CN110942628B - Steering overflow detection and signal control method based on direction delay gradient - Google Patents

Steering overflow detection and signal control method based on direction delay gradient Download PDF

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CN110942628B
CN110942628B CN201911188436.7A CN201911188436A CN110942628B CN 110942628 B CN110942628 B CN 110942628B CN 201911188436 A CN201911188436 A CN 201911188436A CN 110942628 B CN110942628 B CN 110942628B
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overflow
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CN110942628A (en
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张怡
戴茹梦
祁宏生
马晨阳
管浩南
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Zhejiang University ZJU
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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
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125—Traffic data processing
    • G—PHYSICS
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    • G08G—TRAFFIC CONTROL SYSTEMS
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    • G08G1/07—Controlling traffic signals

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Abstract

The invention discloses a steering overflow detection and signal control method based on direction delay gradients. And determining the value of the overflow judgment index according to the relation between the theoretical delay gradient and the actual delay gradient, thereby judging whether the overflow occurs and the occurrence type. And finally, determining the amplification multiple of the green-signal ratio of each phase according to the overflow judgment index and the overflow condition, and adjusting the signal parameters to obtain the final signal parameter setting facing the steering overflow. The method can obviously improve the running efficiency of the intersection.

Description

Steering overflow detection and signal control method based on direction delay gradient
Technical Field
The invention relates to a signal control technology for urban intersections, in particular to a steering overflow detection and signal control method based on direction delay gradients, and specifically relates to a technology for judging intersection overflow in real time and dynamically adjusting signals by using travel time information and flow information.
Background
The signal control of the intersection refers to the utilization of various traffic flow information (the common traffic flow information is the flow of each turning traffic flow of each inlet), the acquisition of cycle, green signal ratio and yellow light time parameters, and the execution of the parameters by signal lamps. Traditionally, the traffic conditions for which the signal control is directed include low saturation and high saturation. High saturation refers to a situation where the flow is large. The existing signal control technology can work smoothly under low saturation, but under the condition of high saturation, the control effect is often poor, and the prominent phenomenon is that during the peak period, the queue of the entrance way is too long, so that the entrance way spreads upstream and blocks the upstream intersection, and the running efficiency of the intersection is reduced.
Disclosure of Invention
In order to overcome the problem that the existing method cannot effectively deal with queuing overflow during the peak period, the invention provides a steering overflow detection and signal control method based on the directional delay gradient.
The technical scheme adopted by the invention for solving the technical problems is as follows:
1) obtaining basic data, including flow of each direction of each entrance road and travel time of a sample vehicle, wherein each direction of each entrance road at least needs travel time data of one vehicle, and if a plurality of vehicles exist, averaging the travel time;
2) and calculating the theoretical direction delay gradient and the actual direction delay gradient of each inlet passage.
3) Determining whether the overflow time occurs or not and the occurrence type according to the relation between the theoretical direction delay gradient and the actual direction delay gradient;
4) and calculating the amplification factor of the split ratio according to the overflow judgment index, adjusting the signal parameters of each phase, and obtaining the final signal parameter setting facing the steering overflow.
In the above technical solution, further, the method for calculating the theoretical directional delay gradient and the actual directional delay gradient in step 2) specifically includes:
the split according to each phase is proportional to its critical traffic flow, i.e.
Figure GDA0002848097760000021
Wherein k is 1, 2, 3, or 4, represents a four-phase, λkGreen signal ratio of the k-th phase, QkThe key traffic flow of the k phase;
subscript E, W, N, S indicates east, west, north, and south entries, respectively, subscript LT indicates left turn, TH indicates straight travel;
ideally, each lane has a corresponding delay, i.e., a theoretical delay gradient δ, which for east entries is:
Figure GDA0002848097760000022
wherein C is the period duration; s is the saturation flow rate at the intersection; q. q.sE，THDenotes the flow of straight traffic at east entry, λE，THGreen ratio representing east entry straight traffic, with lambdaW，THThe phase of the two phases is equal to each other,
