CN116189461B - Intersection traffic control method, system and storage medium considering carbon emission - Google Patents
Intersection traffic control method, system and storage medium considering carbon emission Download PDFInfo
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- G—PHYSICS
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
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- G—PHYSICS
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- 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
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- 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
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
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Abstract
The invention relates to the field of traffic control, in particular to a method, a system and a storage medium for controlling traffic of intersections with carbon emission considered. According to the intersection traffic control method considering carbon emission, firstly, the flow ratio of each running direction of the current intersection is calculated by combining the equivalent coefficient; the signal period and the effective green time in each phase within the signal period are then calculated. The traffic control method can be used for traffic control based on the actual conditions of the intersections by adjusting the equivalent coefficients, is beneficial to improving the vehicle passing efficiency of high-energy-consumption vehicles in more running directions and reducing the vehicle loss time, and can be used for formulating signal lamp control schemes of any intersection to achieve formulation of signal lamp control schemes meeting the minimum carbon emission of the intersections.
Description
Technical Field
The invention relates to the field of traffic control, in particular to a method, a system and a storage medium for controlling traffic of an intersection in consideration of carbon emission.
Background
With the rapid increase of the maintenance quantity of motor vehicles, urban traffic jam has become a major concern for the society, and along with the increase of traffic quantity, traffic safety problems are also becoming prominent. Meanwhile, the transportation industry is used as an important field of energy consumption, and plays an irreplaceable role in the process of carbon neutralization. It is easy to see that the transportation industry is taken as the basis of national economy development and daily life of people, and the realization of low-carbon, efficient and safe travel has practical and great significance.
Compared with expressways, rail transit, aviation, water transportation and the like, the urban road traffic has more complex environment, more frequent man-vehicle-road-environment interaction and more complicated facilities, standards, specifications and rules, and how to realize low-carbon, efficient and safe travel of people and real-time, accurate and scientific management of managers in urban road traffic is a troublesome problem in the current urban development.
Road traffic signal control systems have become an indispensable traffic management system in road management and control systems. At present, in the optimization control process of urban road traffic operation, the traffic operation condition and the carbon emission from an intersection to a road network are difficult to perceive, meanwhile, in the signal optimization control process, how to reduce the carbon emission of the traffic operation is not considered, and most cases only consider the traffic efficiency and the safety.
In the current road traffic process, only the vehicle type is considered, and the vehicle energy system is not considered. The carbon emissions of different energy systems vary greatly, and reference is made to table 1 below. Therefore, the method has important significance in the road traffic control process by combining with the vehicle system for optimization.
TABLE 1 carbon emissions of various types of vehicles under different driving conditions
Disclosure of Invention
In order to solve the defect that an effective road management and control optimization scheme is lacking in the prior art, the invention provides an intersection traffic management and control method considering carbon emission, which can perform traffic management and control based on the actual situation of an intersection, is beneficial to improving the traffic efficiency of the intersection and reducing the vehicle loss time, and can be used for formulating a signal lamp control scheme of any intersection.
The invention provides a method for controlling traffic at an intersection by considering carbon emission, which is used for setting the signal period of a traffic signal lamp at the intersection and comprises the following steps:
s1, acquiring traffic videos within a set time T of a traffic signal lamp of an intersection, and calculating flow ratios in all driving directions; the total phase number of the traffic signal lamp is I, y i For the flow ratio in the first driving direction in the ith phase, y i ' is the flow ratio in the second traveling direction in the ith phase, y i And y i ' the corresponding travel directions are opposite; max (y) i ,y i ') represents the maximum flow ratio of the i-th phase, max represents the maximum value;
s2, calculating the signal period C by combining the following formula 0 ；
C 0 =(1.5L+5)/(1-Y)
L=B 1 +B 2 +…+B i +…+B I
B i =Z i +L i -A
Y=max(y 1 ,y 1 ’)+max(y 2 ,y 2 ’)+…+max(y i ,y i ’)+…+max(y I ,y I ’)
If the vehicle has only one traveling direction in the i-th phase, max (y i ,y i ’)=y i =y i 'A'; the flow ratio in the running direction is the ratio of the actual value of the number of vehicles on the lane to the number of the vehicles which can be accommodated in the lane in the set unit time; y is the sum of flow ratios in the signal period;
Z i time lost for vehicle start in the ith phase of a signal cycle; l (L) i The minimum green light interval time in the ith phase in one signal period is the minimum time sum of yellow light and red light in one signal period; a is the yellow light time in one phase; z is Z i L is the observed value i And A are all set manually, B i And L are transition values; 1 +.i;
s3, enabling the effective green light time in the ith phase to be marked as g (i), and calculating the effective green light time in each phase in a signal period by combining the following formula;
g(i)=max(y i ,y i ’)×G e /Y
G e =C 0 -L-2A
G e representing the sum of the effective green times in the signal period;
the calculation of the flow ratio in S1 specifically comprises the following sub-steps:
s11, setting equivalent coefficients corresponding to target vehicle types and energy-saving grades of different vehicles, and enabling the equivalent coefficient of a jth vehicle type to be denoted as r (j), wherein r (j) represents the energy consumption of the jth vehicle type, which is equal to r (j) times of the energy consumption of the target vehicle type;
s12, converting the number of vehicles of the non-target vehicle types in the appointed running direction in the traffic video into the number of vehicles of the target vehicle types with equal energy consumption by combining the equivalent coefficients to serve as the number of vehicles equivalent, and dividing the sum of the number of vehicles equivalent in the appointed running direction and the number of vehicles of the target vehicle types in the appointed running direction in unit time by the number of receivable vehicles of the corresponding lanes to serve as the flow ratio in the corresponding running direction.
