CN114613166B - Signal lamp control method and system considering boundary intersection queuing length - Google Patents
Signal lamp control method and system considering boundary intersection queuing length Download PDFInfo
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Abstract
The invention provides a signal lamp control method and a system considering the queuing length of a boundary intersection, comprising the following steps: acquiring road network information; dividing the acquired road network to obtain a plurality of road network subareas; fitting to obtain a macroscopic basic diagram according to the related data of the road network sub-regions, and selecting a controlled sub-region according to the fitting degree of the macroscopic basic diagram; determining the accumulated number of vehicles in the controlled subarea and the actual queuing length of the road section of the boundary intersection of the controlled subarea; obtaining a green light duration control result according to the determined accumulated number of vehicles in the controlled subarea, the actual queuing length of the intersection section of the boundary of the controlled subarea and a preset control strategy; according to the invention, from a macroscopic view, the traffic jam phenomenon is relieved by performing macroscopic control based on a macroscopic basic diagram theory, and meanwhile, the queuing length of the boundary intersection is considered based on the macroscopic basic diagram theory, so that the secondary regulation and control of the boundary intersection green light time is realized.
Description
Technical Field
The invention belongs to the technical field of traffic control, and particularly relates to a signal lamp control method and system considering the queuing length of a boundary intersection.
Background
Urban traffic is an arterial system of a city, is an important infrastructure of the city, and has particularly important roles and roles in urban economic life and social life. From the current urban early-late peak road congestion distribution, the current traffic congestion is not just a congestion problem of a single intersection or a certain trunk road, but is spread to regional traffic congestion problems.
The inventor finds that the traditional control of a single intersection or the control of a trunk road section cannot solve the regional congestion problem; when the regional traffic jam problem is relieved by adopting single sub-region boundary control, the queuing problem at the boundary intersection is often ignored, the implementation effect of a control strategy is affected, and the regional traffic jam problem is caused to continue to spread upstream.
Disclosure of Invention
In order to solve the problems, the invention provides a signal lamp control method and a signal lamp control system considering the queuing length of a boundary intersection, and the signal lamp control method and the signal lamp control system are used for carrying out macroscopic control on the basis of analyzing peak periods based on a macroscopic basic diagram (Macroscopic Fundamental Diagram, MFD) theory from the macroscopic perspective so as to relieve traffic jams; aiming at the research of the existing urban road network sub-area boundary control method, most of the existing urban road network sub-area boundary control method only considers traffic running conditions in the subareas, but does not consider traffic conditions of subarea boundary intersections, if the queuing length of the boundary intersections exceeds a queuing threshold value, traffic jam can be caused to spread upstream, and traffic outside the subareas is influenced.
In order to achieve the above object, the present invention is realized by the following technical scheme:
in a first aspect, the present invention provides a signal lamp control method considering a queuing length of a boundary intersection, including:
acquiring road network information;
dividing the acquired road network to obtain a plurality of road network subareas;
fitting to obtain a macroscopic basic diagram according to the related data of the road network sub-regions, and selecting a controlled sub-region according to the fitting degree of the macroscopic basic diagram;
determining the accumulated number of vehicles in the controlled subarea and the actual queuing length of the road section of the boundary intersection of the controlled subarea;
obtaining a green light duration control result according to the determined accumulated number of vehicles in the controlled subarea, the actual queuing length of the intersection section of the boundary of the controlled subarea and a preset control strategy;
when a preset control strategy controls the green light time length, firstly, determining the green light time length of the first boundary intersection adjustment of the current period according to the accumulated number of vehicles in the controlled subarea, and determining the green light time length of the second boundary intersection adjustment according to the actual queuing length of the road section of the boundary intersection of the controlled subarea; the green light duration of the boundary intersection of the current period is as follows: the green light time length of the previous period boundary crossing entering the controlled subarea is different from the green light time length of the first boundary crossing, and the green light time length of the second boundary crossing is added.
