CN110335476B - Main line green wave induction control method and device - Google Patents
Main line green wave induction control method and device Download PDFInfo
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- CN110335476B CN110335476B CN201910486800.1A CN201910486800A CN110335476B CN 110335476 B CN110335476 B CN 110335476B CN 201910486800 A CN201910486800 A CN 201910486800A CN 110335476 B CN110335476 B CN 110335476B
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Abstract
The invention discloses a trunk line green wave induction control method and a device, wherein the method comprises the steps of obtaining an initial traffic demand of a phase, determining induction starting time of the phase according to the initial traffic demand of the phase, and carrying out induction control on the phase according to the green light utilization rate of the phase and the vehicle arrival condition when the induction starting time of the phase is less than or equal to the maximum green light time of the phase. Because the induction starting time is determined based on the calculation of the green initial actual traffic demand, smooth passing of green initial-queue vehicles is guaranteed, the induction control problem caused by early green truncation is avoided, and the induction control efficiency and effect are improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of traffic, in particular to a trunk line green wave induction control method and device.
Background
The trunk line coordination control greatly relieves traffic jam by reducing delay time and parking times of vehicles passing through the trunk line. The induction green wave control is based on the main line coordination, the phase green ratio is adjusted according to the vehicle arrival information collected by the detector, and the adaptability to the random arrival of the vehicle is stronger.
The induction starting time of each phase in the existing induction green wave control method is the minimum green light time, and the phase is prolonged and cut according to the fact that whether vehicles arrive at the detector or not in a fixed time interval in the induction process, so that the problem that the green light is cut too early due to the fact that the time interval between two adjacent vehicles arrive at the detector is large due to external interference easily occurs. The existing induction green wave control method is suitable for intersections with small traffic flow or small traffic interference, actual traffic requirements of each phase of the intersections are not fully considered, the method is not completely suitable for intersections with large traffic flow and large traffic interference, and a full induction control mechanism oriented to the optimal trunk green wave coordination control is lacked.
Disclosure of Invention
The embodiment of the invention provides a trunk line green wave induction control method and a trunk line green wave induction control device, which are used for solving the problem that green lights are cut off too early due to the fact that the time interval between two adjacent vehicles reaching a detector is large due to external interference when the vehicles easily go out in the prior art.
The embodiment of the invention provides a trunk line green wave induction control method, which comprises the following steps:
acquiring an initial traffic demand of a phase;
determining the induction starting time of the phase according to the initial traffic demand of the phase;
and when the induction starting time of the phase is less than or equal to the maximum green light time of the phase, carrying out induction control on the phase according to the green light utilization rate of the phase and the vehicle arrival condition.
Among the above-mentioned technical scheme, owing to be based on the response start time's that green first actual traffic demand calculated definite, guarantee the smooth and easy current of green first platoon car, avoid appearing green first too early induction control problem that cuts and arouse, improve induction control's efficiency and effect.
Optionally, the initial traffic demand of the phase includes a minimum green time, an initial green signal ratio, an initial queuing length, a minimum release time, and a maximum green time;
determining an induction start time for the phase based on the initial traffic demand for the phase comprises:
determining a preset value which is more than or equal to the minimum green light time as the induction starting time of the phase; or
Determining the preset proportional value of the initial split ratio as the induction starting time of the phase; or
And determining the induction starting time of the phase according to the initial queuing length, the minimum release time and the maximum green light time.
Optionally, the determining the sensing start time of the phase according to the initial queuing length, the minimum release time and the maximum green time includes:
determining the number of green primary queuing vehicles of the phase according to the initial queuing length;
determining the green primary queuing clearing time of the phase according to the number of green primary queuing vehicles of the phase and the saturated headway time;
if the green initial queuing emptying time is less than the minimum release time, determining the minimum release time as the induction starting time;
and if the green initial queuing emptying time is greater than the minimum release time and less than the maximum green light time, determining the green initial queuing emptying time as the induction starting time.