Preferably, the method further comprises step S4: designing a signal lamp control scheme by combining the yellow lamp time, the signal period, the effective green lamp time in each phase and the set signal lamp control rule;
the signal lamp control rule includes:
constraint 1: green light time of each phase is sequentially arranged, and a yellow light time is inserted into green light time of two adjacent phases;
constraint 2: red light time = signal period for each phase-green light time and yellow light time for that phase;
constraint 3: the color sequence of the traffic signal lamp on each phase is green light yellow light and red light green light, and the traffic signal lamp is circulated in turn.
Preferably, in S11, the vehicles are classified in combination with the vehicle energy types, or the vehicles are classified in combination with the vehicle energy types and the vehicle transportation capacities; setting an equivalent coefficient for each category; the equivalent coefficient of the target vehicle model is 1.
Preferably, in S1, the flow ratio in the driving direction is a ratio of an actual value of the number of vehicles on the lane to the number of vehicles that can be accommodated in the lane in a set unit time, and the unit time is greater than the signal period of the longest traffic light.
Preferably, the unit time is not less than half an hour; or n hours per unit time, n.gtoreq.1.
The invention provides another intersection traffic control method considering carbon emission, which comprises the following steps:
SA1, setting traffic state evaluation indexes and vehicle type classification, and setting a plurality of groups of equivalent coefficients, wherein each group of equivalent coefficients consists of equivalent coefficients corresponding to the vehicle type classification one by one;
SA2, executing steps S1-S4 in the intersection traffic control method considering carbon emission aiming at each group of equivalent coefficients, and obtaining a traffic signal lamp control scheme corresponding to each group of equivalent coefficients;
SA3, calculating state evaluation indexes of all traffic signal lamp control schemes, and selecting the traffic signal lamp control scheme with the optimal corresponding state evaluation indexes as a target scheme.
Preferably, the traffic state evaluation index includes one or more of an average travel time At of the vehicle passing through the intersection, an average speed Av of the vehicle passing through the intersection, and an average loss time Az of the vehicle passing through the intersection.
The invention also provides an intersection traffic control system and a storage medium, which provide a carrier for the intersection traffic control method considering carbon emission, and are convenient for popularization of the intersection traffic control method considering carbon emission.
The invention provides an intersection traffic control system, which comprises a memory and a processor, wherein a computer program is stored in the memory, the processor is connected with the memory, and the processor is used for executing the computer program to realize the intersection traffic control method considering carbon emission.
The storage medium is provided with a computer program, and the computer program is used for realizing the intersection traffic control method considering carbon emission when being executed.
The invention also provides an intersection traffic control system considering carbon emission, so as to realize the optimal management of traffic signal lamps, and the system comprises a camera, a processor and a traffic signal lamp driving module; the camera is used for collecting the monitoring video, and the processor is used for executing the intersection traffic control method considering carbon emission so as to obtain a traffic signal lamp control scheme; the traffic signal lamp driving module is used for acquiring a traffic signal lamp control scheme formulated by the processor and driving the traffic signal lamp to work according to the traffic signal lamp control scheme.
