CN105374217A - Signal lamp self-adaptive control method based on road intersection average saturation - Google Patents
Signal lamp self-adaptive control method based on road intersection average saturation Download PDFInfo
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- CN105374217A CN105374217A CN201510934892.7A CN201510934892A CN105374217A CN 105374217 A CN105374217 A CN 105374217A CN 201510934892 A CN201510934892 A CN 201510934892A CN 105374217 A CN105374217 A CN 105374217A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
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Abstract
The invention discloses a signal lamp self-adaptive control method based on road intersection average saturation, which solves the flaw of the signal lamp control method in the range of the 0.5<=X<=9. The signal lamp self-adaptive control method disclosed by the invention comprises steps of setting a statistics time period T2, wherein the statistics time period T2 comprises m signal periods, defining average phase saturation X<->, wherein the average phase saturation X<-> is the average phase saturation of the phase in the time period T2, determining a regulation mode for green light distribution time g according to the average phase saturation. The signal lamp self-adaptive control method based on the road intersection average saturation considers the regulation of green light time distribution during a certain time period, guarantees the stability of the system and the smoothness of the traffic at the intersection, effectively utilizes the green light time to reduce the stop delay and improve the traffic capacity.
Description
Technical field
The present invention relates to Signalized control technical field, specifically a kind of signal lamp self-adaptation control method based on intersection average staturation.
Background technology
At present, be most widely used in the world, intelligent signal control system that technology is comparatively ripe mainly comprises the systems such as split, cycle, offset optimization technology SCOOT (SplitCycleOffsetOptimizingTechnique), Sydney self-adaptation traffic control system SCATS (SydneyCoordinatedAdaptiveTrafficSystem) and transportation network research tool TRANSYT (TrafficNetworkStudyTool).Wherein, the phase place of SCOOT system cannot automatically increase or decrease, and phase sequence cannot change automatically, quite loaded down with trivial details during site installation test, and for the volume of traffic close to saturated or own through saturated traffic behavior, control effects is unsatisfactory; SCATS system does not have real-time traffic model, but from existing plan, select signal controling parameters according to class saturation degree and integrated flow rate, limit the degree of optimization of controling parameters, during selected phase difference scheme, feed back without wagon flow real-time information, reliability is low, cannot queue length be detected, is difficult to elimination crowded; TRANSYT system cannot adapt to the dynamic change of traffic flow, and calculated amount is very large, is difficult to the timing scheme obtaining total optimization, needs a large amount of road network physical dimensions and the support of traffic flow data.
The patent No. be 201110058712.5, patent name is in " the self-organization intelligent signal control method based on geomagnetism detecting ", in order to realize crossing Adaptive Signal Control, the traffic capacity effectively improving crossing and green light utilization factor, reduce stop delay.Detected the vehicle flowrate of each track import of crossing by geomagnetism detecting device (microwave detector), and these vehicle flowrate data are uploaded to signal controlling machine or backstage in real time; Then the average staturation X of signal controlling machine or hind computation crossing, the size according to average staturation X controls traffic lights.The choice criteria of its control method is as follows: if 0.4≤average staturation X < 0.6, and signal controlling machine adopts induction control mode to control traffic lights; If 0.6≤average staturation X < 1, signal controlling machine adopts adaptive control mode to control traffic lights; If average staturation X >=1, signal controlling machine adopts multi-period fixed cycle control mode to control traffic lights.And when x >=0.9, crossing is close to state of saturation, these traffic lights utilize increase-volume control mode in region comparatively applicable.Therefore, the choice criteria of existing control method is amended as follows:
1) as 0≤X < 0.5, induction control mode is adopted to control traffic lights;
2) as 0.5≤X < 0.9, adaptive control mode is adopted to control traffic lights;
3) as 0.9≤X < 1, regional balance control mode is adopted to control traffic lights;
4) when X >=1, multi-period fixed cycle control mode is adopted to control traffic lights.