Optionally, the performing induction control on the phase according to the green light utilization rate of the phase and the vehicle arrival condition includes:
determining whether the phase is a coordination phase, if so, determining whether a vehicle arrives at the current time, and if so, prolonging the green time of the phase by a fixed step distance and then continuously determining the induction starting time of the phase; if no vehicle reaches the current moment and the utilization rate of the green light of the phase is greater than a first threshold value, continuing to determine the induction starting time of the phase after prolonging the green light time of the phase by a fixed step distance; if no vehicle reaches the current moment and the green light utilization rate of the phase is less than or equal to the first threshold, cutting off the green light time of the phase when the ratio of the current green wave bandwidth to the initial green wave bandwidth of the phase is determined to be greater than a second threshold;
if the phase is a non-coordinated phase, determining whether a vehicle arrives at the current time, and if the vehicle arrives at the current time, prolonging the green time of the phase by a fixed step distance and then continuously determining the induction starting time of the phase; if no vehicle reaches the current moment and the utilization rate of the green light of the phase is greater than a first threshold value, continuing to determine the induction starting time of the phase after prolonging the green light time of the phase by a fixed step distance; and if no vehicle reaches the current moment and the green light utilization rate of the phase is less than or equal to the first threshold, cutting off the green light time of the phase.
Optionally, after the green light time of the phase is cut off, the method further includes:
and after the safe green light time is executed, switching to the next phase.
Optionally, the green light utilization rate of the phase is determined according to the following steps:
acquiring the green light time of the phase, the total number of vehicles passing in the green light time and the saturation flow of the phase;
and determining the green light utilization rate of the phase according to the green light time of the phase, the total number of vehicles passing through the phase in the green light time and the saturation flow of the phase.
Correspondingly, the embodiment of the invention also provides a main line green wave induction control device, which comprises:
an acquisition unit for acquiring an initial traffic demand of a phase;
the processing unit is used for determining the induction starting time of the phase according to the initial traffic demand of the phase; and when the induction starting time of the phase is less than or equal to the maximum green light time of the phase, carrying out induction control on the phase according to the green light utilization rate of the phase and the vehicle arrival condition.
Optionally, the initial traffic demand of the phase includes a minimum green time, an initial green signal ratio, an initial queuing length, a minimum release time, and a maximum green time;
the processing unit is specifically configured to:
determining a preset value which is more than or equal to the minimum green light time as the induction starting time of the phase; or
Determining the preset proportional value of the initial split ratio as the induction starting time of the phase; or
And determining the induction starting time of the phase according to the initial queuing length, the minimum release time and the maximum green light time.
Optionally, the processing unit is specifically configured to:
determining the number of green primary queuing vehicles of the phase according to the initial queuing length;
determining the green primary queuing clearing time of the phase according to the number of green primary queuing vehicles of the phase and the saturated headway time;
if the green initial queuing emptying time is less than the minimum release time, determining the minimum release time as the induction starting time;
and if the green initial queuing emptying time is greater than the minimum release time and less than the maximum green light time, determining the green initial queuing emptying time as the induction starting time.
Optionally, the processing unit is specifically configured to:
determining whether the phase is a coordination phase, if so, determining whether a vehicle arrives at the current time, and if so, prolonging the green time of the phase by a fixed step distance and then continuously determining the induction starting time of the phase; if no vehicle reaches the current moment and the utilization rate of the green light of the phase is greater than a first threshold value, continuing to determine the induction starting time of the phase after prolonging the green light time of the phase by a fixed step distance; if no vehicle reaches the current moment and the green light utilization rate of the phase is less than or equal to the first threshold, cutting off the green light time of the phase when the ratio of the current green wave bandwidth to the initial green wave bandwidth of the phase is determined to be greater than a second threshold;
if the phase is a non-coordinated phase, determining whether a vehicle arrives at the current time, and if the vehicle arrives at the current time, prolonging the green time of the phase by a fixed step distance and then continuously determining the induction starting time of the phase; if no vehicle reaches the current moment and the utilization rate of the green light of the phase is greater than a first threshold value, continuing to determine the induction starting time of the phase after prolonging the green light time of the phase by a fixed step distance; and if no vehicle reaches the current moment and the green light utilization rate of the phase is less than or equal to the first threshold, cutting off the green light time of the phase.