The invention has the advantages that:
(1) The invention combines the equivalent factors and can be adjusted in a targeted manner according to the carbon emission condition of the intersection, so that the phase of the traffic signal lamp and the effective green time under each phase are designed according to the flow ratio of each driving direction of the intersection, thereby being beneficial to formulating a personalized control scheme conforming to the traffic state of the intersection according to the quantity ratio of different energy vehicles of the intersection, enabling the time of vehicles with high energy consumption and high carbon emission to pass through the intersection to be shorter, realizing carbon emission control and realizing low-carbon, high-efficiency and safe urban road traffic optimization management and control.
(2) The invention is beneficial to improving the adaptability and traffic optimization capacity of the signal lamp control scheme of the intersection to the intersection, thereby improving the traffic efficiency of the intersection.
(3) The invention can efficiently, quickly and accurately generate the signal lamp control scheme by combining the set signal lamp control rule.
(4) The invention can be combined with old equipment (video equipment such as monitoring, electronic police and the like) to accurately acquire the dynamic information of urban road traffic in real time, can be directly used for improving the existing equipment, is beneficial to utilizing the existing public resources to the greatest extent, can further realize holographic perception of the urban road traffic, and is beneficial to improving the functions and the status of the current urban intelligent traffic system from the aspect of quality.
Drawings
FIG. 1 is a flow chart of a method for controlling traffic at an intersection in consideration of carbon emissions;
FIG. 2 is a schematic diagram of a signal lamp control scheme according to a first embodiment;
fig. 3 is a schematic diagram of a signal lamp control scheme according to a second embodiment;
FIG. 4 is a schematic diagram of a signal lamp control scheme according to a third embodiment;
FIG. 5 is a schematic diagram of a signal lamp control scheme according to a fourth embodiment;
figure 6 is a graphical representation of the performance of four schemes.
Detailed Description
As shown in fig. 1, the first method for controlling traffic at an intersection, which is proposed in this embodiment and takes carbon emission into consideration, is used for setting a signal period of a traffic signal lamp at the intersection, and specifically includes the following steps S1-S4.
S1, acquiring traffic videos within a set time T of a traffic signal lamp of an intersection, and calculating flow ratios in all driving directions; the total phase number of the traffic signal lamp is I, y i For the flow ratio in the first driving direction in the ith phase, y i ' is the flow ratio in the second traveling direction in the ith phase, y i And y i ' the corresponding travel directions are opposite; max (y) i ,y i ') represents the maximum flow ratio of the i-th phase, and max represents the maximum value.
In the embodiment, the fuel oil vehicle is used as a target vehicle type, firstly, equivalent coefficients corresponding to energy-saving grades of different vehicles are set, and the equivalent coefficient of a jth vehicle type is recorded as r (j); then in S1, firstly converting the quantity of non-fuel vehicles in the traffic video into the quantity of fuel vehicles with equal energy consumption as the vehicle equivalent quantity by combining the equivalent coefficient, then calculating the flow ratio in each driving direction by combining the sum of the vehicle equivalent quantity and the actual fuel vehicle quantity, and then calculating the signal period C 0 And the effective green time in each phase of the signal period.
In specific implementation, the equivalent coefficients comprise an equivalent coefficient r (1) corresponding to a new energy vehicle, an equivalent coefficient r (2) corresponding to a fuel gas vehicle, an equivalent coefficient r (3) corresponding to an oil-gas mixture vehicle and the like. And the non-fuel vehicles can also be arranged to correspond to the same equivalent coefficient.
S2, calculating the signal period C by combining the following formula 0 ；
C 0 =(1.5L+5)/(1-Y) (1)
L=B 1 +B 2 +…+B i +…+B I (2)
B i =Z i +L i -A (3)
Y=max(y 1 ,y 1 ’)+max(y 2 ,y 2 ’)+…+max(y i ,y i ’)+…+max(y I ,y I ’) (4)
If the vehicle has only one traveling direction in the i-th phase, max (y i ,y i ’)=y i =y i 'A'; the flow ratio in the running direction is the ratio of the actual value of the number of vehicles on the lane to the number of the vehicles which can be accommodated in the lane in the set unit time; y is the sum of flow ratios in the signal period;
Z i time lost for vehicle start in the ith phase of a signal cycle; l (L) i The minimum green light interval time in the ith phase in one signal period is the minimum time sum of yellow light and red light in one signal period; a is the yellow light time in one phase; z is Z i L is the observed value i And A are all set manually, B i And L are transition values; 1 +.i;
s3, enabling the effective green light time in the ith phase to be marked as g (i), and calculating the effective green light time in each phase in a signal period by combining the following formula;
g(i)=max(y i ,y i ’)×G e /Y (5)
G e =C 0 -L-2A(6)
G e representing the sum of the effective green times within the signal period.