In 0.5≤X < 0.9 interval range, represent that the current pressure of present road is larger, then need adjustment (increase or reduce) green time, but how to determine adaptive control mode, namely concrete adjustment green time how much meets current needs, and this ins and outs problem has become the gordian technique controlling traffic lights.
Summary of the invention
The object of the invention is, in order to solve in prior art the defect that there is no for Signalized control method in 0.5≤X < 0.9 interval range, to provide a kind of signal lamp self-adaptation control method based on intersection average staturation to solve the problems referred to above.
To achieve these goals, technical scheme of the present invention is as follows:
Based on a signal lamp self-adaptation control method for intersection average staturation, comprise the following steps:
Calculate the average staturation X of intersection;
As 0.5≤X < 0.9, adopt adaptive control mode to control traffic lights, described adaptive control mode controls traffic lights and comprises the following steps:
Setting timing statistics cycle T
2, timing statistics cycle T
2inside comprise m signal period;
Definition average phase saturation degree
average phase saturation degree
for period of time T
2the average staturation of this phase place interior;
According to average phase saturation degree
determine the adjustment mode of green light timing g;
Calculate green light timing g.
Described according to average phase saturation degree
determine that the adjustment mode of green light timing g comprises the following steps:
If 80% < average phase saturation degree
then do not adjust green light timing g;
If average phase saturation degree
then reduce the green light timing g of this phase place;
If average phase saturation degree
then increase the green light timing g of this phase place.
Described calculating green light timing g comprises the following steps:
Get the phase place track flow maximum of m signal period, composition flow sequence l, l={q
1, q
2, q
3..., q
m;
Calculate phase place track flow value q, remove maximal value and minimum value in flow sequence l and remake on average;
To flow sequence l by sorting from big to small, obtain l={q '
1..., q '
m;
Maximal value in flow sequence l and minimum value are removed;
The computing formula of phase place track flow value q is as follows:
Calculate green light timing g, its computing formula is as follows:
Wherein, X
cfor phase place saturation degree, S is track saturated flow value, and g is phase place green time, and q is phase place track flow value.
Described timing statistics cycle T
2for 10-20min.
Described phase place saturation degree X
cvalue be 85%.
Also comprise the process in limited time to green light timing g, it comprises the following steps:
Set minimum green time g
minwith maximum green time g
max;
If g < is g
min, then g=g
min;
If g > is g
max, then g=g
max
Beneficial effect
A kind of signal lamp self-adaptation control method based on intersection average staturation of the present invention, compared with prior art propose crossing average staturation X ∈ [0.5,0.9) self-adaptation control method time, the adjustment of green light timing is considered within the certain hour cycle, ensure that the stability of system and the stationarity of crossing traffic, can green time be effectively utilized, reduce stop delay, improve the traffic capacity.
Accompanying drawing explanation
Fig. 1 is method flow diagram of the present invention;
Fig. 2 is according to average phase saturation degree in the present invention
determine that green light timing g adjusts the method flow diagram of mode.
