CN103985251B - A kind of method and system of vehicle queue length measuring and calculating - Google Patents

Abstract

Method and system for vehicle queue length measuring and calculating, by setting up urban road combination traffic flow model, are divided into steady flow and mix flow by information of vehicle flowrate, can accurate simulation reality information of vehicle flowrate.By carrying out the collection of digitizing figure to road, the pixel in the original map of digitizing figure can be made as the coordinate of road, setting sampling time interval, carry out the rate of leaving away of vehicle on road described in sample detecting at set intervals, when detecting that the vehicle on described road does not readvance within the road cycle, the digitizing graphical information of described road is again gathered in described sampling location, identify in described digital figure information with different pixels point in described original map, obtain the start position blocking up and occur, according to the distance of the check point described in start point distance that gets congestion, and detect that the moment that vehicle does not readvance within the current cycle can calculate real-time vehicle queue length by vehicle queue length computing formula.

Description

A kind of method and system of vehicle queue length measuring and calculating

Technical field

The present invention relates to vehicle queue length measuring technique on a kind of road.Relate in particular to the method and system of a kind of vehicle queue length measuring and calculating.

Background technology

Along with the continuous rising of the recoverable amount of vehicle, urban road blocks up day by day, thus causes Urban Road Traffic Accidents to take place frequently.Once road gets congestion, by directly reducing the operational efficiency of road network, also easily bring out second accident.Reducing the effective way of negative effect that traffic hazard brings, is to be blocked up the impact caused by real-time operation, according to the time that can be calculated road and reach maximum queue length, blocks up provide reliable theoretical foundation for taking effective measures process.

Chinese patent literature CN102034353A discloses a kind of Urban Road Traffic Accidents queue length measuring method based on fixed detector.The method is based on the fixed detector arranged in road, in order to detect the rate of leaving away of vehicle, by the feature adopting urban road combination traffic flow to describe vehicle arrival.According to arrival rate and the rate of leaving away of vehicle, set up the queue length measuring method based on fixed detector, then according to the time that traffic hazard continues, calculate the maximum queue length that traffic hazard causes.The method can calculate and occur in fixed detector and cause along the traffic hazard in vehicle heading front the vehicle queue length blocked up.But the position of collision happens has randomness on road, may occur in fixed detector front, also may occur in fixed detector rear, method disclosed in above-mentioned patent documentation cannot calculate the position that in reality, all collisions occur, poor universality.

Summary of the invention

For this reason, technical matters to be solved by this invention is only can calculate in prior art the poor universality occurring in fixed detector and cause the vehicle queue length blocked up to bring along the traffic hazard in vehicle heading front.

For solving the problems of the technologies described above, technical scheme of the present invention is:

A method for vehicle queue length measuring and calculating, is characterized in that, comprise the following steps:

S1: describe by setting up urban road combination traffic flow model the arrival feature that road gets on the bus, calculate the arrival rate of vehicle on described road, described arrival rate is the vehicle number entering described road in the unit time; Further comprising the steps:

S11: described combination traffic flow is divided into steady flow and discrete flow, the vehicle that sails into continuously that described steady flow is let pass by crossing, upstream Through Lane is formed, discrete flow is made up of the vehicle that turn left in crossing, upstream and right-turn lane sails into, the time being started by crossing, upstream Through Lane to let pass is set to Period Start Time, and on described road, the arrival rate of vehicle is:

$\stackrel{\‾}{\mathrm{\λ}}=\frac{g_1}{c_1}({\mathrm{\λ}}_1-{\mathrm{\λ}}_2)+{\mathrm{\λ}}_2$

Wherein, λ ₁for the arrival rate of steady flow, λ ₂for the arrival rate of discrete flow, g ₁for the duration that crossing, upstream Through Lane is let pass, c ₁for combination the traffic flow cycle, and combination the traffic flow cycle equal the upstream crossing signals cycle;

S2: to choose in road a certain position as sampling location, gather the digitizing figure of road when travelling without vehicle between upstream and downstream two crossings, using the digitizing figure that the gets original map as described road, the reference position in the corresponding road downstream of starting pixels point of described digitizing figure, the end position of the corresponding road upstream of the pixel that described digitizing figure terminates;

S3: select optional position as check point on described road, detects the rate of leaving away of vehicle on described road every sampling interval Δ t, described in the rate of leaving away be in the unit time, leave the vehicle number of described road;

S4: described check point, when detecting that the vehicle on described road does not readvance within the current cycle, gathers the digitizing graphical information of described road again in described sampling location;

S5: by the digitizing figure again got, compare with described original map, the difference of comparison two width digitizing figure, the start point distance that obtaining blocks up occurs is from the distance l of check point ₀, and the position occurred that judges to block up is positioned at upstream or the downstream of described check point;

S6: according to described distance l ₀, and the position got congestion, and described check point detects the moment t that vehicle does not readvance within the current cycle _s, calculate real-time vehicle queue length by vehicle queue length measure formula.

The digitizing figure will again got in described step S5, be specially from the digitizing figure of described original map this step of comparing: the pixel that comparison two width figure is different, to identify from downstream to upstream first different pixel, be the position got congestion.