Further, dividing the road network includes:
acquiring traffic parameters, and constructing a weighted undirected graph of the road network according to the traffic parameters;
calculating the association degree between adjacent intersections in the road network according to the weighted undirected graph; constructing a weighting matrix of the road network undirected weighting graph according to the association degree;
and carrying out normalized segmentation according to the association degree and the weighting matrix to obtain a road network subarea.
Further, fitting to obtain a macroscopic basic diagram according to the related data of the road network sub-area, including:
collecting the accumulated number of vehicles in each road network subarea and the number of vehicles reaching the destination journey;
and drawing a road network scatter diagram by taking the accumulated number of vehicles in the road network subarea at a certain moment as an abscissa and the total number of vehicles driven off at a corresponding moment as an ordinate, fitting a road network macroscopic basic diagram curve according to scatter diagram data, and acquiring an equation of the macroscopic basic diagram and the optimal accumulated number of vehicles in the subarea.
Further, the cumulative number of vehicles in the controlled sub-zone is: the sum of the cumulative number of vehicles whose destination is in the controlled subarea at a certain moment and the cumulative number of vehicles whose destination is in the peripheral subarea at a corresponding moment.
Further, the actual queuing length of the controlled subarea boundary intersection road section is the number of queuing vehicles at the current intersection j at the time t+Δt:
wherein t is ij Representing the number of vehicle transfers from intersection i to intersection j; a is that i Vehicle arrival rate at intersection i; x is x i (t) represents the number of vehicles queued at the current intersection j at time t.
Further, when the accumulated number of vehicles in the controlled subarea is maintained at the optimal accumulated number of vehicles, the stroke completion amount of the controlled subarea is maximum; when the accumulated vehicle number in the controlled subarea is smaller than the minimum value of the preset value range, the road network is in an unblocked state, and the vehicle journey in the controlled subarea is increased along with the increase of the accumulated vehicle number; when the accumulated number of vehicles in the controlled subarea exceeds the maximum value of the threshold range, traffic jam occurs in the traffic in the controlled subarea.
Further, the green light duration control includes:
calculating the difference value between the accumulated vehicle number in the controlled subarea and the optimal accumulated vehicle number, and distributing the difference value to each boundary intersection according to the proportion of the entering controlled subarea of each boundary intersection of the controlled subarea to the total entering subarea, so as to adjust the green light time of the intersection;
if the actual queuing length of the controlled subarea boundary intersection road section exceeds the queuing threshold green light time, increasing the unit green light time; and if the actual queuing length of the road section of the boundary intersection of the controlled subarea is smaller than the minimum queuing length, reducing the unit green light time, and performing secondary optimization on the street light time of the signal lamp of the boundary intersection.
In a second aspect, the present invention also provides a signal lamp control system considering a queuing length of a boundary intersection, including:
a data acquisition module configured to: acquiring road network information;
a subregion division module configured to: dividing the acquired road network to obtain a plurality of road network subareas;
a macro base graph creation module configured to: fitting to obtain a macroscopic basic diagram according to the related data of the road network sub-regions, and selecting a controlled sub-region according to the fitting degree of the macroscopic basic diagram;
a vehicle condition determination module configured to: determining the accumulated number of vehicles in the controlled subarea and the actual queuing length of the road section of the boundary intersection of the controlled subarea;
a control module configured to: obtaining a green light duration control result according to the determined accumulated number of vehicles in the controlled subarea, the actual queuing length of the intersection section of the boundary of the controlled subarea and a preset control strategy;
when a preset control strategy controls the green light time length, firstly, determining the green light time length of the first boundary intersection adjustment of the current period according to the accumulated number of vehicles in the controlled subarea, and determining the green light time length of the second boundary intersection adjustment according to the actual queuing length of the road section of the boundary intersection of the controlled subarea; the green light duration of the boundary intersection of the current period is as follows: the green light time length of the previous period boundary crossing entering the controlled subarea is different from the green light time length of the first boundary crossing, and the green light time length of the second boundary crossing is added.
In a third aspect, the present invention also provides a computer readable storage medium having stored thereon a computer program which when executed by a processor implements the steps of the traffic light control method of the first aspect taking into account boundary crossing queuing lengths.
