stored in advance in intersection basic information memory module, and wireless communication module is believed from intersection basis
It ceases memory module and obtains trackside information, intersection information and historical data, and by wireless communication module by trackside information, intersection
Information and historical data Wireless transceiver are to Signalized control module；
In the Signalized control module, the trackside that information of vehicles, the roadside device sent based on mobile unit is sent is believed
Breath, intersection information and historical data, and each intersection being calculated using the procedural model of Signalized control inside modules
The optimal timing scheme information of corresponding traffic lights, Signalized control module are based on optimal timing scheme information real-time control
Adjust that the corresponding traffic lights in each intersection are bright, variation of going out, synchronous signal lamp control module is based on optimal timing scheme information
The driving recommendations information of each vehicle is generated, and driving recommendations information is fed back into mobile unit, is obtained by the information of mobile unit
Modulus block receives.
The information of vehicles that mobile unit of the present invention is sent includes at least vehicle position information, vehicle speed information.
In roadside device of the present invention, the trackside information that trackside data obtaining module obtains is believed including at least vehicle position
Traffic flow conditions information near breath, place lane information, vehicle.
As shown in Figure 3, Figure 4, in Fig. 4, I, II: can normal through vehicle；III: the vehicle passed through can be accelerated；IV:
Accelerate can not by vehicle.The procedural model courses of work of Signalized control inside modules of the present invention the following steps are included:
Step (1): section is divided into detection zone and boot section between intersection, by the upstream intersection place of leaving as detection
Area；Middle and lower reaches segment of the boot section in upstream intersection and downstream intersection；
Step (2): vehicle enters detection zone, detector detection traffic flow modes, vehicle arriving rate letter in roadside device
Breath, composition historical data prediction fleet enters arrival rate when boot section, to determine the extension temporal information of signal lamp；
Integrative design intersection and speed guide system under a kind of bus or train route cooperative surroundings according to claim 4,
Be characterized in that: the prediction technique of prediction arrival rate is as follows in the step (2):
Step (2.1): dynamic Roberston model parameter is demarcated based on historical data:
In formula, μiTime window is corresponded to for i-th of moment to leave away the average travel time of vehicle；σiWhen for i-th of moment to correspondence
Between window leave away the journey time standard deviation of vehicle；αiThe motorcade dispersion parameter of time window is corresponded to for i-th of moment；βiWhen being i-th
Carve the journey time coefficient of corresponding time window；The vehicle between the upstream and downstream intersection of time window is corresponded to for i-th of moment
Most short running time；FiFor the parameter value of the model of i-th of moment of upstream corresponding time window；NiIt is total for vehicle in the i-th time window
Number；Indicate the journey time of vehicle j in the i-th time window；
Step (2.2): assuming that the rate of leaving away in time window section isCan obtain the i-th moment of upstream corresponds in time window
Wagon flow downstream distribution:
In formula:For downstream intersection interval tdThe vehicle number of interior arrival；T is the journey time of vehicle；It is
I moment corresponds to the most short running time of the vehicle between the upstream and downstream intersection of time window；FiIt is corresponding for i-th of moment of upstream
The parameter value of the model of time window；tuFor the t in current time windowuMoment；
Step (2.3): and so on, arrival of each moment vehicle number is overlapped, obtaining different moments is actually reached
Vehicle number:
In formula: M is sum at the time of division；
Step (2.4) simultaneous can obtain fleet's prediction arrival rate:
Step (3): after vehicle enters boot section, mobile unit carries out information by wireless telecommunications with Signalized control module
Transmission, is transmitted to Signalized control module for the speed, acceleration of vehicle, position, vehicle model information；
Step (4): being transmitted to the information of Signalized control module according to step (3), and Signalized control module carries out data
Processing calculates Optimal Signals timing scheme；
In step (4), the method for calculating Optimal Signals timing scheme is as follows:
Step (4.1): it calculates as follows:
In formula: i is to indicate phase；J is to indicate direction；1,2,3,4 respectively represents east, south, west, north；I possesses for signal lamp
Maximum phase number；K is to indicate the signal period；K indicates maximum cycle number；J during being executed for phase i in the kth period
Arrival vehicle number on direction；Vehicle number is left on the direction j during executing for phase i in the kth period；For
Delay queuing vehicle number in the kth period at the end of phase i on j direction lane；