Embodiment
For making to have a better understanding and awareness architectural feature of the present invention and effect of reaching, coordinating detailed description in order to preferred embodiment and accompanying drawing, being described as follows:
The present invention in actual applications, wagon detector can be adopted to detect the vehicle flowrate of each track import of crossing, and these vehicle flowrate data are uploaded to signal controlling machine or backstage in real time, then, signal controlling machine 2 calculates the average staturation X in track, crossing, and the size according to average staturation X controls traffic lights.Its wagon detector can adopt microwave detector, the mode that microwave detector adopts forward to install, it is the detection mode of following the tracks of based on a kind of large regions: its radar antenna is by sequential filming radar microwave wave beam and be incident upon on road surface with the cycle be exceedingly fast, information of vehicles on detection road, when vehicle enters beam coverage, detecting device judges vehicle by the echo reflected, and carries out Division identification to determine target vehicle simultaneously, and demarcates numbering to each target vehicle; Carry out tracking target by the coordinate position of real-time positioned vehicle, realize detecting the tracking type of vehicle in beam coverage.Microwave detector utilizes the diffraction property of millimeter wave, can well solve the situation that cart blocks dolly, prevent undetected, improves accuracy of detection.Compared with general detecting device (such as earth magnetism), microwave detector does not need to destroy road surface, do not change the physical environment that crossing is intrinsic, it adopts the mode of picture virtual detection line to realize the function of many detector row, first row virtual detection line is generally arranged on the nearer position (general 3-5m) of distance stop line, second row or the 3rd row can be arranged on farther position and (generally get 30-50m, mainly arrange according to design speed), situation can be arrived by precognition vehicle more early, the spacing of virtual detection line carries out regulating (the main appearance considering to pass in and out switching value and prevent some undetected situations) according to the actual requirements, therefore microwave detects and can detect except vehicle flowrate, average velocity, time headway beyond time occupancy, the traffic datas such as queue length.Usual microwave detector is arranged on existing facility as on trackside column, lamp stand, overpass, door frame, viaduct etc.Signal controlling machine is arranged in the side of crossing, and the Receiving Host of microwave detector is connected with the signal input part of signal controlling machine, and the signal output part of signal controlling machine is connected with traffic lights.
As shown in Figure 1, a kind of signal lamp self-adaptation control method based on intersection average staturation of the present invention, comprises the following steps:
The first step, utilizes the method for prior art to calculate the average staturation X of intersection.
Signal controlling machine is according to crossing cycle T at regular intervals
1, add up single track flow value and and period of time T respectively
1interior green time sum, calculates the average staturation X of crossing, wherein T
1for configurable parameter, example: T
1=1 hour, be about n signal period.Its computation process is as follows: first, timing statistics cycle T
1single track, interior crossing flow value and
and green time and
secondly, each track average staturation XX is calculated:
wherein S is track saturation volume; Finally, calculating average staturation X: average staturation X is statistic period T
1the mean value of interior each track average staturation XX.
Second step, as 0.5≤X < 0.9, adopt adaptive control mode to control traffic lights, namely method of the present invention controls traffic lights.Now average staturation X be not X ∈ [0.5,1) because when X >=0.9, crossing is close to state of saturation, and these traffic lights utilize the inventive method no longer applicable, and increase-volume control mode in region is comparatively applicable.When adopting self-adaptation control method, when vehicle flowrate reduces, the saturation degree of crossing reduces, signal controlling machine cycle time reduction by automation, to reduce the stand-by period, reduces and incurs loss through delay; When vehicle flowrate increases, the saturation degree of crossing improves, and system adjusts the timing of phase place green light automatically, to pass through benefit, improve crossing traffic efficiency with each phase place of reasonable distribution.For making intersection efficiency reach the highest, phase place saturation degree x should remain on 80%-90%.Therefore according to fluctuations in discharge, using phase place saturation degree x as controling parameters, adjustment phase place green time, makes phase place saturation degree x control between 80%-90%, realizes crossing adaptive control in time.
Adaptive control mode controls traffic lights and comprises the following steps:
(1) timing statistics cycle T is set
2, timing statistics cycle T
2inside comprise m signal period.T
2for configurable parameter, be about m signal period, parameter m can not be too small, because when carrying out adaptive control, show after deliberation, if timing scheme transformation too frequent (being less than 10min), the then easy stability of influential system and the stationarity of crossing traffic; Therefore, the real-time of vehicle flowrate change is considered, desirable T
2=10 ~ 20min.
(2) average phase saturation degree is defined
average phase saturation degree
for period of time T
2the average staturation of this phase place interior.Average phase saturation degree
be average staturation X in period of time T
2interior concrete value, according to average phase saturation degree
can once judge to adjust green light timing g.
(3) according to average phase saturation degree
determine the adjustment mode of green light timing g.As shown in Figure 2, according to average phase saturation degree
determine that the adjustment mode of green light timing g comprises to judge to select with under type:
If A 80% < average phase saturation degree
then do not adjust green light timing g;
If B average phase saturation degree
then reduce the green light timing g of this phase place;
If C average phase saturation degree
then increase the green light timing g of this phase place.