In a fourth aspect, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the traffic light control method according to the first aspect, in which the traffic light control method considers the queuing length of a boundary intersection when executing the program.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, from a macroscopic view, the traffic jam phenomenon is relieved by macroscopic control based on a macroscopic basic graph theory, meanwhile, aiming at traffic conditions of intersections without considering the boundaries of the subareas, if the queuing length of the boundary intersections exceeds a queuing threshold value, the traffic jam can spread upwards, and the traffic problem outside the subareas is affected.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments and are incorporated in and constitute a part of this specification, illustrate and explain the embodiments and together with the description serve to explain the embodiments.
FIG. 1 is a schematic flow chart of embodiment 1 of the present invention;
FIG. 2 is a macroscopic basic diagram of a controlled sub-zone of example 1 of the present invention;
FIG. 3 is a schematic view of a traffic flow model in subareas according to embodiment 1 of the present invention;
FIG. 4 is a schematic view of a model of a single point intersection according to embodiment 1 of the present invention;
fig. 5 is a schematic diagram of a timing modification scheme of a sub-area boundary signal lamp in embodiment 1 of the present invention.
The specific embodiment is as follows:
the invention will be further described with reference to the drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
Example 1:
the embodiment provides a signal lamp control method considering the queuing length of a boundary intersection, which comprises the following steps:
acquiring road network information;
dividing the acquired road network to obtain a plurality of road network subareas;
fitting to obtain a macroscopic basic diagram according to the related data of the road network sub-regions, and selecting a controlled sub-region according to the fitting degree of the macroscopic basic diagram;
determining the accumulated number of vehicles in the controlled subarea and the actual queuing length of the road section of the boundary intersection of the controlled subarea;
obtaining a green light duration control result according to the determined accumulated number of vehicles in the controlled subarea, the actual queuing length of the intersection section of the boundary of the controlled subarea and a preset control strategy;
when a preset control strategy controls the green light time length, firstly, determining the green light time length of the first boundary intersection adjustment of the current period according to the accumulated number of vehicles in the controlled subarea, and determining the green light time length of the second boundary intersection adjustment according to the actual queuing length of the road section of the boundary intersection of the controlled subarea; the green light duration of the boundary intersection of the current period is as follows: the green light time length of the previous period boundary crossing entering the controlled subarea is different from the green light time length of the first boundary crossing, and the green light time length of the second boundary crossing is added.
A signal lamp control method considering the queuing length of boundary intersections comprises the following specific implementation steps:
s1, selecting a research road network, and dividing the road network into subareas;
s2, fitting a macroscopic basic diagram by using simulation data of each sub-region after road network sub-region division, and selecting a controlled sub-region to ensure that the controlled sub-region has a clear and stable macroscopic basic diagram;
s3, constructing a traffic flow balance model of the controlled subarea and a queuing model of the boundary single-point intersection based on theoretical knowledge of the macroscopic basic diagram;
s4, judging the traffic running condition of the controlled subarea, and if the controlled subarea is in a congestion state, implementing boundary control; otherwise, continuously monitoring the traffic running state of the controlled sub-area road network;
s5, when the boundary control strategy is implemented, not only considering the traffic condition in the controlled subarea; and secondly regulating and controlling the timing of the boundary signal lamp according to the queuing length of the boundary intersection section considered according to the single-point intersection queuing model.
In this embodiment, step S1 includes:
s1.1, in the embodiment, an area with complex traffic in the early and late peak periods and easy to be congested in the city can be selected as a research object of the method, traffic parameters of road sections in the road network can be obtained by adopting methods such as a hundred-degree map, manual actual measurement and the like, and a weighted undirected graph G of the road network is constructed.
S1.2, calculating the association degree between adjacent intersections in the road network by utilizing a Whitson model based on the obtained undirected weighted graph G of the road network and the actual traffic flow data of the road section; constructing a weighting matrix W of the road network undirected weighting graph G according to the association degree, wherein the element W of the j th row and the column in the weighting matrix W i，j The calculation formula of (2) is as follows:
wherein I is i,j A correlation value between intersection i and intersection j is represented; t represents the travel time between adjacent intersections; n represents the flow direction number of an inlet channel of an upstream intersection; q represents the flow in the road section; a (i, j) =1 indicates that intersection i and intersection j are spatially adjacent.