Optionally, the processing unit is further configured to:
and after the green light time of the phase is cut off, switching to the next phase after the safe green light time is executed.
Optionally, the processing unit is specifically configured to determine the green light utilization rate of the phase according to the following steps:
acquiring the green light time of the phase, the total number of vehicles passing in the green light time and the saturation flow of the phase;
and determining the green light utilization rate of the phase according to the green light time of the phase, the total number of vehicles passing through the phase in the green light time and the saturation flow of the phase.
Correspondingly, an embodiment of the present invention further provides a computing device, including:
a memory for storing program instructions;
and the processor is used for calling the program instructions stored in the memory and executing the trunk line green wave induction control method according to the obtained program.
Accordingly, an embodiment of the present invention further provides a computer-readable non-volatile storage medium, which includes computer-readable instructions, and when the computer reads and executes the computer-readable instructions, the computer is caused to execute the above-mentioned trunk line green wave sensing control method.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic diagram of a system architecture according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a main line green wave sensing control method according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a detector according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a main line green wave sensing control device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 illustrates an exemplary system architecture, which may be a server 100, including a processor 110, a communication interface 120, and a memory 130, to which embodiments of the present invention are applicable. The server 100 may be a server located in a traffic control center, or may be a server in other sub-centers, which is not limited in this embodiment of the present invention.
The communication interface 120 is used for communicating with a terminal device, and transceiving information transmitted by the terminal device to implement communication.
The processor 110 is a control center of the server 100, connects various parts of the entire server 100 using various interfaces and routes, performs various functions of the server 100 and processes data by operating or executing software programs and/or modules stored in the memory 130 and calling data stored in the memory 130. Alternatively, processor 110 may include one or more processing units.
The memory 130 may be used to store software programs and modules, and the processor 110 executes various functional applications and data processing by operating the software programs and modules stored in the memory 130. The memory 130 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function, and the like; the storage data area may store data created according to a business process, and the like. Further, the memory 130 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
It should be noted that the structure shown in fig. 1 is only an example, and the embodiment of the present invention is not limited thereto.
Based on the above description, fig. 2 exemplarily shows a flow of a trunk line green wave sensing control method provided by the embodiment of the present invention, where the flow may be performed by a trunk line green wave sensing control apparatus, which may be located in the server 100 shown in fig. 1, or the server 100.
As shown in fig. 2, the process specifically includes:
in step 201, the initial traffic demand of the phase is obtained.
In an embodiment of the present invention, the initial traffic demand for a phase may include a minimum green time, an initial green ratio, an initial queuing length, a minimum release time, and a maximum green time. These initial traffic demands may be determined by traffic data acquired by various types of detectors.
The embodiment of the invention can multiplex the coil/geomagnetic detectors arranged at most intersections, judge the vehicle requirements by detecting the change of the coil induction quantity, and mainly obtain data including flow, occupancy and the like. The point of the induction detector is L meters away from the stop line, and is generally 30-40 meters. As shown in fig. 3.
After the initial traffic demand of the phase is obtained, the sensing start time of the phase can be determined, wherein the sensing start time represents the time for starting the sensing control of the current phase, and in order to avoid the problem of early truncation of the phase, the sensing start time of the phase is obtained through the initial traffic demand of the phase. The method specifically comprises the following steps:
and determining a preset value which is more than or equal to the minimum green light time as the induction starting time of the phase, or determining a preset proportional value of the initial green signal ratio as the induction starting time of the phase, or determining the induction starting time of the phase according to the initial queuing length, the minimum release time and the maximum green light time. When the induction starting time of the phase is determined according to the initial queuing length, the minimum release time and the maximum green light time, the number of green initial queuing vehicles of the phase can be determined according to the initial queuing length. And then determining the green primary queuing emptying time of the phase according to the number of green primary queuing vehicles of the phase and the saturated headway time. And finally, judging:
if the green initial queuing emptying time is less than the minimum release time, determining the minimum release time as the induction starting time;
and if the emptying time of the green primary queue is greater than the minimum release time and less than the maximum green light time, determining the emptying time of the green primary queue as the induction starting time.
It should be noted that, if the green queue clearing time is greater than the maximum green time, the current phase is not controlled by sensing, and the maximum green time is executed.