In described step S6, specifically comprise the following steps:

S61: judge that the position got congestion is positioned at upstream or the downstream of described check point;

S62: if the position got congestion is positioned at the downstream of described check point, the distance of the position got congestion and described check point is l ₀, and described check point detects the moment t that vehicle does not readvance within the current cycle _s, then by vehicle queue length measure formula:

$L\left(t\right)=(N_1+[\frac{t-t_s}{c_1}]\stackrel{\‾}{\mathrm{\λ}}{c}_1+N_2-\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{q}_i\mathrm{\Δt})/k_j+l_0,$ Calculate vehicle queue length;

S63: if the position got congestion is positioned at the upstream of described check point, the distance of the position got congestion and described check point is l ₀, and described check point detects the moment t that vehicle does not readvance within the current cycle _s, then by vehicle queue length measure formula:

$L\left(t\right)=(N_1+[\frac{t-t_s}{c_1}]\stackrel{\‾}{\mathrm{\λ}}{c}_1+N_2-\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{q}_i\mathrm{\Δt})/k_j-l_0,$ Calculate vehicle queue length;

Wherein, t is that described check point detects that vehicle when not being moved or do not detect that vehicle is by any time after described check point, N within the road cycle ₁and N ₂be respectively combination traffic flow place Δ c excess time in cycle when vehicle arrives ₁traffic flow place Δ c excess time in cycle is combined at the end of the vehicle number of interior arrival and diffusion of blocking up ₂the vehicle number of interior arrival; q _ibe the vehicle departing rate detected in i-th sampling time interval, i is the sequence number in the time interval that described check point is detected, and n is the number of times be detected to described check point during any time t; k _jfor section jam density, be generally taken as 100-150 car/kilometer;

N ₁: as Δ c ₁> c ₁-g ₁time, N ₁=λ ₁(Δ c ₁-c ₁+ g ₁)+λ ₂(c ₁-g ₁), wherein λ ₁(Δ c ₁-c ₁+ g ₁) for combining traffic flow place Δ c excess time in cycle when vehicle arrives ₁the interior vehicle number arrived with steady flow form, λ ₂(c ₁-g ₁) for combining traffic flow place Δ c excess time in cycle when vehicle arrives ₁within discrete flow form arrive vehicle number; As Δ c ₁< c ₁-g ₁time, N ₁=λ ₂c ₁, now, combination traffic flow place Δ c excess time in cycle when vehicle arrives ₁inside only comprise discrete flow, and the vehicle number arrived is λ ₂Δ c ₁; N ₂: as Δ c ₂< g ₁time, N ₂=λ ₁Δ c ₂, now, at the end of diffusion of blocking up, combine traffic flow place Δ c excess time in cycle ₂inside only comprise steady flow, and the vehicle number arrived is λ ₁Δ c ₂; As Δ c ₂> g ₁time, N ₂=λ ₁g ₁+ λ ₂(Δ c ₂-g ₁), wherein, λ ₁g ₁for combining traffic flow place Δ c excess time in cycle at the end of diffusion of blocking up ₂the interior vehicle number arrived with steady flow form, λ ₂(Δ c ₂-g ₁) for combining traffic flow place Δ c excess time in cycle at the end of diffusion of blocking up ₂the interior vehicle number arrived with discrete flow form.

Check point described in described step S4 is detecting that the vehicle on described road does not readvance within the current cycle, and this step is specially:

When described check point detects that the vehicle in dead ahead is not moved within the road cycle in the given time or vehicle passing detection point do not detected.

A system for vehicle queue length measuring and calculating, comprises with lower module:

Module is set up in traffic flow: for setting up the arrival feature that urban road combination traffic flow model to be got on the bus to describe road, calculate the arrival rate of vehicle on described road, described arrival rate is the vehicle number entering described road in the unit time; Comprise further:

Arrival rate computing module, for described combination traffic flow is divided into steady flow and discrete flow, the vehicle that sails into continuously that described steady flow is let pass by crossing, upstream Through Lane is formed, discrete flow is made up of the vehicle that turn left in crossing, upstream and right-turn lane sails into, the time being started by crossing, upstream Through Lane to let pass is set to Period Start Time, and on described road, the arrival rate of vehicle is:

$\stackrel{\&OverBar;}{\mathrm{\&lambda;}}=\frac{g_1}{c_1}({\mathrm{\&lambda;}}_1-{\mathrm{\&lambda;}}_2)+{\mathrm{\&lambda;}}_2$

Wherein, λ ₁for the arrival rate of steady flow, λ ₂for the arrival rate of discrete flow, g ₁for the duration that crossing, upstream Through Lane is let pass, c ₁for combination the traffic flow cycle, and combination the traffic flow cycle equal the upstream crossing signals cycle;

Sampling module: to choose in road a certain position as sampling location, gather the digitizing figure of road during travelling without vehicle between upstream and downstream two crossings, using the digitizing figure that the gets original map as described road, the reference position in the corresponding road downstream of starting pixels point of described digitizing figure, the end position of the corresponding road upstream of the pixel that described digitizing figure terminates;

Detection module: select optional position as check point on described road, detects the rate of leaving away of vehicle on described road every sampling interval Δ t, described in the rate of leaving away be in the unit time, leave the vehicle number of described road;

Secondary acquisition module: described check point, when detecting that the vehicle on described road does not readvance within the current cycle, gathers the digitizing figure of described road again in described sampling location;

Comparing module: by the digitizing figure again got, compare with described original map, the difference of comparison two width digitizing figure, the start point distance that obtaining blocks up occurs is from the distance l of check point ₀, and the position occurred that judges to block up is positioned at upstream or the downstream of described check point;

Computing module: according to described distance l ₀, and the position got congestion, and described check point detects the moment t that vehicle does not readvance within the current cycle _s, calculate real-time vehicle queue length by vehicle queue length measure formula.