S4, designing a signal lamp control scheme by combining the effective green light time, the yellow light time, the signal period and the set signal lamp control rule in each phase.
The signal lamp control rule includes:
constraint 1: green light time of each phase is sequentially arranged, and a yellow light time is inserted into green light time of two adjacent phases;
constraint 2: red light time = signal period for each phase-green light time and yellow light time for that phase;
constraint 3: the color sequence of the traffic signal lamp on each phase is green light yellow light and red light green light, and the traffic signal lamp is circulated in turn.
The second method for controlling the traffic of the intersection considering the carbon emission, which is provided by the embodiment, specifically comprises the following steps SA1-SA3.
SA1, setting traffic state evaluation indexes, wherein the traffic state evaluation indexes comprise one or more of average travel time At of a vehicle passing through an intersection, average speed Av of the vehicle passing through the intersection and average loss time Az of the vehicle passing through the intersection; setting a plurality of groups of equivalent coefficients, wherein each group of equivalent coefficients consists of equivalent coefficients corresponding to the energy-saving grades of the vehicles one by one;
SA2, executing S1-S4 in the first intersection traffic control method considering carbon emission aiming at each group of equivalent coefficients, and obtaining a traffic signal lamp control scheme corresponding to each group of equivalent coefficients;
SA3, calculating state evaluation indexes of all traffic signal lamp control schemes, and selecting the traffic signal lamp control scheme with the optimal corresponding state evaluation indexes as a target scheme.
The different traffic light control schemes generated in this embodiment are verified in conjunction with specific examples as follows.
In this embodiment, the traffic signal lamp at a certain intersection needs to be controlled, in this embodiment, four phases are set for the traffic signal lamp first, the first phase allows east-west straight movement, the second phase allows east-west left movement, the third phase allows north-south straight movement, and the fourth phase allows south-north left movement, i.e. i=4.
In this embodiment, the vehicle start-up loss time in each phase is set to 3 seconds, the minimum value of the green light interval time in each phase is set to 3 seconds, the yellow light time in each phase is set to 3 seconds,
in this embodiment, the video monitoring is performed on the intersection first, and the data of the vehicles entering the lane of the intersection in each direction within 15 minutes are obtained as shown in table 2 below.
Table 2 specific vehicle data within 15 minutes of target video
In this embodiment, the unit time is set to be 1 hour, so, in combination with the vehicle flow in the 15-minute video monitoring shown in table 2, the vehicle flow in each phase of the traffic signal lamp in 1 hour can be calculated, as shown in table 3.
Table 3: vehicle flow and lane saturation flow per unit time of each phase
In this embodiment, 4 phases are defined: east-west straight, east-west left turn, north-south straight, north-south left turn;
defining 2 vehicle types: fuel oil vehicles and new energy vehicles;
defining each phase to comprise 2 running directions with opposite running directions;
in table 3 above, the flow rate per unit time is the total number of specified vehicles entering the intersection in the specified traveling direction in the specified phase per unit time, and the flow rate per monitored time is the total number of specified vehicles entering the intersection in the specified traveling direction in the specified phase in the monitored time. In this example, since the time is set to 15 minutes and the unit time is set to 1 hour, the same line of data in table 3 has a unit time flow rate=monitoring time flow rate×4.
In this embodiment, four traffic signal lamp control schemes are specified by adopting the intersection traffic control method considering carbon emission provided by the invention.
Scheme one: the analysis of this example, without distinguishing between fuel vehicles and new energy vehicles, combined with the first intersection traffic control method considering carbon emissions provided by the present invention, shows that the statistics of the data in each phase in this example are shown in table 4.
Table 4: scheme one traffic flow and saturation flow data for each phase
As is clear from tables 4 and 3, in the first embodiment, the traffic volume q in each traveling direction is the sum of the flow rates per unit time of the fuel vehicle and the new energy vehicle in the traveling direction, and the lane saturation flow rate s is a fixed value and is determined by the objective road condition. The flow ratio in each traveling direction is the ratio of the traffic q to the lane saturation flow s in that traveling direction, and the maximum flow ratio is the larger of the flow ratios corresponding to the two traveling directions in the phase.