Step (4.2): corresponding delay vehicle number is equal to current period first at the end of the last one phase of previous cycle
A phase corresponding delay vehicle number when starting realizes period k with this, the coordination between k-1:
Step (4.3): it calculates as follows:
In formula:For the kth period phase i execute during the direction j vehicle average arrival rate, unit veh/s；
gi(k) green light duration during being executed for kth periodic phase i, unit s；
Step (4.4): it calculates as follows:
In formula:The release status in the direction j during executing for phase i 0 indicates that no through traffic here, and 1 indicates to let pass；sj
For the saturation volume rate in the direction j, unit veh/s；During being executed for c phase before phase i in the kth period on the direction j
Arrival vehicle number；Vehicle number is left on the direction j during executing for c phase before phase i in the kth period；
Step (4.5): to sum up, total delay queuing vehicle number may be expressed as:
Queuing vehicle number when the total delay queuing vehicle number of a cycle is end cycle:
Then signal dynamics optimization problem can be stated are as follows:
s.t.
1)
2)
3)
4)
5)
6)Cmin≤C(k)≤Cmax,
7)
C (k) is the cycle time in kth period herein；
Step (5): after signal time distributing conception realization is optimal, speed guidance is carried out；Speed guidance is carried out to vehicle is reached
Before, it should first judge whether it has the condition of overtaking other vehicles, i.e., according to the resulting traffic information of real-time detection, and position locating for net connection vehicle
It sets, velocity information, calculates the probability of success of overtaking other vehicles；When guide vehicle can probability meet the requirements when, speed guidance is carried out to it,
Otherwise it abandons guiding；By the probability being calculated, secure threshold delimited, whether slowing down or overtake other vehicles for vehicle provides suggestion；
Vehicle speed after lane preceding vehicle speed is less than, and has space of overtaking other vehicles enough, then rear car on adjacent left-lane
Selection is borrowed into adjacent lane to complete overtaking process, to pursue maximum driving benefit；
According to the wagon flow discrete model in dynamic Roberston model, vehicle head interval distribution function, and calculates gained and surpass
Safe distance needed for vehicle, predictable net connection vehicle surmount the probability of the non-net connection vehicle in front are as follows:
In formula: t1Accelerate lane-change running time for passing vehicle；t2At the uniform velocity and road running time for passing vehicle；P (x) is
Time headway probability density function；P is the probability of success of overtaking other vehicles；H is time headway；S be wagon detector to stop line at away from
From；For the average speed of wagon flow；X is integration variable；
It by above-mentioned operation, obtains in current green light phase, the possibility probability of net connection vehicle passes through what is be calculated
Probability delimit speed secure threshold；
Step (6): after Signalized control module obtains calculated result, vehicle is transmitted information to by signal transmission module
?；If netting connection vehicle it is recommended that overtaking other vehicles by speed pilot model and changing driving behavior；
In the speed guiding module, carried out for the vehicle that can not pass through in the residue effective green time of downstream
Speed guidance；System is to be delayed vehicle number as intersection Performance Evaluating Indexes, by carrying out speed guidance to net connection vehicle to mention
The vehicle departure rate of high previous cycle reduces the initial queue length of current period, and detailed process is as follows:
Step (6.1): assuming that i-th of period and after, vehicle can not by downstream stop line, then the model to
All nets connection vehicle in the i period provides corresponding guidance speed vi；
Step (6.2): when signal state of a control has met maximum green time gmax, i.e., can not continue to extend green time
When, for still shortening t can not be passed through by the vehicle of intersectioniThe vehicle that moment leaves detector reaches downstream stop line
Shortest timeIt moves forward be distributed the vehicle in the region, so that more vehicles pass through in the effective green time of downstream
Stop line；
Step (6.3): it is generally lower that vehicle travels speed per hour degree on urban road, brakes suddenly in front truck, and rear car is through anti-
The safe distance between vehicles S under scene is followed by braked between seasonable are as follows:
Arrangement can obtain:
In conclusion the suggestion travel speed during retarding braking are as follows:
vmin=0,
In formula: d is the safe distance between vehicles kept when driving, takes 2m；S1For the braking distance of front truck；S2For rear car braking away from
From；tfFor the reaction time, 2s is taken；tsFor acceleration rise time, 0.2s is taken；a1xFor front truck braking acceleration；a2xFor rear car system
Dynamic acceleration, takes 5m/s2；v01For front truck travel speed；v02For rear car travel speed；vtFor in all operation vehicles of current lane
Minimum travel speed；vmaxMaximum speed is guided for speed；vminMinimum speed is guided for speed；
Step (6.4): speed guiding target is as follows:
s.t.