S1.3, carrying out normalized segmentation according to the association degree information between adjacent intersections in the road network and the weight matrix W of the undirected weighted graph G, and segmenting the intersections with large association degree values into a subarea, wherein the association degree values between different subareas have larger difference.
In this embodiment, step S2 includes:
s2.1, according to the traffic parameters of each divided subarea, road network can be drawn based on VISSIM4.3, road network parameters and simulation parameters are set, and the accumulated number of vehicles in each subarea and the number of vehicles reaching the destination journey are collected during simulation.
S2.2, processing the number of vehicles in the road network, removing data points with obvious errors, and obtaining effective macroscopic basic graph sample values.
S2.3, drawing a road network MFD scatter diagram by taking the accumulated vehicle number n in the road network sampling time moment subarea as an abscissa and the total number of vehicles driving away from the road network at the road network sampling time t moment as an ordinate, fitting a cubic equation to a road network macroscopic basic diagram curve according to scatter diagram data to obtain an MFD equation, and solving the optimal accumulated vehicle number in the subarea by utilizing MATLAB. And solving the MFD fitting degree value of each sub-region division sub-region by utilizing MATLAB, and selecting the sub-region with the highest fitting degree as the controlled sub-region.
In this embodiment, step S3 includes:
s3.1, an urban road network is arranged, the urban road network is divided into a plurality of well-defined macroscopic basic map subareas according to traffic flow density or other related parameters, and the inflow and outflow of traffic flow among the subareas are kept relatively balanced. The controlled subarea i can be a subarea which is oversaturated in the early and late peak time or is very easy to generate traffic jam, the subarea j is a peripheral area of the controlled subarea, and a traffic balance model of the subarea i can be expressed as follows:
n(t)＝n ii (t)+n ij (t)
wherein n (t) represents the cumulative number of vehicles within the controlled sub-zone i; n is n ii (t) represents the accumulated number of vehicles whose destination is in the controlled sub-zone i at time t; n is n ij (t) represents the accumulated number of vehicles whose destination is outside the sub-zone j at time t; q ii (t) represents traffic flow at time t at controlled sub-zone i, the destination also at sub-zone i; q ji (t) represents the traffic flow at the peripheral sub-zone j and the destination at sub-zone i at time t; u (u) i (t) and u j (t) represents the proportion of entering and exiting the controlled sub-zone through the boundary of the controlled sub-zone i at time t; g (n (t)) represents the number of travel-completed vehicles corresponding to the accumulated number of vehicles n (t) in the controlled sub-zone i at time t.
S3.2, constructing a queuing model of the boundary single-point intersection of the controlled subarea; in the embodiment, taking a conventional four-way intersection in actual life as an example, modeling is performed on the geometric structure of a single intersection and the vehicle queuing; the number of queued vehicles at the current intersection i at time (t+Δt) can be described as:
wherein t is ij The number of vehicle transitions from intersection i to intersection j is shown; a is that i Vehicle arrival rate at intersection i; x is x i And (t) represents the number of vehicles in line at intersection i at time t.
S3.3, in the calculation process of adopting the boundary control method, the timing of each signal lamp is kept unchanged in the current control period T until the next control period is entered, the green light duration calculated according to the previous control period is adjusted, and the vehicle balance equation of the road network is discretized to obtain the traffic light system:
n(j+1)＝n(j)+∑ m q m,in (j+1)·t m,in (j+1)-∑ m q m,out (j+1)·t m,out (j+1)
wherein q m，in (j+1) represents the traffic flow of j+1 cycles from boundary intersection m into the controlled sub-zone; t is t m，in (+1) represents the green time for the j+1th cycle boundary crossing m to enter the controlled sub-zone; q m，out (j+1) represents traffic flow leaving the controlled sub-zone from boundary intersection m for the j+1th cycle; t is t m，out (j+1) represents the green light duration of the j+1th cycle leaving the controlled sub-zone from boundary intersection m.