(4) green light timing g is calculated, i.e. average phase saturation degree
or average phase saturation degree
time, the concrete value reducing or increase green light timing g.It specifically comprises the following steps:
A, get the phase place track flow maximum of m signal period, composition flow sequence l, l={q
1, q
2, q
3..., q
m.The value of m signal period can get last 2 cycles of last sampling and m-2 cycle of this sampling.
B, calculating phase place track flow value q, remove maximal value and minimum value in flow sequence l and remake on average.
First, to flow sequence l by sorting from big to small, l={q ' is obtained
1..., q '
m; Secondly, maximal value in flow sequence l and minimum value are removed; Finally, the computing formula of phase place track flow value q is as follows:
C, calculating green light timing g, its computing formula is as follows:
Wherein, X
cfor phase place saturation degree, S is track saturated flow value, and g is phase place green time, and q is phase place track flow value.X
cvalue be 85%, get x=85% reason herein for according to green light timing computing formula, g and x is inversely proportional to, when average phase saturation degree
time, need increase green light timing, get x=85%<90%, then g becomes large, meets the demands.Together should average phase saturation degree
time, need reduce green light timing, get x=85%>80%, then g diminishes, and meets the demands.S is track saturated flow value, is the value determined, has two kinds of methods determined: method one, determine according to factual survey; The base saturation flow recommended value that method two, basis " urban road intersection planning specification " (GB50467-2011) provide performs, then is multiplied by the correction factor acquisitions such as lane width, radius of turn, disturbing factor in conjunction with local conditions.
For meeting the system requirements of Signalized control work, process in limited time can also be carried out to green light timing g, setting g
minand g
max, g
minand g
maxbe configurable parameter.Set minimum green time g
minwith maximum green time g
max; If g < is g
min, then g=g
min; If g > is g
max, then g=g
max.
In actual applications, can cycle T at regular intervals
1calculate a crossing average staturation X, rejudge the control mode signal of employing, and when adopting adaptive control, in period of time T
1inside cycle T at regular intervals
2calculate an average phase saturation degree
adjust green light timing g, and require T
1> T
2, such as, get T
1=1hour, T
2=20min.
More than show and describe ultimate principle of the present invention, principal character and advantage of the present invention.The technician of the industry should understand; the present invention is not restricted to the described embodiments; the just principle of the present invention described in above-described embodiment and instructions; the present invention also has various changes and modifications without departing from the spirit and scope of the present invention, and these changes and improvements all fall in claimed scope of the present invention.The protection domain of application claims is defined by appending claims and equivalent thereof.
Claims (6)
1., based on a signal lamp self-adaptation control method for intersection average staturation, comprise the following steps:
11) the average staturation X of intersection is calculated;
12) as 0.5≤X < 0.9, adopt adaptive control mode to control traffic lights, it is characterized in that, described adaptive control mode controls traffic lights and comprises the following steps:
121) timing statistics cycle T is set
2, timing statistics cycle T
2inside comprise m signal period;
122) average phase saturation degree is defined
average phase saturation degree
for period of time T
2the average staturation of this phase place interior;
123) according to average phase saturation degree
determine the adjustment mode of green light timing g;
124) green light timing g is calculated.
2. a kind of signal lamp self-adaptation control method based on intersection average staturation according to claim 1, is characterized in that, described according to average phase saturation degree
determine that the adjustment mode of green light timing g comprises the following steps:
21) if 80% < average phase saturation degree
then do not adjust green light timing g;
22) if average phase saturation degree
then reduce the green light timing g of this phase place;
23) if average phase saturation degree
then increase the green light timing g of this phase place.