For example, the first way: the induction starting time is a fixed value gbegain＝a。
The fixed value difference of the induction starting time is larger than or equal to the minimum green light time on the basis of mastering certain traffic demands compared with the minimum green light time in the traditional method.
For example, the change rule of the actual traffic demand of each phase in a certain period can be mastered by a manual statistical method, and the induction starting time of each phase in each period is determined under the condition that vehicles can smoothly pass through the intersection.
The second mode is as follows: the induction starting time is the proportional value g of the initial split ratiobegain＝βg0。
The initial split is a split distributed according to actual flow of each phase in the current time period, the difference of flow change in the same time period is small, and the difference of overall phase execution time is small, so that the proportional value of the initial split can be selected as the induction starting time. For example, the value range [0.7,1.2] of the beta can be adjusted according to the actual situation.
The third mode is as follows: the sensing start time is determined by an initial queue length parameter.
The initial queuing length of phase place has directly represented the green first demand of current phase place, and the clear of the green first vehicle of queuing at first will be ensured, just can avoid green first too early to cut, guarantee induction control's effect.
There are several methods for obtaining the initial queue length of the phase, such as radar, video, etc. Obtaining the number of green vehicles in the initial queue, and calculating the queuing emptying time gq。
In the formula (I), the compound is shown in the specification,
the number of the vehicles in line at the ith phase of the kth intersection; h is0The head time interval is saturated.
According to the emptying time of the queued vehicles and the minimum release time g of the phaseminPhase maximum green time gmaxComparison of current phase, induction start time g of current phasebegainThe following cases are mainly distinguished:
clear time g for green first queueqLess than minimum release time gmin＝λ1g0The current phase finishes executing gminThen starting induction control; for lambda1The value of (2) when the traffic efficiency of the lane is low, in order to avoid the situation that the green light is too early cut due to the empty discharge of the green light caused by interference and the safety of pedestrians and motor vehicles passing through the intersection cannot be ensured, the lower limit coefficient is preferably increased, and when the traffic efficiency is high, the lower limit coefficient of induction can be properly reduced, for example, lambda1The value range is 0.8.
② if the green first queue emptying time gqGreater than minimum release time gminLess than the maximum green time gmaxThe current phase finishes executing gqAnd then induction control is started.
Time g for emptying green queueqGreater than the maximum green time gmaxThe current phase is not sensed and the maximum green time is executed. Wherein the maximum green time is gmax＝g0+gBalance of balance，gBalance of balanceThe difference between the initial solution end time of the previous phase and the actual execution time.
And 203, when the induction starting time of the phase is less than or equal to the maximum green light time of the phase, carrying out induction control on the phase according to the green light utilization rate of the phase and the vehicle arrival condition.
After the induction starting time of the phase is obtained, when the induction starting time of the phase is less than or equal to the maximum green time of the phase, the phase can be inductively controlled according to the green utilization rate of the phase and the vehicle arrival condition. Specifically, it is determined whether the phase is a coordinated phase.
If the phase is the coordination phase, determining whether a vehicle arrives at the current time, and if the vehicle arrives at the current time, prolonging the green time of the phase by a fixed step distance and then continuously determining the induction starting time of the phase. And if no vehicle reaches the current moment and the utilization rate of the green light of the phase is greater than a first threshold value, the induction starting time of the phase is continuously determined after the green light time of the phase is prolonged by a fixed step distance. If no vehicle reaches the current time and the green light utilization rate of the phase position is less than or equal to a first threshold value, cutting off the green light time of the phase position when the ratio of the current green wave bandwidth to the initial green wave bandwidth of the phase position is determined to be greater than a second threshold value,
And if the phase is a non-coordinated phase, determining whether a vehicle arrives at the current time, and if the vehicle arrives at the current time, prolonging the green time of the phase by a fixed step distance and then continuously determining the induction starting time of the phase. And if no vehicle reaches the current moment and the utilization rate of the green light of the phase is greater than a first threshold value, the induction starting time of the phase is continuously determined after the green light time of the phase is prolonged by a fixed step distance. And if no vehicle reaches the current moment and the green light utilization rate of the phase position is less than or equal to a first threshold value, cutting off the green light time of the phase position.