As can be seen from table 4, in the first embodiment, there are:
max(y 1 ,y 1 ’)=0.3，max(y 2 ,y 2 ’)=0.172，max(y 3 ,y 3 ’)=0.2，max(y 4 ,y 4 ’)=0.15；
in the present embodiment, the vehicle start loss time, the minimum green light interval time and the yellow light time in each phase are all set to 3 seconds, and are substituted into formula (3) to have, B 1 =B 2 =B 3 =B 4 =3 seconds, l=b 1 +B 2 +B 3 +B 4 =12 seconds; substituting the formula (1) to (6), and calculating to obtain:
Y=max(y 1 ,y 1 ’)+max(y 2 ,y 2 ’)+max(y 3 ,y 3 ’)+max(y 4 ,y 4 ’)=0.822
C 0 = (1.5l+5)/(1-Y) = (1.5x12+5)/(1-0.822) = 129.13 seconds ≡129 seconds
G e =C 0 -L-2a=129-12-6=111 seconds;
g(1)=max(y 1 ,y 1 ’)×G e y=0.3 x 111/0.822=40.5 Σ41 seconds
g(2)=max(y 2 ,y 2 ’)×G e Y=0.172×111/0.822=23.2 Σ23 seconds
g(3)=max(y 3 ,y 3 ’)×G e Y=0.2 x 111/0.822=27 seconds
g(4)=max(y 4 ,y 4 ’)×G e Y=0.15 x 111/0.822=20.2 Σ20 seconds
In this embodiment, under the condition that the traffic signal lamp period, the green light time of each phase, and the yellow light time of a single phase are known, the traffic signal lamp control scheme is set according to the set signal lamp control rule:
as shown in fig. 2, in combination with the above calculation result, the traffic signal control scheme obtained by combining the effective green time g (1), g (2), g (3) and g (4) in scheme one is as follows:
first phase-east-west straight line: green 41 seconds + yellow 3 seconds + red 129-44 = 85 seconds;
second phase-east-west left turn: 44 seconds for red light, 23 seconds for green light, 3 seconds for yellow light, and 59 seconds for red light;
third phase-north-south straight: 70 seconds for red light, 27 seconds for green light, 3 seconds for yellow light, and 29 seconds for red light;
fourth phase-north-south left turn: 100 seconds for red light, 20 seconds for green light, 3 seconds for yellow light, and 6 seconds for red light;
scheme II: the first intersection traffic control method considering carbon emission provided by the invention is combined to analyze the embodiment to make the equivalent coefficient be 0, namely the energy consumption of 1 new energy vehicle is equal to the energy consumption of 0 fuel vehicles.
It can be seen that the data statistics at each phase in this example are shown in table 5.
Table 5: scheme II, traffic flow and saturated flow data of each phase
As is clear from tables 5 and 3, in the second embodiment, the traffic volume q in each traveling direction is the flow rate per unit time of the fuel vehicle in that traveling direction, and the lane saturation flow rate s is a fixed value, and is determined by the objective road condition. As can be seen from table 5, in the second embodiment, there are:
max(y 1 ,y 1 ’)=0.272，max(y 2 ,y 2 ’)=0.157，max(y 3 ,y 3 ’)=0.2，max(y 4 ,y 4 ’)=0.138；
B 1 =B 2 =B 3 =B 4 =3 seconds, l=b 1 +B 2 +B 3 +B 4 =12 seconds; substituting the formula (1) to (6), and calculating to obtain:
Y=max(y 1 ,y 1 ’)+max(y 2 ,y 2 ’)+max(y 3 ,y 3 ’)+max(y 4 ,y 4 ’)=0.767
C 0 = (1.5l+5)/(1-Y) = (1.5x12+5)/(1-0.767) congruent for 99 seconds
G e =C 0 -L-2a=99-12-6=81 seconds;
g(1)=max(y 1 ,y 1 ’)×G e y=0.272×81/0.767=28.72 congruent 29 seconds
g(2)=max(y 2 ,y 2 ’)×G e Y=0.157×81/0.767=16.58 congruent 17 seconds
g(3)=max(y 3 ,y 3 ’)×G e Y=0.2×81/0.767=21.12 congruent 21 seconds
g(4)=max(y 4 ,y 4 ’)×G e Y=0.138×81/0.767=14.57.congruent 15 seconds
As shown in fig. 3, the traffic signal control scheme obtained by combining the effective green light time g (1), g (2), g (3), g (4) and the signal control rule is as follows:
first phase-east-west straight line: green 29 seconds + yellow 3 seconds + red 99-32 = 67 seconds;
second phase-east-west left turn: 32 seconds for red light + 17 seconds for green light + 3 seconds for yellow light + 47 seconds for red light;
third phase-north-south straight: 52 seconds for red light, 21 seconds for green light, 3 seconds for yellow light, and 23 seconds for red light;
fourth phase-north-south left turn: 76 seconds for red light, 15 seconds for green light, 3 seconds for yellow light, and 5 seconds for red light;
scheme III: the first intersection traffic control method considering carbon emission provided by the invention is combined to analyze the embodiment to make the equivalent coefficient be 0.4, namely the energy consumption of 1 new energy vehicle is equal to the energy consumption of 0.4 fuel vehicles.