Figure GDA0002848097760000023
delay of left turn traffic flow at east entry under theoretical conditions;
calculating an actual delay gradient Delta for the east entryE：
Figure GDA0002848097760000024
Wherein d isE，LTThe average delay for the east entry left turn was obtained using the following formula:
Figure GDA0002848097760000025
Figure GDA0002848097760000026
Figure GDA0002848097760000027
the free course time of the east import left turn, LELength of east entry road section, vfFor free stream velocity, τE，LT，iThe actual travel time of the vehicle turning left at the ith east entry,
Figure GDA0002848097760000028
number of samples of travel time for an east entry left turn vehicle; average delay d of east imported straight-driving in the same wayE，TH；
And calculating the theoretical delay gradient and the actual delay gradient of each inlet.
Further, step 3) is a method for calculating an overflow judgment index, judging whether overflow occurs and judging the type of the overflow, which specifically comprises the following steps:
calculating overflow judgment indexes of each inlet
Figure GDA0002848097760000031
When in use
Figure GDA0002848097760000032
Indicating overflow in straight lines: (
Figure GDA0002848097760000033
May be set to 0.7);
when in use
Figure GDA0002848097760000034
Indicating that a left-turn overflow occurred.
When in use
Figure GDA0002848097760000035
When the vehicle is in a straight line or left-turning mode, no overflow occurs;
further, step 4) is a method for calculating the amplification factor of the split ratio and adjusting the signal parameters of each phase according to the overflow judgment index, which comprises the following steps:
when the traffic flow overflows under one phase, the green light time length of the corresponding phase is expanded by a certain multiple, and the signal parameter adjustment multiple is
Figure GDA0002848097760000036
The overflow of the traffic flows in both phases occurs simultaneously, the expansion factor of the first phase should be
Figure GDA0002848097760000037
The magnification of the second phase should be
Figure GDA0002848097760000038
The traffic flows in three phases overflow simultaneously, and the final expansion multiple of the first phase is
Figure GDA0002848097760000039
The final magnification of the second phase is
Figure GDA00028480977600000310
The final magnification of the third phase is
Figure GDA00028480977600000311
When the four phases overflow, then
Figure GDA00028480977600000312
Each phase directly enlarging etak(ii) a When in use
Figure GDA00028480977600000313
Each phase is enlarged
Figure GDA00028480977600000314
The invention has the beneficial effects that:
1. by utilizing common travel time and flow information, the steering overflow information can be deduced, and the requirement on data basis is not high.
2. The method can adjust the signal parameters in each period, simultaneously considers that the overflow of other steering traffic flows cannot be caused, has comprehensive consideration factors, and can meet the real-time requirement.
Drawings
FIG. 1 is a signal phase diagram example;
FIG. 2 is a flow of a diversion overflow determination;
FIG. 3 is a schematic diagram of signal parameter adjustment when overflow occurs;
fig. 4 is a schematic view of the overall workflow of the present invention.
Detailed Description
The present invention is described in further detail below with reference to the attached drawing figures.
Fig. 1 shows a common four-phase signal control intersection, and four phases of the intersection are east-west straight, east-west left-turning, south-north straight and south-north left-turning, respectively. Let the flow rate of the east-entry left-turn traffic flow and the straight-going traffic flow be qE，LT、qE,TH'E' denotes east entry, 'LT' and 'TH' denote left turn and straight line, respectively. In addition, the left-turn flow of the west inlet, the south inlet and the north inlet is q respectivelyW，LT、qS，LT、qN，LT. 'W', 'S' and 'N' denote the West inlet, the south inlet and the north inlet, respectively.
In general, i.e., in the absence of a steer overflow condition, the signal parameters of each phase are proportional to their critical traffic flow. The first phase is east-west straight going, the key traffic is the one with larger flow, i.e. Q1＝max(qE，TH，qW，TH). The flow rates of the key traffic flows of the other three similar phases are respectively Q2＝max(qE，LT，qW，LT)、Q3＝max(qS，TH，qN，TH)、Q4＝max(qS，LT，qN，LT). While the saturation flow rate at the intersection is set to S (i.e., the maximum flow of traffic that continues through the stop line). Ideally, the split of east entry straight traffic is calculated as
Figure GDA0002848097760000041
That is, the split between the east and west entry straight traffic is the split of the first phase and is proportional to its critical traffic flow. Similarly, the ideal case split, λ, for all turns of all other inlets can be found2、λ3、λ4. Given the flow and split, ideally (no diversion overflow occurs) there is a corresponding delay for each flow. When a diversion overflow occurs, the delay in the blocked flow deviates from the theoretical delay. To achieve the recognition of the occurrence of steering overflow according to this objective, a theoretical delay gradient is defined:
Figure GDA0002848097760000051
wherein the content of the first and second substances,
Figure GDA0002848097760000052
in the formula, C is the period duration and is eliminated in the operation process.