1)
2)
3)
In formula: tgxFor remaining green time；qdTo reach vehicle number；TminFor minimum green time；To guide speed；
vminFor minimum boot speed；vmaxSpeed is guided for maximum；Speed is limited for the section maximum.
Claims (6)
1. integrative design intersection and speed guide system under a kind of bus or train route cooperative surroundings, it is characterised in that: including mobile unit,
Roadside device and Signalized control module, the mobile unit are set to traveling in each vehicle on road, and roadside device is set
In road side, Signalized control module is set in Signalized control cabinet to control Intersections, and mobile unit, trackside are set
Back-up is not connect with Signalized control module by wireless telecommunications, in which:
The mobile unit includes on-vehicle information transmission module, data obtaining module, wherein on-vehicle information transmission module and vehicle
Included car-mounted computer connection, on-vehicle information transmission module obtain information of vehicles from car-mounted computer and are wirelessly sent to signal
The information of lamp control module, Signalized control module feedback is wirelessly transmitted to data obtaining module；
The roadside device includes trackside data obtaining module, intersection basic information memory module, wireless communication module, wherein
Trackside data obtaining module obtains the trackside information of vehicle driving road and stores to intersection basic information memory module, intersects
Intersection information and historical data is stored in advance in mouth basic information memory module, and wireless communication module is deposited from intersection basic information
It stores up module and obtains trackside information, intersection information and historical data, and by wireless communication module by trackside information, intersection information
And historical data Wireless transceiver is to Signalized control module；
In the Signalized control module, the trackside information of the information of vehicles, roadside device transmission that are sent based on mobile unit is handed over
Prong information and historical data, and it is corresponding using each intersection that the procedural model of Signalized control inside modules is calculated
The optimal timing scheme information of traffic lights, it is each that Signalized control module is based on the adjustment of optimal timing scheme information real-time control
The corresponding traffic lights in intersection are bright, variation of going out, and synchronous signal lamp control module is based on optimal timing scheme information and generates respectively
The driving recommendations information of a vehicle, and driving recommendations information is fed back into mobile unit, by the data obtaining module of mobile unit
It receives.
2. integrative design intersection and speed guide system under a kind of bus or train route cooperative surroundings according to claim 1, special
Sign is: the information of vehicles that the mobile unit is sent includes at least vehicle position information, vehicle speed information.
3. integrative design intersection and speed guide system under a kind of bus or train route cooperative surroundings according to claim 1, special
Sign is: in the roadside device, trackside data obtaining module obtain trackside information include at least vehicle position information,
Traffic flow conditions information near place lane information, vehicle.