It should be noted that the first threshold and the second threshold may be set empirically.
The above-mentioned extended fixed step distance may be determined in the manner described below:
when the detector has a vehicle arrival response, the current phase is prolonged by a fixed time step distance, when the step distance is large, waste of green light time can be caused, and when the step distance is small, the vehicle can not pass through the intersection. The induction extension step distance has a direct relation with the distance between the induction detector and the stop line and the vehicle running speed, and deltag is defined as the induction extension fixed step distance.
Wherein, L is the distance between the induction detector and the stop line, and is generally 30m or 40 m; v. of0For the free popular driving speed of the vehicle, the fixed step distance is generally 3s or 4s, so that the safe passing of the vehicle can be ensured, and the time waste can not be caused. The induction extension step distance is different according to the different distances from the induction detector to the stop line.
The above green light utilization rate can be determined by:
the green time of a phase, the total number of vehicles passing during the green time, and the saturation flow of the phase are obtained. And determining the green light utilization rate of the phase according to the green light time of the phase, the total number of vehicles passing through the green light time and the saturation flow of the phase.
The aim of induction control is to improve the utilization rate of the green light of each phase, determine the extension and the truncation of the phase by taking the utilization rate of the green light as an index, and determine the switching time of the phase more optimally.
Definition uiGreen light utilization factor, u, for phase iiThe number of passing vehicles and the saturated flow rate in the current green light period collected by the induction detector are related, namely:
in the formula, gnThe current green time of the phase; q. q.snThe total number of vehicles passing through the phase within the current green light time; snFor the saturated flow (in vehicle/hour) of the current phase, considering that no vehicle may pass at the green light starting time and the green light ending time, the green light statistical time can be taken after the green light is turned on and the green lightT seconds before the end.
In order to perform better induction control, it is also necessary to determine the phase adjustment time, and the main line green wave is assumed as the premise of main line green wave control, so to ensure the effect of phase coordination, the following rules are firstly established:
1) the period of the trunk line coordination control is unchanged;
2) in order to ensure the effect of the coordination phase, the ratio of the green light time of the current coordination phase to the green wave bandwidth of the initial scheme is based on the green light starting time and the green light ending time of the initial scheme of the coordination phase
In the formula, g1Indicating the green light duration of the current green light execution time in the green wave bandwidth of the initial scheme, and obtaining the green light duration by taking the intersection of the green light interval of the current coordination phase execution and the green light interval of the initial scheme; g0The green time, which represents the initial recipe coordination phase, is the initial split ratio.
When the current coordination phase needs to be cut off, whether the ratio of the current phase green wave bandwidth reaches a threshold value or not is determined
If the threshold value is reached, the coordination effect can be guaranteed, and the current phase can be cut off; if the threshold is not reached, the current phase needs to continue to be inductively extended.
The value range is [0.7,1.0 ]]And can be adjusted according to actual needs.
3) The maximum time of each phase extension is gmax＝g0+gBalance of balance；
Based on the above rule, the current phase can be judged to be cut off or prolonged according to the utilization rate of the green light and the presence or absence of the arrival of the vehicle, and the feeling can be determinedTime g should endendThe judgment rule is as follows:
(1) judging whether the phase is the last phase of the current period, if so, executing the phase to a fixed period C and then ending, and if not, judging as follows;
(2) when the detector detects that a vehicle arrives, the current phase continues to be inducted and prolonged;
(3) when no vehicle arrives, if uiIf the current phase position is more than U, continuing to induce and prolong the current phase position;
(4) when no vehicle arrives, if u is more than or equal to 0iU is less than or equal to U, and the current phase is cut off in advance.
U is a threshold value of the utilization rate of the green light of the phase, that is, the first threshold value is set according to the actual situation.
When the phase needs to be cut off, the current phase does not execute induction control any more, the next phase can not be directly switched in consideration of driving safety, and the safe green light time g needs to be executedsafe＝ggreen+gyellowThe current phase is directly truncated, where gyellowYellow flash and ggreenThe time of the green flash is generally 3s and can be set according to the actual situation.