The digitizing figure will again got in described comparing module, compare with described original map, be specially:

By the digitizing figure again got, compare with the digitizing figure of described original map, the pixel that main comparison two width figure is different, identifies from downstream to first of upstream different pixel, is the position got congestion.

In described computing module, specifically comprise with lower module:

Position judging module: judge that the position got congestion is positioned at upstream or the downstream of described check point;

First computing module: if the position got congestion is positioned at the downstream of described check point, the distance of the position got congestion and described check point is l ₀, and described check point detects the moment t that vehicle does not readvance within the current cycle _s, then by vehicle queue length measure formula:

$L\left(t\right)=(N_1+[\frac{t-t_s}{c_1}]\stackrel{\&OverBar;}{\mathrm{\&lambda;}}{c}_1+N_2-\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}{q}_i\mathrm{\&Delta;t})/k_j+l_0,$ Calculate vehicle queue length;

Second computing module: if the position got congestion is positioned at the upstream of described check point, the distance of the position got congestion and described check point is l ₀, and described check point detects the moment t that vehicle does not readvance within the current cycle _s, then by vehicle queue length measure formula:

$L\left(t\right)=(N_1+[\frac{t-t_s}{c_1}]\stackrel{\&OverBar;}{\mathrm{\&lambda;}}{c}_1+N_2-\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}{q}_i\mathrm{\&Delta;t})/k_j-l_0,$ Calculate vehicle queue length;

Wherein, t is that described check point detects that vehicle when not being moved or any time after vehicle passing detection point do not detected, N within the road cycle ₁and N ₂be respectively combination traffic flow place Δ c excess time in cycle when vehicle arrives ₁traffic flow place Δ c excess time in cycle is combined at the end of the vehicle number of interior arrival and diffusion of blocking up ₂the vehicle number of interior arrival; q _ibe the vehicle departing rate detected in i-th sampling time interval, i is the sequence number in the time interval that described check point is detected, and n is the number of times be detected to described check point during any time t; k _jfor section jam density, be generally taken as 100-150 car/kilometer;

N ₁: as Δ c ₁> c ₁-g ₁time, N ₁=λ ₁(Δ c ₁-c ₁+ g ₁)+λ ₂(c ₁-g ₁), wherein λ ₁(Δ c ₁-c ₁+ g ₁) for combining traffic flow place Δ c excess time in cycle when vehicle arrives ₁the interior vehicle number arrived with steady flow form, λ ₂(c ₁-g ₁) for combining traffic flow place Δ c excess time in cycle when vehicle arrives ₁within discrete flow form arrive vehicle number; As Δ c ₁< c ₁-g ₁time, N ₁=λ ₂c ₁, now, combination traffic flow place Δ c excess time in cycle when vehicle arrives ₁inside only comprise discrete flow, and the vehicle number arrived is λ ₂Δ c ₁; N ₂: as Δ c ₂< g ₁time, N ₂=λ ₁Δ c ₂, now, at the end of diffusion of blocking up, combine traffic flow place Δ c excess time in cycle ₂inside only comprise steady flow, and the vehicle number arrived is λ ₁Δ c ₂; As Δ c ₂> g ₁time, N ₂=λ ₁g ₁+ λ ₂(Δ c ₂-g ₁), wherein, λ ₁g ₁for combining traffic flow place Δ c excess time in cycle at the end of diffusion of blocking up ₂the interior vehicle number arrived with steady flow form, λ ₂(Δ c ₂-g ₁) for combining traffic flow place Δ c excess time in cycle at the end of diffusion of blocking up ₂the interior vehicle number arrived with discrete flow form.

Described check point in described secondary acquisition module is detecting that the vehicle on described road does not readvance within the current cycle, is specially:

When described check point detects that the vehicle in dead ahead is not moved within the road cycle in the given time or vehicle passing detection point do not detected.

Technique scheme of the present invention has the following advantages compared to existing technology:

1. method and system for vehicle queue length measuring and calculating, by setting up urban road combination traffic flow model, are divided into steady flow and mix flow by information of vehicle flowrate, can accurate simulation reality information of vehicle flowrate.By carrying out the collection of digitizing figure to road, the pixel in the original map of digitizing figure can be made as the coordinate of road, setting sampling time interval, carry out the rate of leaving away of vehicle on road described in sample detecting at set intervals, when detecting that the vehicle on described road does not readvance within the road cycle, the digitizing graphical information of described road is again gathered in described sampling location, identify in described digital figure information with different pixels point in described original map, obtain the start position blocking up and occur, according to the distance of the check point described in start point distance that gets congestion, and detect that the moment that vehicle does not readvance within the current cycle can calculate real-time vehicle queue length by vehicle queue length computing formula.