4. integrative design intersection and speed guide system under a kind of bus or train route cooperative surroundings according to claim 1, special
Sign is: the procedural model courses of work of the Signalized control inside modules the following steps are included:
Step (1): section is divided into detection zone and boot section between intersection, regard the upstream intersection place of leaving as detection zone；Draw
Area is led in the middle and lower reaches segment of upstream intersection and downstream intersection；
Step (2): vehicle enters detection zone, and the detector in roadside device detects traffic flow modes, vehicle arriving rate information, group
Enter arrival rate when boot section, at historical data prediction fleet to determine the extension temporal information of signal lamp；
Step (3): after vehicle enters boot section, mobile unit and Signalized control module pass through wireless telecommunications progress information biography
It is defeated, the speed, acceleration of vehicle, position, vehicle model information are transmitted to Signalized control module；
Step (4): being transmitted to the information of Signalized control module according to step (3), and Signalized control module carries out data processing,
Calculate Optimal Signals timing scheme；
Step (5): after signal time distributing conception realization is optimal, speed guidance is carried out；Before reaching vehicle progress speed guidance, answer
First judge whether it has the condition of overtaking other vehicles, i.e., according to the resulting traffic information of real-time detection, and net connection vehicle present position information,
Velocity information calculates the probability of success of overtaking other vehicles；When guide vehicle can probability meet the requirements when, speed guidance is carried out to it, it is no
It then abandons guiding；By the probability being calculated, secure threshold delimited, whether slowing down or overtake other vehicles for vehicle provides suggestion；
Vehicle speed after lane preceding vehicle speed is less than, and have space of overtaking other vehicles enough on adjacent left-lane, then rear car will be selected
It selects and borrows adjacent lane to complete overtaking process, to pursue maximum driving benefit；
According to institute of overtaking other vehicles obtained by wagon flow discrete model, vehicle head interval distribution function and the calculating in dynamic Roberston model
The safe distance needed, predictable net connection vehicle surmount the probability of the non-net connection vehicle in front are as follows:
In formula: t1Accelerate lane-change running time for passing vehicle；t2At the uniform velocity and road running time for passing vehicle；P (x) is headstock
When away from probability density function；P is the probability of success of overtaking other vehicles；H is time headway；S is the distance at wagon detector to stop line；
For the average speed of wagon flow；X is integration variable；
It by above-mentioned operation, obtains in current green light phase, the possibility probability of net connection vehicle is general by what is be calculated
Rate delimit speed secure threshold；
Step (6): after Signalized control module obtains calculated result, vehicle is transmitted information to by signal transmission module；If
It is recommended that overtaking other vehicles, then connection vehicle is netted by speed pilot model and changes driving behavior；
In the speed guiding module, the speed that is carried out for the vehicle that can not pass through in the residue effective green time of downstream
Guidance；System is to be delayed vehicle number as intersection Performance Evaluating Indexes, before carrying out speed guidance to net connection vehicle to improve
The vehicle departure rate in one period reduces the initial queue length of current period, and detailed process is as follows:
Step (6.1): assuming that i-th of period and after, vehicle can not be by downstream stop line, then the model is to the i time
All nets connection vehicle in section provides corresponding guidance speed vi；
Step (6.2): when signal state of a control has met maximum green time gmax, i.e., right when can not continue to extend green time
In still can not passing through and shorten t by the vehicle of intersectioniThe vehicle that moment leaves detector reaches the most short of downstream stop line
TimeIt moves forward be distributed the vehicle in the region, so that more vehicles pass through stop line in the effective green time of downstream；
Step (6.3): it is generally lower that vehicle travels speed per hour degree on urban road, brakes suddenly in front truck, when rear car is reacted
Between followed by brake safe distance between vehicles S under scene are as follows:
Arrangement can obtain:
In conclusion the suggestion travel speed during retarding braking are as follows:
vmin=0,
In formula: d is the safe distance between vehicles kept when driving, takes 2m；S1For the braking distance of front truck；S2For the braking distance of rear car；tf
For the reaction time, 2s is taken；tsFor acceleration rise time, 0.2s is taken；a1xFor front truck braking acceleration；a2xIt brakes and accelerates for rear car
Degree, takes 5m/s2；v01For front truck travel speed；v02For rear car travel speed；vtFor the minimum in all operation vehicles of current lane
Travel speed；vmaxMaximum speed is guided for speed；vminMinimum speed is guided for speed；
Step (6.4): speed guiding target is as follows:
s.t.