In the embodiment of the present invention, the specific sensing control logic may be as follows:
the invention utilizes the green initial actual traffic demand and the green light utilization rate to determine the induction starting time and the switching time of each phase, realizes the full induction type green wave control, and the detailed control flow mainly comprises the following steps:
and step one, if the phase is the last phase of the current period, the current phase is finished after the fixed signal period C is executed, and if not, the step two is executed.
Secondly, calculating the induction starting time according to the green initial phase incident requirement, and if the induction starting time is more than gmaxThen, the induction control is not executed, and the phase induction start time g is determinedbegainAnd then the third step is executed.
And thirdly, judging whether the current phase is a coordinated phase or a non-coordinated phase, if so, executing the fourth step, and if not, executing the fifth step.
Fourthly, if a vehicle arrives, the phase is continued to be induced after the phase is extended by a fixed step distance; if no vehicle arrives and uiIf the phase is more than U, the phase continues to be induced after the phase is extended by a fixed step distance; if no vehicle arrives and u is more than or equal to 0iWhen the current phase needs to be cut off and is not greater than U, the ratio of the current green wave bandwidth to the original green wave bandwidth is judged, and if the ratio does not reach a threshold value, the phase is coordinated to continue sensing; if the current phase reaches the threshold value, the current phase is directly truncated; in the phase execution sensing process, if the green time reaches gmaxAnd then directly truncating.
Fifthly, the non-coordinated phase induction rule is identical to the coordinated phase, and the green wave bandwidth does not need to be judged during phase truncation, and the truncation is directly carried out; in the phase execution sensing process, if the green time reaches gmaxAnd then directly truncating.
Sixthly, after each phase is cut off, the current phase does not execute induction control any more, and safe green light time g is executedsafeThe next phase is switched.
The above embodiment shows that the initial traffic demand of the phase is acquired, the sensing start time of the phase is determined according to the initial traffic demand of the phase, and when the sensing start time of the phase is less than or equal to the maximum green time of the phase, the phase is inductively controlled according to the green utilization rate of the phase and the arrival condition of the vehicle. Because the induction starting time is determined based on the calculation of the green initial actual traffic demand, smooth passing of green initial-queue vehicles is guaranteed, the induction control problem caused by early green truncation is avoided, and the induction control efficiency and effect are improved.
The embodiment of the invention improves the induction effect by determining the phase adjustment method based on the phase green light utilization rate and the presence or absence of vehicles, simultaneously ensures the green wave bandwidth of the coordination phase, and ensures the main line coordination effect.
Based on the same technical concept, fig. 4 exemplarily shows a structure of a main line green wave sensing control apparatus provided by the embodiment of the present invention, which can execute a flow of main line green wave sensing control, and the apparatus can be located in the server 100 shown in fig. 1, or the server 100.
As shown in fig. 4, the apparatus specifically includes:
an obtaining unit 401, configured to obtain an initial traffic demand of a phase;
a processing unit 402, configured to determine an induction start time of the phase according to an initial traffic demand of the phase; and when the induction starting time of the phase is less than or equal to the maximum green light time of the phase, carrying out induction control on the phase according to the green light utilization rate of the phase and the vehicle arrival condition.
Optionally, the initial traffic demand of the phase includes a minimum green time, an initial green signal ratio, an initial queuing length, a minimum release time, and a maximum green time;
the processing unit 402 is specifically configured to:
determining a preset value which is more than or equal to the minimum green light time as the induction starting time of the phase; or
Determining the preset proportional value of the initial split ratio as the induction starting time of the phase; or
And determining the induction starting time of the phase according to the initial queuing length, the minimum release time and the maximum green light time.
Optionally, the processing unit 402 is specifically configured to:
determining the number of green primary queuing vehicles of the phase according to the initial queuing length;
determining the green primary queuing clearing time of the phase according to the number of green primary queuing vehicles of the phase and the saturated headway time;
if the green initial queuing emptying time is less than the minimum release time, determining the minimum release time as the induction starting time;
and if the green initial queuing emptying time is greater than the minimum release time and less than the maximum green light time, determining the green initial queuing emptying time as the induction starting time.