In this embodiment, step S4 includes:
s4.1, according to the basic characteristics of the MFDs of the subareas, an optimal value exists in the accumulated number of vehicles in the controlled subareas, and when the accumulated number of vehicles in the subareas is maintained in a preset threshold range near the optimal value, the stroke completion amount of the controlled subareas is maximum; when the accumulated vehicle number in the subarea is smaller than the minimum value of the preset value range, the road network is in an unblocked state, and the vehicle journey in the subarea is increased along with the increase of the accumulated vehicle number; when the number of accumulated vehicles exceeds the maximum value of the threshold range once, the traffic in the sub-area is subjected to large-area traffic jam.
S4.2, if the accumulated number of vehicles in the road network exceeds the optimal accumulated number of vehicles, considering that the subareas are in a congestion state, and starting to implement a boundary control strategy; and when the accumulated number of vehicles in the road network is smaller than the optimal accumulated number of vehicles, continuously monitoring the running condition in the controlled subarea.
In this embodiment, step S5 includes:
s5.1 calculating the difference delta n (j+1) =n (j+1) -n between the accumulated number of vehicles in the controlled sub-zone and the optimal number of vehicles * The green light time length of the intersection is adjusted according to the proportion of the entrance controlled subarea of each boundary intersection of the controlled subarea to the total number of vehicles in the entrance subarea, so that the green light time length of the intersection is adjusted, and the green light time length of the (j+1) th cycle boundary intersection i is adjusted (the green light time length of the first boundary intersection is adjusted))：
Wherein n is in (j+1) represents the total number of vehicles entering the controlled sub-zone for the j+1th cycle; n is n * Representing an optimal cumulative number of vehicles within the controlled sub-zone; n (j+1) represents the cumulative number of vehicles in the j+1th cycle controlled sub-zone; t is t i，in (j) The green light time length of the j-th cycle boundary crossing i entering the controlled sub-zone is represented.
S5.2, increasing the unit green light time according to the actual queuing length of the controlled subarea boundary intersection road section if the queuing length exceeds the queuing threshold green light time; if the queuing length is smaller than the minimum queuing length, the green light time of the signal lamp of the corresponding intersection is reduced by the unit green light time, and the secondary optimization is carried out on the green light time of the signal lamp of the intersection; green light time length adjusted by j+1th cycle boundary intersection i (green light time length adjusted by second boundary intersection):
Δt i2,in (j+1)＝Δgε(x-x max )-Δgε(x min -x)
wherein Δg represents a unit green light time; x represents a queuing length; x is x min Representing the shortest queuing length; x is x max Representing the longest queuing length; the calculation formula of ε is as follows:
then, the green light duration of the j+1th period after the boundary intersection i is adjusted twice is:
t i,in (j+1)＝t i,in (j)-Δt i1,in (j+1)+Δt i2,in (j+1)
wherein t is i，in (j) And the green light time length of the j-th period boundary intersection i entering the controlled subarea is represented.
S5.3, the green light duration of the boundary intersection after adjustment meets the minimum green light duration g min And maximum green light time length g max The shortest green light duration satisfies the shortest pedestrian crossingAnd the maximum green light time is too long, so that the resource waste is caused.
Compared with the prior art, the embodiment provides a subarea boundary control method considering the queuing length of the boundary intersection of the controlled subarea, and based on theoretical knowledge of a subarea macroscopic basic diagram, a traffic flow balance model of the controlled subarea and a queuing model of the boundary single-point intersection are constructed. And (3) optimizing the timing of the boundary signal lamp twice according to the accumulated vehicle number in the subarea and the queuing length of the boundary intersection, and maintaining the accumulated vehicle number in the subarea near the optimal value, so that the traffic running benefit of the whole road network is improved.