1)
2)
3)
In formula: tgxFor remaining green time；qdTo reach vehicle number；TminFor minimum green time；To guide speed；vmin
For minimum boot speed；vmaxSpeed is guided for maximum；Speed is limited for the section maximum.
5. integrative design intersection and speed guide system under a kind of bus or train route cooperative surroundings according to claim 4, special
Sign is: the prediction technique of prediction arrival rate is as follows in the step (2):
Step (2.1): dynamic Roberston model parameter is demarcated based on historical data:
In formula, μiTime window is corresponded to for i-th of moment to leave away the average travel time of vehicle；σiTime window is corresponded to for i-th of moment
It leaves away the journey time standard deviation of vehicle；αiThe motorcade dispersion parameter of time window is corresponded to for i-th of moment；βiFor i-th of moment pair
Answer the journey time coefficient of time window；It is most short that the vehicle between the upstream and downstream intersection of time window is corresponded to for i-th of moment
Running time；FiFor the parameter value of the model of i-th of moment of upstream corresponding time window；NiFor vehicle fleet in the i-th time window；Indicate the journey time of vehicle j in the i-th time window；
Step (2.2): assuming that the rate of leaving away in time window section isCan obtain the i-th moment of upstream corresponds to vehicle in time window
Flow the distribution in downstream:
In formula:For downstream intersection interval tdThe vehicle number of interior arrival；T is the journey time of vehicle；When being i-th
Carve the most short running time of vehicle between the upstream and downstream intersection of corresponding time window；FiFor at i-th of moment of the upstream corresponding time
The parameter value of the model of window；tuFor the t in current time windowuMoment；
Step (2.3): and so on, arrival of each moment vehicle number is overlapped, obtaining different moments is actually reached vehicle
Number:
In formula: M is sum at the time of division；
Step (2.4) simultaneous can obtain fleet's prediction arrival rate:
6. integrative design intersection and speed guide system under a kind of bus or train route cooperative surroundings according to claim 4, special
Sign is: in the step (4), the method for calculating Optimal Signals timing scheme is as follows:
Step (4.1): it calculates as follows:
In formula: i is to indicate phase；J is to indicate direction；1,2,3,4 respectively represents east, south, west, north；I is that signal lamp possesses most
Big number of phases；K is to indicate the signal period；K indicates maximum cycle number；The direction j during being executed for phase i in the kth period
On arrival vehicle number；Vehicle number is left on the direction j during executing for phase i in the kth period；For kth
Delay queuing vehicle number in period at the end of phase i on j direction lane；
Step (4.2): corresponding delay vehicle number is equal to first phase of current period at the end of the last one phase of previous cycle
Position corresponding delay vehicle number when starting, realizes period k with this, the coordination between k-1:
Step (4.3): it calculates as follows:
In formula:For the kth period phase i execute during the direction j vehicle average arrival rate, unit veh/s；gi(k)
Green light duration during being executed for kth periodic phase i, unit s；
Step (4.4): it calculates as follows:
In formula:The release status in the direction j during executing for phase i 0 indicates that no through traffic here, and 1 indicates to let pass；sjFor the side j
To saturation volume rate, unit veh/s；Arrival during being executed for c phase before phase i in the kth period on the direction j
Vehicle number；Vehicle number is left on the direction j during executing for c phase before phase i in the kth period；
Step (4.5): to sum up, total delay queuing vehicle number may be expressed as:
Queuing vehicle number when the total delay queuing vehicle number of a cycle is end cycle:
Then signal dynamics optimization problem can be stated are as follows:
s.t.
1)
2)
3)
4)
5)
6)Cmin≤C(k)≤Cmax,
7)
C (k) is the cycle time in kth period herein.
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