It can be seen that the data statistics at each phase in this example are shown in table 6.
Table 6: scheme III traffic flow and saturated flow data of each phase
As is clear from tables 6 and 3, in the third embodiment, the traffic volume q in each traveling direction is the flow rate per unit time of the fuel vehicle plus 0.4 times the flow rate per unit time of the new energy vehicle in the traveling direction, and the traffic saturation flow rate s is a fixed value and is determined by the objective road condition. As can be seen from table 6, in the third embodiment, there are:
max(y 1 ,y 1 ’)=0.284，max(y 2 ,y 2 ’)=0.164，max(y 3 ,y 3 ’)=0.2，max(y 4 ,y 4 ’)=0.145；
B 1 =B 2 =B 3 =B 4 =3 seconds, l=b 1 +B 2 +B 3 +B 4 =12 seconds; substituting the formula (1) to (6), and calculating to obtain:
Y=max(y 1 ,y 1 ’)+max(y 2 ,y 2 ’)+max(y 3 ,y 3 ’)+max(y 4 ,y 4 ’)=0.793
C 0 = (1.5l+5)/(1-Y) = (1.5×12+5)/(1-0.793) =111.11 Σ111 seconds
G e =C 0 -L-2a=111-12-6=93 seconds;
g(1)=max(y 1 ,y 1 ’)×G e y=0.284×93/0.793 = 33.31 ×33 seconds
g(2)=max(y 2 ,y 2 ’)×G e Y=0.164×93/0.793 =19.23≡19 seconds
g(3)=max(y 3 ,y 3 ’)×G e Y=0.2 x 93/0.793 = 23.455 congruent for 24 seconds
g(4)=max(y 4 ,y 4 ’)×G e Y=0.145×93/0.793 =17.01 Σ17 seconds
As shown in fig. 4, the traffic signal control scheme obtained by combining the effective green light time g (1), g (2), g (3), g (4) and the signal control rule is as follows:
first phase-east-west straight line: green 33 seconds + yellow 3 seconds + red 111-36 = 75 seconds;
second phase-east-west left turn: 36 seconds for red light, 19 seconds for green light, 3 seconds for yellow light, and 53 seconds for red light;
third phase-north-south straight: 58 seconds for red light, 24 seconds for green light, 3 seconds for yellow light, and 26 seconds for red light;
fourth phase-north-south left turn: red light 85 seconds + green light 17 seconds + yellow light 3 seconds + red light 6 seconds.
Scheme IV: the first intersection traffic control method considering carbon emission provided by the invention is combined to analyze the embodiment to make the equivalent coefficient be 0.8, namely the energy consumption of 1 new energy vehicle is equal to the energy consumption of 0.8 fuel vehicles.
It can be seen that the data statistics at each phase in this example are shown in table 7.