2. the method and system of a vehicle queue length measuring and calculating, the digitizing graphical information again got and described original map are compared, by the pixel that comparison two width figure is different, identifiable design is because getting congestion, the change produced in digitizing figure, thus determine the accurate location that gets congestion.

3. method and system for vehicle queue length measuring and calculating, according to the position judging to get congestion, by vehicle queue length measure formula, can calculating after getting congestion at an arbitrary position, causing the length of vehicle queue because blocking up.

4. method and system for vehicle queue length measuring and calculating, check point can detect the situation that vehicle is not moved within the road cycle in the given time, thus judges road gets congestion.

Accompanying drawing explanation

In order to make content of the present invention be more likely to be clearly understood, below according to a particular embodiment of the invention and by reference to the accompanying drawings, the present invention is further detailed explanation, wherein

Fig. 1 is the process flow diagram of the method for a kind of vehicle queue length measuring and calculating of one embodiment of the invention;

Fig. 2 is the schematic diagram of a kind of situation that gets congestion of method of a kind of vehicle queue length measuring and calculating of one embodiment of the invention;

Fig. 3 is the structured flowchart of the system of a kind of vehicle queue length measuring and calculating of one embodiment of the invention.

In figure, Reference numeral is expressed as: module is set up in 1-traffic flow; 2-sampling module; 3-detection module; 4-secondary acquisition module; 5-comparing module; 6-computing module.

Embodiment

Embodiment 1

As shown in Figure 1, as one embodiment of the present of invention, a kind of method of vehicle queue length measuring and calculating, comprises the following steps:

S1: describe by setting up urban road combination traffic flow model the arrival feature that road gets on the bus, calculate the arrival rate of vehicle on described road, described arrival rate is the vehicle number entering described road in the unit time; Further comprising the steps:

S11: described combination traffic flow is divided into steady flow and discrete flow, the vehicle that sails into continuously that described steady flow is let pass by crossing, upstream Through Lane is formed, discrete flow is made up of the vehicle that turn left in crossing, upstream and right-turn lane sails into, the time being started by crossing, upstream Through Lane to let pass is set to Period Start Time, and on described road, the arrival rate of vehicle is:

$\stackrel{\&OverBar;}{\mathrm{\&lambda;}}=\frac{g_1}{c_1}({\mathrm{\&lambda;}}_1-{\mathrm{\&lambda;}}_2)+{\mathrm{\&lambda;}}_2$

Wherein, λ ₁for the arrival rate of steady flow, λ ₂for the arrival rate of discrete flow, g ₁for the duration that crossing, upstream Through Lane is let pass, c ₁for combination the traffic flow cycle, and combination the traffic flow cycle equal the upstream crossing signals cycle.As a kind of specific implementation, the described steady flow in the present embodiment and discrete flow record by the multiple radar detedtors being arranged on crossing, upstream.

S2: to choose in road a certain position as sampling location, gather the digitizing figure of road when travelling without vehicle between upstream and downstream two crossings, using the digitizing figure that the gets original map as described road, the reference position in the corresponding road downstream of starting pixels point of described digitizing figure, the end position of the corresponding road upstream of the pixel that described digitizing figure terminates.As a kind of specific implementation, by camera acquisition digitized image in the present embodiment.

S3: select optional position as check point on described road, detects the rate of leaving away of vehicle on described road every sampling interval Δ t, described in the rate of leaving away be in the unit time, leave the vehicle number of described road.As a kind of specific implementation, to be left away rate by the collection of radar data acquisition device in the present embodiment.

S4: described check point, when detecting that the vehicle on described road does not readvance within the current cycle, gathers the digitizing graphical information of described road again in described sampling location.

S5: by the digitizing figure again got, compare with described original map, the difference of comparison two width digitizing figure, the start point distance that obtaining blocks up occurs is from the distance l of check point ₀, and the position occurred that judges to block up is positioned at upstream or the downstream of described check point.

S6: according to described distance l ₀, and the position got congestion, and described check point detects the moment t that vehicle does not readvance within the current cycle _s, calculate real-time vehicle queue length by vehicle queue length measure formula.

A method for vehicle queue length measuring and calculating, by setting up urban road combination traffic flow model, is divided into steady flow and mix flow by information of vehicle flowrate, can accurate simulation reality information of vehicle flowrate.By carrying out the collection of digitizing figure to road, the pixel in the original map of digitizing figure can be made as the coordinate of road, setting sampling time interval, carry out the rate of leaving away of vehicle on road described in sample detecting at set intervals, when detecting that the vehicle on described road does not readvance within the road cycle, the digitizing graphical information of described road is again gathered in described sampling location, identify in described digital figure information with different pixels point in described original map, obtain the start position blocking up and occur, according to the distance of the check point described in start point distance that gets congestion, and detect that the moment that vehicle does not readvance within the current cycle can calculate real-time vehicle queue length by vehicle queue length computing formula.