Example 2:
the embodiment provides a signal lamp control system considering the queuing length of a boundary intersection, which comprises the following components:
a data acquisition module configured to: acquiring road network information;
a subregion division module configured to: dividing the acquired road network to obtain a plurality of road network subareas;
a macro base graph creation module configured to: fitting to obtain a macroscopic basic diagram according to the related data of the road network sub-regions, and selecting a controlled sub-region according to the fitting degree of the macroscopic basic diagram;
a vehicle condition determination module configured to: determining the accumulated number of vehicles in the controlled subarea and the actual queuing length of the road section of the boundary intersection of the controlled subarea;
a control module configured to: obtaining a green light duration control result according to the determined accumulated number of vehicles in the controlled subarea, the actual queuing length of the intersection section of the boundary of the controlled subarea and a preset control strategy;
when a preset control strategy controls the green light time length, firstly, determining the green light time length of the first boundary intersection adjustment of the current period according to the accumulated number of vehicles in the controlled subarea, and determining the green light time length of the second boundary intersection adjustment according to the actual queuing length of the road section of the boundary intersection of the controlled subarea; the green light duration of the boundary intersection of the current period is as follows: the green light time length of the previous period boundary crossing entering the controlled subarea is different from the green light time length of the first boundary crossing, and the green light time length of the second boundary crossing is added.
The working method of the system is the same as the signal lamp control method of embodiment 1 considering the queuing length of the boundary intersection, and will not be repeated here.
Example 3:
the present embodiment provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the traffic light control method described in embodiment 1 that considers the queuing length of a boundary intersection.
Example 4:
the present embodiment provides an electronic device including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the traffic light control method described in embodiment 1 that considers the queuing length of a boundary intersection when executing the program.
The above description is only a preferred embodiment of the present embodiment, and is not intended to limit the present embodiment, and various modifications and variations can be made to the present embodiment by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present embodiment should be included in the protection scope of the present embodiment.
Claims (9)
1. The signal lamp control method considering the queuing length of the boundary intersection is characterized by comprising the following steps:
acquiring road network information;
dividing the acquired road network to obtain a plurality of road network subareas;
fitting to obtain a macroscopic basic diagram according to the related data of the road network sub-regions, and selecting a controlled sub-region according to the fitting degree of the macroscopic basic diagram;
determining the accumulated number of vehicles in the controlled subarea and the actual queuing length of the road section of the boundary intersection of the controlled subarea;
obtaining a green light duration control result according to the determined accumulated number of vehicles in the controlled subarea, the actual queuing length of the intersection section of the boundary of the controlled subarea and a preset control strategy;
when a preset control strategy controls the green light time length, firstly, determining the green light time length of the first boundary intersection adjustment of the current period according to the accumulated number of vehicles in the controlled subarea, and determining the green light time length of the second boundary intersection adjustment according to the actual queuing length of the road section of the boundary intersection of the controlled subarea; the green light duration of the boundary intersection of the current period is as follows: the green light time length of the previous period boundary intersection entering the controlled subarea is different from the green light time length of the first boundary intersection, and the green light time length of the second boundary intersection is added;
acquiring traffic parameters, and constructing a weighted undirected graph of the road network according to the traffic parameters;
calculating the association degree between adjacent intersections in the road network by utilizing a Whitson model according to the weighted undirected graph and the actual traffic flow data of the road section; constructing a weighting matrix of the road network undirected weighting graph according to the association degree;
and carrying out normalized segmentation according to the association degree and the weighting matrix to obtain a road network subarea.
2. The signal lamp control method considering the queuing length of the boundary intersection as claimed in claim 1, wherein the fitting to obtain the macroscopic basic map according to the related data of the road network subarea comprises:
collecting the accumulated number of vehicles in each road network subarea and the number of vehicles reaching the destination journey;
and drawing a road network scatter diagram by taking the accumulated number of vehicles in the road network subarea at a certain moment as an abscissa and the total number of vehicles driven off at a corresponding moment as an ordinate, fitting a road network macroscopic basic diagram curve according to scatter diagram data, and acquiring an equation of the macroscopic basic diagram and the optimal accumulated number of vehicles in the subarea.