Table 7: scheme IV, traffic flow and saturated flow data of each phase
As is clear from tables 7 and 3, in the fourth embodiment, the traffic volume q in each traveling direction is the flow rate per unit time of the fuel vehicle plus 0.8 times the flow rate per unit time of the new energy vehicle in the traveling direction, and the traffic saturation flow rate s is a fixed value and is determined by the objective road condition. As can be seen from table 7, in the fourth embodiment, there are:
max(y 1 ,y 1 ’)=0.295，max(y 2 ,y 2 ’)=0.168，max(y 3 ,y 3 ’)=0.2，max(y 4 ,y 4 ’)=0.148；
B 1 =B 2 =B 3 =B 4 =3 seconds, l=b 1 +B 2 +B 3 +B 4 =12 seconds; substituting the formula (1) to (6), and calculating to obtain:
Y=max(y 1 ,y 1 ’)+max(y 2 ,y 2 ’)+max(y 3 ,y 3 ’)+max(y 4 ,y 4 ’)=0.811
C 0 = (1.5l+5)/(1-Y) = (1.5x12+5)/(1-0.811) =121.69 Σ122 seconds
G e =C 0 -L-2a=122-12-6=104 seconds;
g(1)=max(y 1 ,y 1 ’)×G e y=0.295×104/0.811=37.83 congruent for 38 seconds
g(2)=max(y 2 ,y 2 ’)×G e Y=0.168×104/0.811= 21.54 Σ22 seconds
g(3)=max(y 3 ,y 3 ’)×G e Y=0.2 x 104/0.811=25.65 congruent for 26 seconds
g(4)=max(y 4 ,y 4 ’)×G e Y=0.148×104/0.811=18.98 Σ19 seconds
As shown in fig. 5, the traffic signal control scheme obtained by combining the effective green light time g (1), g (2), g (3), g (4) and the signal control rule is as follows:
first phase-east-west straight line: green light 38 seconds + yellow light 3 seconds + red light 122-41 = 81 seconds;
second phase-east-west left turn: 41 seconds for red light, 22 seconds for green light, 3 seconds for yellow light, and 56 seconds for red light;
third phase-north-south straight: 66 seconds for red light, 26 seconds for green light, 3 seconds for yellow light, and 27 seconds for red light;
fourth phase-north-south left turn: 95 seconds for red light, 19 seconds for green light, 3 seconds for yellow light, and 5 seconds for red light.
In this embodiment, the first, second, third, and fourth schemes are simulated, and the first, second, third, and fourth schemes are evaluated in combination with an average travel time At of the vehicle passing through the intersection, an average speed Av of the vehicle passing through the intersection, and an average loss time Az of the vehicle passing through the intersection, respectively, and the evaluation results are shown in table 8 below.
Table 8 comparison of various protocol indexes
The statistical results of table 8 are shown in fig. 6, and in combination with fig. 6, the third and fourth schemes are superior to the first and second schemes in all evaluation indexes, and in this embodiment, through the setting of the equivalent coefficients, the waiting time of the vehicle at the intersection is reduced, so that the ineffective energy consumption is reduced; the fuel oil vehicle can increase invalid fuel consumption when waiting, thereby improving carbon emission; in this embodiment, in combination with the second method for controlling traffic at an intersection with carbon emission considered, the traffic signal lamp control scheme provided by the third scheme or the fourth scheme is selected, so that the vehicle passing efficiency of the intersection is higher, and the sum of carbon emission is reduced.
The above embodiments are merely preferred embodiments of the present invention and are not intended to limit the present invention, and any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (10)
1. An intersection traffic control method considering carbon emission is used for setting a signal period of an intersection traffic signal lamp, and is characterized by comprising the following steps:
s1, acquiring traffic videos within a set time T of a traffic signal lamp of an intersection, and calculating flow ratios in all driving directions; the total phase number of the traffic signal lamp is I, y i For the flow ratio in the first driving direction in the ith phase, y i ' is the flow ratio in the second traveling direction in the ith phase, y i And y i ' the corresponding travel directions are opposite; max (y) i ,y i ') represents the maximum flow ratio of the i-th phase, max represents the maximum value;
s2, calculating the signal period C by combining the following formula 0 ；
C 0 =(1.5L+5)/(1-Y)
L=B 1 +B 2 +…+B i +…+B I
B i =Z i +L i -A
Y=max(y 1 ,y 1 ’)+max(y 2 ,y 2 ’)+…+max(y i ,y i ’)+…+max(y I ,y I ’)
If the vehicle has only one traveling direction in the i-th phase, max (y i ,y i ’)=y i =y i 'A'; the flow ratio in the running direction is the ratio of the actual value of the number of vehicles on the lane to the number of the vehicles which can be accommodated in the lane in the set unit time; y is the sum of flow ratios in the signal period;
Z i time lost for vehicle start in the ith phase of a signal cycle; l (L) i The minimum green light interval time in the ith phase in one signal period is the minimum time sum of yellow light and red light in one signal period; a is the yellow light time in one phase; z is Z i L is the observed value i And A are all set manually, B i And L are transition values; 1 +.i;
s3, enabling the effective green light time in the ith phase to be marked as g (i), and calculating the effective green light time in each phase in a signal period by combining the following formula;
g(i)=max(y i ,y i ’)×G e /Y
G e =C 0 -L-2A
G e representing the sum of the effective green times in the signal period;
the calculation of the flow ratio in S1 specifically comprises the following sub-steps:
s11, setting equivalent coefficients corresponding to target vehicle types and energy-saving grades of different vehicles, and enabling the equivalent coefficient of a jth vehicle type to be denoted as r (j), wherein r (j) represents the energy consumption of the jth vehicle type, which is equal to r (j) times of the energy consumption of the target vehicle type;
s12, converting the number of vehicles of non-target vehicles in the specified driving direction in the traffic video into the number of vehicles of target vehicles with equal energy consumption as the number of vehicles equivalent, and dividing the sum of the number of vehicles in the specified driving direction and the number of vehicles of the target vehicles in the specified driving direction in unit time by the number of receivable vehicles of the corresponding lane to obtain a flow ratio in the corresponding driving direction;
according to the intersection traffic control method considering carbon emission, the personalized control scheme meeting the traffic state of the intersection is formulated according to the quantity ratio of different energy vehicles of the intersection by combining the equivalent coefficients, so that the time for the vehicles with high energy consumption and high carbon emission to pass through the intersection is shorter.
2. The intersection traffic control method considering carbon emissions according to claim 1, further comprising step S4: designing a signal lamp control scheme by combining the yellow lamp time, the signal period, the effective green lamp time in each phase and the set signal lamp control rule;
the signal lamp control rule includes:
constraint 1: green light time of each phase is sequentially arranged, and a yellow light time is inserted into green light time of two adjacent phases;
constraint 2: red light time = signal period for each phase-green light time and yellow light time for that phase;
constraint 3: the color sequence of the traffic signal lamp on each phase is green light yellow light and red light green light, and the traffic signal lamp is circulated in turn.
3. The intersection traffic control method considering carbon emissions according to claim 1, wherein in S11, vehicles are classified in combination with vehicle energy types or vehicles are classified in combination with vehicle energy types and vehicle transport capacities; setting an equivalent coefficient for each category; the equivalent coefficient of the target vehicle model is 1.
4. The intersection traffic control method considering carbon emissions according to claim 1, wherein the unit time is greater than the signal period of the longest traffic signal lamp.
5. The intersection traffic control method considering carbon emission as claimed in claim 3, wherein the unit time is not less than half an hour; or n hours per unit time, n.gtoreq.1.
6. The intersection traffic control method considering carbon emission is characterized by comprising the following steps of:
SA1, setting traffic state evaluation indexes and vehicle type classification, and setting a plurality of groups of equivalent coefficients, wherein each group of equivalent coefficients consists of equivalent coefficients corresponding to the vehicle type classification one by one;
SA2, executing steps S1-S4 in the intersection traffic control method considering carbon emission according to claim 2 aiming at each group of equivalent coefficients, and obtaining a traffic signal lamp control scheme corresponding to each group of equivalent coefficients;
SA3, calculating state evaluation indexes of all traffic signal lamp control schemes, and selecting the traffic signal lamp control scheme with the optimal corresponding state evaluation indexes as a target scheme.
7. The intersection traffic control method considering carbon emissions according to claim 6, wherein the traffic state evaluation index includes one or more of an average travel time At of a vehicle passing through an intersection, an average speed Av of a vehicle passing through an intersection, and an average loss time Az of a vehicle passing through an intersection.
8. An intersection traffic control system, comprising a memory and a processor, wherein the memory stores a computer program, the processor is connected to the memory, and the processor is configured to execute the computer program to implement the intersection traffic control method considering carbon emissions according to any one of claims 1-7.
9. A storage medium, characterized in that a computer program is stored, which computer program, when executed, is adapted to carry out the intersection traffic control method taking into account carbon emissions according to any one of claims 1-7.
10. The intersection traffic control system considering carbon emission is characterized by comprising a camera, a processor and a traffic signal lamp driving module; the camera is used for collecting monitoring videos, and the processor is used for executing the intersection traffic control method considering carbon emission according to any one of claims 1-7 so as to acquire a traffic signal lamp control scheme; the traffic signal lamp driving module is used for acquiring a traffic signal lamp control scheme formulated by the processor and driving the traffic signal lamp to work according to the traffic signal lamp control scheme.
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