Embodiment 2

As one embodiment of the present of invention, on the basis of above-described embodiment 1, the digitizing figure will again got in described step S5, be specially from the digitizing figure of described original map this step of comparing: the pixel that comparison two width figure is different, to identify from downstream to upstream first different pixel, be the position got congestion.

A kind of method of vehicle queue length measuring and calculating, the digitizing graphical information again got and described original map are compared, by the pixel that comparison two width figure is different, identifiable design is because getting congestion, the change produced in digitizing figure, thus determine the accurate location that gets congestion.

Embodiment 3

As one embodiment of the present of invention, on the basis of above-described embodiment 1 or 2, in described step S6, specifically comprise the following steps:

S61: judge that the position got congestion is positioned at upstream or the downstream of described check point; As shown in Figure 2, the position got congestion is positioned at the downstream of described check point.

S62: if the position got congestion is positioned at the downstream of described check point, and vehicle heading is from upstream toward downstream; The distance of the position got congestion and described check point is l ₀, and described check point detects the moment t that vehicle does not readvance within the current cycle _s, then by vehicle queue length measure formula:

$L\left(t\right)=(N_1+[\frac{t-t_s}{c_1}]\stackrel{\&OverBar;}{\mathrm{\&lambda;}}{c}_1+N_2-\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}{q}_i\mathrm{\&Delta;t})/k_j+l_0,$ Calculate vehicle queue length.

S63: if the position got congestion is positioned at the upstream of described check point, the distance of the position got congestion and described check point is l ₀, and described check point detects the moment t that vehicle does not readvance within the current cycle _s, then by vehicle queue length measure formula:

$L\left(t\right)=(N_1+[\frac{t-t_s}{c_1}]\stackrel{\&OverBar;}{\mathrm{\&lambda;}}{c}_1+N_2-\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}{q}_i\mathrm{\&Delta;t})/k_j-l_0,$ Calculate vehicle queue length;

Wherein, t is that described check point detects that vehicle when not being moved or do not detect that vehicle is by any time after described check point, N within the road cycle ₁and N ₂be respectively combination traffic flow place Δ c excess time in cycle when vehicle arrives ₁traffic flow place Δ c excess time in cycle is combined at the end of the vehicle number of interior arrival and diffusion of blocking up ₂the vehicle number of interior arrival; q _ibe the vehicle departing rate detected in i-th sampling time interval, i is the sequence number in the time interval that described check point is detected, and n is the number of times be detected to described check point during any time t; k _jfor section jam density, be generally taken as 100-150 car/kilometer;

N ₁: as Δ c ₁> c ₁-g ₁time, N ₁=λ ₁(Δ c ₁-c ₁+ g ₁)+λ ₂(c ₁-g ₁), wherein λ ₁(Δ c ₁-c ₁+ g ₁) for combining traffic flow place Δ c excess time in cycle when vehicle arrives ₁the interior vehicle number arrived with steady flow form, λ ₂(c ₁-g ₁) for combining traffic flow place Δ c excess time in cycle when vehicle arrives ₁within discrete flow form arrive vehicle number; As Δ c ₁< c ₁-g ₁time, N ₁=λ ₂c ₁, now, combination traffic flow place Δ c excess time in cycle when vehicle arrives ₁inside only comprise discrete flow, and the vehicle number arrived is λ ₂Δ c ₁; N ₂: as Δ c ₂< g ₁time, N ₂=λ ₁Δ c ₂, now, at the end of diffusion of blocking up, combine traffic flow place Δ c excess time in cycle ₂inside only comprise steady flow, and the vehicle number arrived is λ ₁Δ c ₂; As Δ c ₂> g ₁time, N ₂=λ ₁g ₁+ λ ₂(Δ c ₂-g ₁), wherein, λ ₁g ₁for combining traffic flow place Δ c excess time in cycle at the end of diffusion of blocking up ₂the interior vehicle number arrived with steady flow form, λ ₂(Δ c ₂-g ₁) for combining traffic flow place Δ c excess time in cycle at the end of diffusion of blocking up ₂the interior vehicle number arrived with discrete flow form.

A method for vehicle queue length measuring and calculating, by above-mentioned steps, according to the position judging to get congestion, by vehicle queue length measure formula, can calculating after getting congestion at an arbitrary position, causing the length of vehicle queue because blocking up.

Embodiment 4

As one embodiment of the present of invention, on the basis of above-mentioned 1-3 any embodiment, check point described in described step S4 is detecting that the vehicle on described road does not readvance within the current cycle, and this step is specially: when described check point detects that the vehicle in dead ahead is not moved within the road cycle within the schedule time (choose in the present embodiment in the current cycle first 20 seconds as the schedule time) or vehicle passing detection point do not detected.Also can choose the time of other numerical value as required as the schedule time, realize object of the present invention equally.

A method for vehicle queue length measuring and calculating, check point can detect the situation that vehicle is not moved within the road cycle in the given time, thus judges road gets congestion.