Optionally, the processing unit 402 is specifically configured to:
determining whether the phase is a coordination phase, if so, determining whether a vehicle arrives at the current time, and if so, prolonging the green time of the phase by a fixed step distance and then continuously determining the induction starting time of the phase; if no vehicle reaches the current moment and the utilization rate of the green light of the phase is greater than a first threshold value, continuing to determine the induction starting time of the phase after prolonging the green light time of the phase by a fixed step distance; if no vehicle reaches the current moment and the green light utilization rate of the phase is less than or equal to the first threshold, cutting off the green light time of the phase when the ratio of the current green wave bandwidth to the initial green wave bandwidth of the phase is determined to be greater than a second threshold;
if the phase is a non-coordinated phase, determining whether a vehicle arrives at the current time, and if the vehicle arrives at the current time, prolonging the green time of the phase by a fixed step distance and then continuously determining the induction starting time of the phase; if no vehicle reaches the current moment and the utilization rate of the green light of the phase is greater than a first threshold value, continuing to determine the induction starting time of the phase after prolonging the green light time of the phase by a fixed step distance; and if no vehicle reaches the current moment and the green light utilization rate of the phase is less than or equal to the first threshold, cutting off the green light time of the phase.
Optionally, the processing unit 402 is further configured to:
and after the green light time of the phase is cut off, switching to the next phase after the safe green light time is executed.
Optionally, the processing unit 402 is specifically configured to determine the green light utilization rate of the phase according to the following steps:
acquiring the green light time of the phase, the total number of vehicles passing in the green light time and the saturation flow of the phase;
and determining the green light utilization rate of the phase according to the green light time of the phase, the total number of vehicles passing through the phase in the green light time and the saturation flow of the phase.
Based on the same technical concept, an embodiment of the present invention further provides a computing device, including:
a memory for storing program instructions;
and the processor is used for calling the program instructions stored in the memory and executing the trunk line green wave induction control method according to the obtained program.
Based on the same technical concept, the embodiment of the invention also provides a computer-readable non-volatile storage medium, which comprises computer-readable instructions, and when the computer reads and executes the computer-readable instructions, the computer is enabled to execute the trunk line green wave induction control method.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (8)
1. A main line green wave induction control method is characterized by comprising the following steps:
acquiring an initial traffic demand of a phase;
determining the induction starting time of the phase according to the initial traffic demand of the phase;
when the induction starting time of the phase is less than or equal to the maximum green light time of the phase, carrying out induction control on the phase according to the green light utilization rate of the phase and the vehicle arrival condition;
the induction control of the phase according to the green light utilization rate of the phase and the vehicle arrival condition comprises the following steps:
determining whether the phase is a coordination phase, if so, determining whether a vehicle arrives at the current time, and if so, prolonging the green time of the phase by a fixed step distance and then continuously determining the induction starting time of the phase; if no vehicle reaches the current moment and the utilization rate of the green light of the phase is greater than a first threshold value, continuing to determine the induction starting time of the phase after prolonging the green light time of the phase by a fixed step distance; if no vehicle reaches the current moment and the green light utilization rate of the phase is less than or equal to the first threshold, cutting off the green light time of the phase when the ratio of the current green wave bandwidth to the initial green wave bandwidth of the phase is determined to be greater than a second threshold;
if the phase is a non-coordinated phase, determining whether a vehicle arrives at the current time, and if the vehicle arrives at the current time, prolonging the green time of the phase by a fixed step distance and then continuously determining the induction starting time of the phase; if no vehicle reaches the current moment and the utilization rate of the green light of the phase is greater than a first threshold value, continuing to determine the induction starting time of the phase after prolonging the green light time of the phase by a fixed step distance; and if no vehicle reaches the current moment and the green light utilization rate of the phase is less than or equal to the first threshold, cutting off the green light time of the phase.
2. The method of claim 1, wherein the phase's initial traffic demand comprises a minimum green time, an initial green ratio, an initial queue length, a minimum release time, and a maximum green time;
determining an induction start time for the phase based on the initial traffic demand for the phase comprises:
determining a preset value which is more than or equal to the minimum green light time as the induction starting time of the phase; or
Determining the preset proportional value of the initial split ratio as the induction starting time of the phase; or
And determining the induction starting time of the phase according to the initial queuing length, the minimum release time and the maximum green light time.