3. The traffic light control method considering the queuing length of the boundary intersection as claimed in claim 1, wherein the cumulative number of vehicles in the controlled sub-zone is: the sum of the cumulative number of vehicles whose destination is in the controlled subarea at a certain moment and the cumulative number of vehicles whose destination is in the peripheral subarea at a corresponding moment.
4. The traffic light control method considering boundary intersection queuing length according to claim 1, wherein the actual queuing length of the controlled sub-zone boundary intersection road segment is the number of queuing vehicles at the current intersection j at time t+Δt:
wherein t is ij Representing the number of vehicle transfers from intersection i to intersection j; a is that i Vehicle arrival rate at intersection i; x is x i (t) represents the number of vehicles queued at the current intersection j at time t.
5. The traffic light control method considering the queuing length of the boundary intersection as claimed in claim 3, wherein the travel completion amount of the controlled sub-zone is maximized when the accumulated number of vehicles in the controlled sub-zone is maintained at the optimal accumulated number of vehicles; when the accumulated vehicle number in the controlled subarea is smaller than the minimum value of the preset value range, the road network is in an unblocked state, and the vehicle journey in the controlled subarea is increased along with the increase of the accumulated vehicle number; when the accumulated number of vehicles in the controlled subarea exceeds the maximum value of the threshold range, traffic jam occurs in the traffic in the controlled subarea.
6. The traffic light control method considering the queuing length of the boundary intersection as claimed in claim 3, wherein the green light duration control comprises:
calculating the difference value between the accumulated vehicle number in the controlled subarea and the optimal accumulated vehicle number, and distributing the difference value to each boundary intersection according to the proportion of the entering controlled subarea of each boundary intersection of the controlled subarea to the total entering subarea, so as to adjust the green light time of the intersection;
if the actual queuing length of the controlled subarea boundary intersection road section exceeds the queuing threshold green light time, increasing the unit green light time; and if the actual queuing length of the road section of the boundary intersection of the controlled subarea is smaller than the minimum queuing length, reducing the unit green light time, and performing secondary optimization on the street light time of the signal lamp of the boundary intersection.
7. A signal lamp control system considering the queuing length of a boundary intersection, comprising:
a data acquisition module configured to: acquiring road network information;
a subregion division module configured to: dividing the acquired road network to obtain a plurality of road network subareas;
a macro base graph creation module configured to: fitting to obtain a macroscopic basic diagram according to the related data of the road network sub-regions, and selecting a controlled sub-region according to the fitting degree of the macroscopic basic diagram;
a vehicle condition determination module configured to: determining the accumulated number of vehicles in the controlled subarea and the actual queuing length of the road section of the boundary intersection of the controlled subarea;
a control module configured to: obtaining a green light duration control result according to the determined accumulated number of vehicles in the controlled subarea, the actual queuing length of the intersection section of the boundary of the controlled subarea and a preset control strategy;
when a preset control strategy controls the green light time length, firstly, determining the green light time length of the first boundary intersection adjustment of the current period according to the accumulated number of vehicles in the controlled subarea, and determining the green light time length of the second boundary intersection adjustment according to the actual queuing length of the road section of the boundary intersection of the controlled subarea; the green light duration of the boundary intersection of the current period is as follows: the green light time length of the previous period boundary intersection entering the controlled subarea is different from the green light time length of the first boundary intersection, and the green light time length of the second boundary intersection is added;
acquiring traffic parameters, and constructing a weighted undirected graph of the road network according to the traffic parameters;
calculating the association degree between adjacent intersections in the road network by utilizing a Whitson model according to the weighted undirected graph and the actual traffic flow data of the road section; constructing a weighting matrix of the road network undirected weighting graph according to the association degree;
and carrying out normalized segmentation according to the association degree and the weighting matrix to obtain a road network subarea.
8. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the steps of the traffic light control method according to any one of claims 1-6, taking into account the queuing length of boundary intersections.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the traffic light control method according to any one of claims 1-6 taking into account the queuing length of boundary intersections when executing the program.
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