In order to calculate the actual delay gradient, it is first necessary to obtain the delay of any one inlet and any steering according to the travel time. In the example of the east import left turn, the free stream travel time is
Figure GDA0002848097760000053
(LELength of east entry road section, vfFree flow velocity), the delay for a single vehicle i may be calculated as
Figure GDA0002848097760000054
τE，LT，iThe actual travel time of the vehicle turning left at the ith east entry is shown. The average delay for a left turn east is the average of the delays for all left turn east vehicles:
Figure GDA0002848097760000055
wherein the content of the first and second substances,
Figure GDA0002848097760000056
the number of samples of vehicle travel time for the east entry left turn. Average delay of east-entry go-through in the same order
Figure GDA0002848097760000057
With the average delay of each turn of each inlet, the actual directional delay gradient of the east inlet is defined:
Figure GDA0002848097760000058
comparison of the theoretical delay gradient deltaEAnd the actual sideGradient Δ of direction delayEThe relationship between the two may reveal information about whether extravasation occurred or not: however, if the left turn is blocked due to the overflow of the straight line, the actual delay of the left turn increases, and therefore, the gradient Δ of the actual delay is increasedEWill decrease; otherwise, it is increased. Thus, an east import overflow discrimination indicator is defined
Figure GDA0002848097760000059
When in use
Figure GDA00028480977600000510
When (1)
Figure GDA00028480977600000511
May be set to 0.7), no overflow occurs whether straight or left-handed; when in use
Figure GDA00028480977600000512
Indicating that overflow occurred in the straight line; when in use
Figure GDA00028480977600000513
Indicating that a left-turn overflow occurred. The east import overflow discrimination flow is shown in fig. 2.
When the occurrence of a diversion overflow event is identified, it is necessary to react quickly to eliminate the effect of the diversion overflow event as soon as possible. It is most common to increase the duration of the green light, or to increase the split ratio, of the phase of the overflow traffic. Taking eastern port straight traffic as an example, it is in the first phase of fig. 1, and therefore, when an eastern port straight traffic overflow event occurs, it is necessary to increase its green time. When a straight-line overflow occurs, the overflow,
Figure GDA00028480977600000514
the condition is satisfied, the green time of the first phase can be expanded by etaEHowever, the green time for the other three phases is reduced, which may cause overflow for the other turns. Therefore, there is a limit to the enlargement of the green time. Due to the first phase (i.e. the phase in which the east-entry straight-ahead flow is) being enlarged etaEMultiple, new periodWith a duration of C + C λ1ηE. The green time of the second phase is C lambda2Thus, the new split of the second phase (including the left turn of east and west entry) is
Figure GDA0002848097760000061
To ensure that no overflow occurs in other directions, a limiting condition is added
Figure GDA0002848097760000062
That is to say
Figure GDA0002848097760000063
Solving for
Figure GDA0002848097760000064
To obtain solution 1 as
Figure GDA0002848097760000065
Solution 2 is 1. Obviously, the magnification factor should be taken to be
Figure GDA0002848097760000066
Therefore, the signal parameter adjustment multiple under the single overflow condition is
Figure GDA0002848097760000067
Consider two phases each with one flow overflowing. For example, the east entry goes straight (in the first phase) and the west entry turns left (in the second phase) and overflows, i.e. the
Figure GDA0002848097760000068
And
Figure GDA0002848097760000069
in this case, the first phase expansion ηEMultiple, second phase expansion
Figure GDA00028480977600000610
And (4) doubling. Thus, the first phase and the second phase are expanded by the whole multiple:
Figure GDA00028480977600000611
thus, the multiple value, similar to when overflowing in a single direction, is
Figure GDA00028480977600000612
Here, the magnification of the first phase should be such that
Figure GDA00028480977600000613
The magnification of the second phase should be
Figure GDA00028480977600000614
Consider that there is an overflow condition for all three phases, with some traffic flowing in each phase overflowing. Suppose that
Figure GDA00028480977600000615
That is, the east entry is straight (in the first phase), the west entry is left-turning (in the second phase), and the north entry is straight (in the third phase). Then the calculation method of the integral expansion multiple of the first three phases is similar to the above reasoning
Figure GDA00028480977600000616
Thus:
the final magnification of the first phase is
Figure GDA00028480977600000617
The final magnification of the second phase is
Figure GDA0002848097760000071
The final magnification of the first phase is
Figure GDA0002848097760000072
When four phases overflow, each phase is directly extended by etaX(when
Figure GDA0002848097760000073
) Or
Figure GDA0002848097760000074
(when
Figure GDA0002848097760000075
) Wherein etaWIs the western import overflow judgment index. The calculations for the four cases are summarized in fig. 3.
FIG. 4 is an overall technical process of the method of the present invention.