3. The method of claim 2, wherein said determining a sensing start time for said phase based on said initial queue length, said minimum release time, and said maximum green time comprises:
determining the number of green primary queuing vehicles of the phase according to the initial queuing length;
determining the green primary queuing clearing time of the phase according to the number of green primary queuing vehicles of the phase and the saturated headway time;
if the green initial queuing emptying time is less than the minimum release time, determining the minimum release time as the induction starting time;
and if the green initial queuing emptying time is greater than the minimum release time and less than the maximum green light time, determining the green initial queuing emptying time as the induction starting time.
4. The method of claim 1, further comprising, after truncating the green time of the phase:
and after the safe green light time is executed, switching to the next phase.
5. The method of any of claims 1 to 4, wherein the green light utilization of the phase is determined according to the following steps:
acquiring the green light time of the phase, the total number of vehicles passing in the green light time and the saturation flow of the phase;
and determining the green light utilization rate of the phase according to the green light time of the phase, the total number of vehicles passing through the phase in the green light time and the saturation flow of the phase.
6. A main line green wave induction control device, comprising:
an acquisition unit for acquiring an initial traffic demand of a phase;
the processing unit is used for determining the induction starting time of the phase according to the initial traffic demand of the phase; when the induction starting time of the phase is less than or equal to the maximum green light time of the phase, carrying out induction control on the phase according to the green light utilization rate of the phase and the vehicle arrival condition;
the processing unit is specifically configured to:
determining whether the phase is a coordination phase, if so, determining whether a vehicle arrives at the current time, and if so, prolonging the green time of the phase by a fixed step distance and then continuously determining the induction starting time of the phase; if no vehicle reaches the current moment and the utilization rate of the green light of the phase is greater than a first threshold value, continuing to determine the induction starting time of the phase after prolonging the green light time of the phase by a fixed step distance; if no vehicle reaches the current moment and the green light utilization rate of the phase is less than or equal to the first threshold, cutting off the green light time of the phase when the ratio of the current green wave bandwidth to the initial green wave bandwidth of the phase is determined to be greater than a second threshold;
if the phase is a non-coordinated phase, determining whether a vehicle arrives at the current time, and if the vehicle arrives at the current time, prolonging the green time of the phase by a fixed step distance and then continuously determining the induction starting time of the phase; if no vehicle reaches the current moment and the utilization rate of the green light of the phase is greater than a first threshold value, continuing to determine the induction starting time of the phase after prolonging the green light time of the phase by a fixed step distance; and if no vehicle reaches the current moment and the green light utilization rate of the phase is less than or equal to the first threshold, cutting off the green light time of the phase.
7. The apparatus of claim 6, wherein the initial traffic demand of the phase comprises a minimum green time, an initial green ratio, an initial queue length, a minimum release time, and a maximum green time;
the processing unit is specifically configured to:
determining a preset value which is more than or equal to the minimum green light time as the induction starting time of the phase; or
Determining the preset proportional value of the initial split ratio as the induction starting time of the phase; or
And determining the induction starting time of the phase according to the initial queuing length, the minimum release time and the maximum green light time.
8. The apparatus as claimed in claim 7, wherein said processing unit is specifically configured to:
determining the number of green primary queuing vehicles of the phase according to the initial queuing length;
determining the green primary queuing clearing time of the phase according to the number of green primary queuing vehicles of the phase and the saturated headway time;
if the green initial queuing emptying time is less than the minimum release time, determining the minimum release time as the induction starting time;
and if the green initial queuing emptying time is greater than the minimum release time and less than the maximum green light time, determining the green initial queuing emptying time as the induction starting time.
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| CN113516857B (en) * | 2021-04-19 | 2022-08-16 | 安徽达尔智能控制***股份有限公司 | Intersection signal timing dynamic allocation method and system based on radar monitoring |
| CN114155724B (en) * | 2021-12-23 | 2022-11-22 | 连云港杰瑞电子有限公司 | Intersection traffic signal control method in Internet of vehicles environment |
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