Embodiment 5

As shown in Figure 3, as one embodiment of the present of invention, a kind of system of vehicle queue length measuring and calculating, comprises with lower module:

Module 1 is set up in traffic flow: for setting up the arrival feature that urban road combination traffic flow model to be got on the bus to describe road, calculate the arrival rate of vehicle on described road, described arrival rate is the vehicle number entering described road in the unit time; Comprise further:

Arrival rate computing module, for described combination traffic flow is divided into steady flow and discrete flow, the vehicle that sails into continuously that described steady flow is let pass by crossing, upstream Through Lane is formed, discrete flow is made up of the vehicle that turn left in crossing, upstream and right-turn lane sails into, the time being started by crossing, upstream Through Lane to let pass is set to Period Start Time, and on described road, the arrival rate of vehicle is:

$\stackrel{\&OverBar;}{\mathrm{\&lambda;}}=\frac{g_1}{c_1}({\mathrm{\&lambda;}}_1-{\mathrm{\&lambda;}}_2)+{\mathrm{\&lambda;}}_2$

Wherein, λ ₁for the arrival rate of steady flow, λ ₂for the arrival rate of discrete flow, g ₁for the duration that crossing, upstream Through Lane is let pass, c ₁for combination the traffic flow cycle, and combination the traffic flow cycle equal the upstream crossing signals cycle.As a kind of specific implementation, the described steady flow in the present embodiment and discrete flow record by the multiple radar detedtors being arranged on crossing, upstream.

Sampling module 2: to choose in road a certain position as sampling location, gather the digitizing figure of road during travelling without vehicle between upstream and downstream two crossings, using the digitizing figure that the gets original map as described road, the reference position in the corresponding road downstream of starting pixels point of described digitizing figure, the end position of the corresponding road upstream of the pixel that described digitizing figure terminates.As a kind of specific implementation, by digitizing figure described in camera acquisition in the present embodiment.

Detection module 3: select optional position as check point on described road, detects the rate of leaving away of vehicle on described road every sampling interval Δ t, described in the rate of leaving away be in the unit time, leave the vehicle number of described road.As a kind of specific implementation, rate of leaving away described in being obtained by radar detedtor in the present embodiment.

Secondary acquisition module 4: described check point, when detecting that the vehicle on described road does not readvance within the current cycle, gathers the digitizing figure of described road again in described sampling location.

Comparing module 5: by the digitizing figure again got, compare with described original map, the difference of comparison two width digitizing figure, the start point distance that obtaining blocks up occurs is from the distance l of check point ₀, and the position occurred that judges to block up is positioned at upstream or the downstream of described check point.

Computing module 6: according to described distance l ₀, and the position got congestion, and described check point detects the moment t that vehicle does not readvance within the current cycle _s, calculate real-time vehicle queue length by vehicle queue length measure formula.

A system for vehicle queue length measuring and calculating, as a kind of specific implementation, can install within a processor and run by processor is unified.By setting up urban road combination traffic flow model, information of vehicle flowrate is divided into steady flow and mix flow, can accurate simulation reality information of vehicle flowrate.By carrying out the collection of digitizing figure to road, the pixel in the original map of digitizing figure can be made as the coordinate of road, setting sampling time interval, carry out the rate of leaving away of vehicle on road described in sample detecting at set intervals, when detecting that the vehicle on described road does not readvance within the road cycle, the digitizing graphical information of described road is again gathered in described sampling location, identify in described digital figure information with different pixels point in described original map, obtain the start position blocking up and occur, according to the distance of the check point described in start point distance that gets congestion, and detect that the moment that vehicle does not readvance within the current cycle can calculate real-time vehicle queue length by vehicle queue length computing formula.

Embodiment 6

As one embodiment of the present of invention, on the basis of above-described embodiment 5, the digitizing figure again got in described comparing module 5, compare with described original map, be specially:

After colliding, again obtain the digitizing figure of a road (digitizing figure is in units of pixel in same place, pixel can treat as coordinate simultaneously), compare with the digitizing figure of described original map, the pixel that comparison two width figure is different, to identify from downstream to upstream first different pixel, be the position got congestion.

A kind of system of vehicle queue length measuring and calculating, the digitizing graphical information again got and described original map are compared, by the pixel that comparison two width figure is different, identifiable design is because getting congestion, the change produced in digitizing figure, thus determine the accurate location that gets congestion.

Embodiment 7

As one embodiment of the present of invention, on the basis of above-described embodiment 5 or 6, in described computing module 6, specifically comprise with lower module:

Position judging module: judge that the position got congestion is positioned at upstream or the downstream of described check point;

First computing module: if the position got congestion is positioned at the downstream of described check point, and vehicle heading is from upstream toward downstream; The distance of the position got congestion and described check point is l ₀, and described check point detects the moment t that vehicle does not readvance within the current cycle _s, then by vehicle queue length measure formula:

$L\left(t\right)=(N_1+[\frac{t-t_s}{c_1}]\stackrel{\&OverBar;}{\mathrm{\&lambda;}}{c}_1+N_2-\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}{q}_i\mathrm{\&Delta;t})/k_j+l_0,$ Calculate vehicle queue length;

Second computing module: if the position got congestion is positioned at the upstream of described check point, and vehicle heading is from upstream toward downstream; The distance of the position got congestion and described check point is l ₀, and described check point detects the moment t that vehicle does not readvance within the current cycle _s, then by vehicle queue length measure formula:

$L\left(t\right)=(N_1+[\frac{t-t_s}{c_1}]\stackrel{\&OverBar;}{\mathrm{\&lambda;}}{c}_1+N_2-\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}{q}_i\mathrm{\&Delta;t})/k_j-l_0,$ Calculate vehicle queue length;

Wherein, t is that described check point detects that vehicle when not being moved or any time after vehicle passing detection point do not detected, N within the road cycle ₁and N ₂be respectively combination traffic flow place Δ c excess time in cycle when vehicle arrives ₁traffic flow place Δ c excess time in cycle is combined at the end of the vehicle number of interior arrival and diffusion of blocking up ₂the vehicle number of interior arrival; q _ibe the vehicle departing rate detected in i-th sampling time interval, i is the sequence number in the time interval that described check point is detected, and n is the number of times be detected to described check point during any time t; k _jfor section jam density, be generally taken as 100-150 car/kilometer;

N ₁: as Δ c ₁> c ₁-g ₁time, N ₁=λ ₁(Δ c ₁-c ₁+ g ₁)+λ ₂(c ₁-g ₁), wherein λ ₁(Δ c ₁-c ₁+ g ₁) for combining traffic flow place Δ c excess time in cycle when vehicle arrives ₁the interior vehicle number arrived with steady flow form, λ ₂(c ₁-g ₁) for combining traffic flow place Δ c excess time in cycle when vehicle arrives ₁within discrete flow form arrive vehicle number; As Δ c ₁< c ₁-g ₁time, N ₁=λ ₂c ₁, now, combination traffic flow place Δ c excess time in cycle when vehicle arrives ₁inside only comprise discrete flow, and the vehicle number arrived is λ ₂Δ c ₁; N ₂: as Δ c ₂< g ₁time, N ₂=λ ₁Δ c ₂, now, at the end of diffusion of blocking up, combine traffic flow place Δ c excess time in cycle ₂inside only comprise steady flow, and the vehicle number arrived is λ ₁Δ c ₂; As Δ c ₂> g ₁time, N ₂=λ ₁g ₁+ λ ₂(Δ c ₂-g ₁), wherein, λ ₁g ₁for combining traffic flow place Δ c excess time in cycle at the end of diffusion of blocking up ₂the interior vehicle number arrived with steady flow form, λ ₂(Δ c ₂-g ₁) for combining traffic flow place Δ c excess time in cycle at the end of diffusion of blocking up ₂the interior vehicle number arrived with discrete flow form.

A system for vehicle queue length measuring and calculating, by above-mentioned module, according to the position judging to get congestion, by vehicle queue length measure formula, can calculating after getting congestion at an arbitrary position, causing the length of vehicle queue because blocking up.

Embodiment 8

As one embodiment of the present of invention, on the basis of above-mentioned 5-7 any embodiment, described check point is detecting that the vehicle on described road does not readvance within the current cycle, is specially:

When described check point detects that the vehicle in dead ahead is not moved within the road cycle in (choose in the present embodiment in the current cycle first 20 seconds as the schedule time) in the given time or vehicle passing detection point do not detected.Also can choose the time of other numerical value as required as the schedule time, realize object of the present invention equally.

A system for vehicle queue length measuring and calculating, check point can detect the situation that vehicle is not moved within the road cycle in the given time, thus judges road gets congestion.

Obviously, above-described embodiment is only for clearly example being described, and the restriction not to embodiment.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here exhaustive without the need to also giving all embodiments.And thus the apparent change of extending out or variation be still among the protection domain of the invention.

Claims (6)

1. a method for vehicle queue length measuring and calculating, is characterized in that, comprise the following steps:

S1: describe by setting up urban road combination traffic flow model the arrival feature that road gets on the bus, calculate the arrival rate of vehicle on described road, described arrival rate is the vehicle number entering described road in the unit time; Further comprising the steps:

S11: described combination traffic flow is divided into steady flow and discrete flow, the vehicle that sails into continuously that described steady flow is let pass by crossing, upstream Through Lane is formed, discrete flow is made up of the vehicle that turn left in crossing, upstream and right-turn lane sails into, the time being started by crossing, upstream Through Lane to let pass is set to Period Start Time, and on described road, the arrival rate of vehicle is:

$\stackrel{\&OverBar;}{\mathrm{\&lambda;}}=\frac{g_1}{c_1}({\mathrm{\&lambda;}}_1-{\mathrm{\&lambda;}}_2)+{\mathrm{\&lambda;}}_2$

Wherein, λ ₁for the arrival rate of steady flow, λ ₂for the arrival rate of discrete flow, g ₁for the duration that crossing, upstream Through Lane is let pass, c ₁for combination the traffic flow cycle, and combination the traffic flow cycle equal the upstream crossing signals cycle;

S2: to choose in road a certain position as sampling location, gather the digitizing figure of road when travelling without vehicle between upstream and downstream two crossings, using the digitizing figure that the gets original map as described road, the reference position in the corresponding road downstream of starting pixels point of described digitizing figure, the end position of the corresponding road upstream of the pixel that described digitizing figure terminates;