Claims (3)

1. A steering overflow detection and signal control method based on direction delay gradient is characterized in that the method utilizes travel time information and flow information to judge intersection overflow in real time and dynamically adjust signals, and comprises the following steps:
1) collecting flow information of each direction of each entrance way and travel time information of vehicles;
2) calculating the theoretical direction delay gradient and the actual direction delay gradient of each inlet channel;
3) calculating an overflow judgment index according to the delay gradient of the theory and the actual direction, and judging whether the overflow occurs and the type of the overflow;
4) calculating the amplification multiple of the green signal ratio according to the overflow judgment index, and adjusting the signal parameters of each phase;
the method for calculating the theoretical directional delay gradient and the actual directional delay gradient in the step 2) specifically comprises the following steps:
the split according to each phase is proportional to its critical traffic flow, i.e.
Figure FDA0002848097750000011
Wherein k is 1, 2, 3, or 4, represents a four-phase, λkGreen signal ratio of the k-th phase, QkThe key traffic flow of the k phase;
subscript E, W, N, S indicates east, west, north, and south entries, respectively, subscript LT indicates left turn, TH indicates straight travel;
ideally, each lane has a corresponding delay, i.e., a theoretical delay gradient δ, which for east entries is:
Figure FDA0002848097750000012
wherein C is the period duration; s is the saturation flow rate at the intersection; q. q.sE，THDenotes the flow of straight traffic at east entry, λE，THGreen ratio representing east entry straight traffic, with lambdaW，THThe phase of the two phases is equal to each other,
Figure FDA0002848097750000013
delay of left turn traffic flow at east entry under theoretical conditions;
calculating an actual delay gradient Delta for the east entryE：
Figure FDA0002848097750000014
Wherein d isE，LTThe average delay for the east entry left turn was obtained using the following formula:
Figure FDA0002848097750000021
Figure FDA0002848097750000022
Figure FDA0002848097750000023
the free course time of the east import left turn, LELength of east entry road section, vfFor free stream velocity, τE，LT，iFor the ith vehicle with left-turn entranceThe time of the inter-trip,
Figure FDA00028480977500000212
number of samples of travel time for an east entry left turn vehicle; average delay d of east imported straight-driving in the same wayE，TH；
And calculating the theoretical delay gradient and the actual delay gradient of each inlet.
2. The steering overflow detection and signal control method based on the directional delay gradient according to claim 1, wherein the step 3) is a method for calculating an overflow judgment index, judging whether overflow occurs and judging the type of overflow occurrence, and specifically comprises the following steps:
calculating overflow judgment indexes of each inlet
Figure FDA0002848097750000024
When in use
Figure FDA0002848097750000025
Indicating that overflow occurred in the straight line;
when in use
Figure FDA0002848097750000026
Indicating that a left turn spill occurred;
when in use
Figure FDA0002848097750000027
When the vehicle is in a straight line or left-turning mode, no overflow occurs;
Figure FDA0002848097750000028
is the set threshold.
3. The steering overflow detection and signal control method based on the directional delay gradient according to claim 1, wherein the step 4) is a method for calculating the amplification factor of the split ratio and adjusting the signal parameters of each phase according to the overflow judgment index, and specifically comprises the following steps:
when the traffic flow overflows under one phase, the green light time length of the corresponding phase is expanded by a certain multiple, namely the signal parameter adjustment multiple is
Figure FDA0002848097750000029
The overflow of the traffic flows in both phases occurs simultaneously, the expansion factor of the first phase should be
Figure FDA00028480977500000210
The magnification of the second phase should be
Figure FDA00028480977500000211
The traffic flows in three phases overflow simultaneously, and the final expansion multiple of the first phase is
Figure FDA0002848097750000031
The final magnification of the second phase is
Figure FDA0002848097750000032
The final magnification of the third phase is
Figure FDA0002848097750000033
When the four phases overflow, then
Figure FDA0002848097750000034
Each phase directly enlarging etak(ii) a When in use
Figure FDA0002848097750000036
Each phase is enlarged
Figure FDA0002848097750000035
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DE2850246A1 (en) * 1978-11-20 1980-05-29 Interatom Travel time measuring system for flow rate determination - compares signals from two spaced probes by storing and delaying first signal until it agrees with second
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CN107393319A (en) * 2017-08-31 2017-11-24 长安大学 It is a kind of to prevent Single Intersection to be lined up the signal optimal control method overflowed
CN110349409A (en) * 2019-07-11 2019-10-18 浙江大学 A method of determining that intersection turning overflows using bicycle track

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