3. a kind of signal lamp self-adaptation control method based on intersection average staturation according to claim 1, is characterized in that, described calculating green light timing g comprises the following steps:
31) the phase place track flow maximum of m signal period is got, composition flow sequence l, l={q
1, q
2, q
3..., q
m;
32) calculate phase place track flow value q, remove maximal value and minimum value in flow sequence l and remake on average;
To flow sequence l by sorting from big to small, obtain l={q '
1..., q '
m;
Maximal value in flow sequence l and minimum value are removed;
The computing formula of phase place track flow value q is as follows:
33) calculate green light timing g, its computing formula is as follows:
Wherein, X
cfor phase place saturation degree, S is track saturated flow value, and g is phase place green time, and q is phase place track flow value.
4. a kind of signal lamp self-adaptation control method based on intersection average staturation according to claim 1, is characterized in that: described timing statistics cycle T
2for 10-20min.
5. a kind of signal lamp self-adaptation control method based on intersection average staturation according to claim 3, is characterized in that: described phase place saturation degree X
cvalue be 85%.
6. a kind of signal lamp self-adaptation control method based on intersection average staturation according to claim 3, is characterized in that: also comprise the process in limited time to green light timing g, it comprises the following steps:
61) minimum green time g is set
minwith maximum green time g
max;
62) if g < is g
min, then g=g
min;
63) if g > is g
max, then g=g
max.
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| CN106297329A (en) * | 2016-08-26 | 2017-01-04 | 南京蓝泰交通设施有限责任公司 | A kind of signal timing dial adaptive optimization method of networking signals machine |
| CN106920403A (en) * | 2017-03-12 | 2017-07-04 | 浙江大学 | A kind of single-point self-adaptation control method based on array radar |
| CN108615375A (en) * | 2018-05-28 | 2018-10-02 | 安徽畅通行交通信息服务有限公司 | A kind of intersection signal timing Time segments division method |
| CN109003460A (en) * | 2018-08-10 | 2018-12-14 | 中国科学技术大学 | Traffic lights Optimization Scheduling and system |
| CN109686084A (en) * | 2018-12-11 | 2019-04-26 | 东南大学 | Signal based on intersection average staturation controls optimization aim switching system |
| CN110895882A (en) * | 2019-12-24 | 2020-03-20 | 腾讯科技（深圳）有限公司 | Method and device for determining road traffic capacity |
| CN111161550A (en) * | 2020-01-02 | 2020-05-15 | 合肥学院 | Intersection control time period and phase timing design and closed-loop verification method |
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| CN106097734B (en) * | 2016-08-22 | 2019-03-12 | 安徽科力信息产业有限责任公司 | A kind of plane perception detection method and system for the control of crossing traffic signal |
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| CN106297329A (en) * | 2016-08-26 | 2017-01-04 | 南京蓝泰交通设施有限责任公司 | A kind of signal timing dial adaptive optimization method of networking signals machine |
| CN106920403A (en) * | 2017-03-12 | 2017-07-04 | 浙江大学 | A kind of single-point self-adaptation control method based on array radar |
| CN106920403B (en) * | 2017-03-12 | 2019-10-29 | 浙江大学 | A kind of single-point self-adaptation control method based on array radar |
| CN108615375B (en) * | 2018-05-28 | 2021-02-05 | 安徽畅通行交通信息服务有限公司 | Intersection signal timing time interval dividing method |
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| CN109686084B (en) * | 2018-12-11 | 2021-02-26 | 东南大学 | Signal control optimization target switching system based on intersection average saturation |
| CN110895882A (en) * | 2019-12-24 | 2020-03-20 | 腾讯科技（深圳）有限公司 | Method and device for determining road traffic capacity |
| CN110895882B (en) * | 2019-12-24 | 2021-11-12 | 腾讯科技（深圳）有限公司 | Method and device for determining road traffic capacity |
| CN111161550A (en) * | 2020-01-02 | 2020-05-15 | 合肥学院 | Intersection control time period and phase timing design and closed-loop verification method |
| CN111161550B (en) * | 2020-01-02 | 2023-06-30 | 合肥学院 | Intersection control time period and phase timing design and closed loop verification method |
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