S3: select optional position as check point on described road, detects the rate of leaving away of vehicle on described road every sampling interval Δ t, described in the rate of leaving away be in the unit time, leave the vehicle number of described road;

S4: described check point, when detecting that the vehicle on described road does not readvance within the current cycle, gathers the digitizing graphical information of described road again in described sampling location;

S5: by the digitizing figure again got, compare with described original map, the difference of comparison two width digitizing figure, the start point distance that obtaining blocks up occurs is from the distance l of check point ₀, and the position occurred that judges to block up is positioned at upstream or the downstream of described check point;

S6: if the position got congestion is positioned at the downstream of described check point, according to described distance l ₀, and the position got congestion, and described check point detects the moment t that vehicle does not readvance within the current cycle _s, by vehicle queue length measure formula $L\left(t\right)=\left(N_1+\&lsqb;\frac{t-t_s}{c_1}\&rsqb;\stackrel{\&OverBar;}{\mathrm{\&lambda;}}{c}_1+N_2-\underset{i=1}{\overset{n}{\&Sigma;}}{q}_i\mathrm{\&Delta;}t\right)/k_j+l_0$ Calculate real-time vehicle queue length; If the position got congestion is positioned at the upstream of described check point, according to described distance l ₀, and the position got congestion, and described check point detects the moment t that vehicle does not readvance within the current cycle _s, by vehicle queue length measure formula $L\left(t\right)=\left(N_1+\&lsqb;\frac{t-t_s}{c_1}\&rsqb;\stackrel{\&OverBar;}{\mathrm{\&lambda;}}{c}_1+N_2-\underset{i=1}{\overset{n}{\&Sigma;}}{q}_i\mathrm{\&Delta;}t\right)/k_j-l_0$ Calculate real-time vehicle queue length, wherein, t is that described check point is when detecting that vehicle is not moved within the road cycle or do not detect that vehicle is by any time after described check point, N ₁and N ₂be respectively combination traffic flow place Δ c excess time in cycle when vehicle arrives ₁traffic flow place Δ c excess time in cycle is combined at the end of the vehicle number of interior arrival and diffusion of blocking up ₂the vehicle number of interior arrival; q _ibe the vehicle departing rate detected in i-th sampling time interval, i is the sequence number in the time interval that described check point is detected, and n is the number of times be detected to described check point during any time t; k _jfor section jam density, be taken as 100-150 car/kilometer;

N ₁: as Δ c ₁> c ₁-g ₁time, N ₁=λ ₁(Δ c ₁-c ₁+ g ₁)+λ ₂(c ₁-g ₁), wherein λ ₁(Δ c ₁-c ₁+ g ₁) for combining traffic flow place Δ c excess time in cycle when vehicle arrives ₁the interior vehicle number arrived with steady flow form, λ ₂(c ₁-g ₁) for combining traffic flow place Δ c excess time in cycle when vehicle arrives ₁within discrete flow form arrive vehicle number; As Δ c ₁< c ₁-g ₁time, N ₁=λ ₂c ₁, now, combination traffic flow place Δ c excess time in cycle when vehicle arrives ₁inside only comprise discrete flow, and the vehicle number arrived is λ ₂Δ c ₁;

N ₂: as Δ c ₂< g ₁time, N ₂=λ ₁Δ c ₂, now, at the end of diffusion of blocking up, combine traffic flow place Δ c excess time in cycle ₂inside only comprise steady flow, and the vehicle number arrived is λ ₁Δ c ₂; As Δ c ₂> g ₁time, N ₂=λ ₁g ₁+ λ ₂(Δ c ₂-g ₁), wherein, λ ₁g ₁for combining traffic flow place Δ c excess time in cycle at the end of diffusion of blocking up ₂the interior vehicle number arrived with steady flow form, λ ₂(Δ c ₂-g ₁) for combining traffic flow place Δ c excess time in cycle at the end of diffusion of blocking up ₂the interior vehicle number arrived with discrete flow form.

2. the method for a kind of vehicle queue length measuring and calculating according to claim 1, it is characterized in that, the digitizing figure will again got in described step S5, be specially from the digitizing figure of described original map this step of comparing: the pixel that comparison two width figure is different, to identify from downstream to upstream first different pixel, be the position got congestion.

3. the method for a kind of vehicle queue length measuring and calculating according to claim 1 and 2, it is characterized in that, check point described in described step S4 is detecting that the vehicle on described road does not readvance within the current cycle, and this step is specially:

When described check point detects that the vehicle in dead ahead is not moved within the road cycle in the given time or vehicle passing detection point do not detected.

4. a system for vehicle queue length measuring and calculating, is characterized in that, comprise with lower module:

Module is set up in traffic flow: for setting up the arrival feature that urban road combination traffic flow model to be got on the bus to describe road, calculate the arrival rate of vehicle on described road, described arrival rate is the vehicle number entering described road in the unit time; Comprise further:

Arrival rate computing module, for described combination traffic flow is divided into steady flow and discrete flow, the vehicle that sails into continuously that described steady flow is let pass by crossing, upstream Through Lane is formed, discrete flow is made up of the vehicle that turn left in crossing, upstream and right-turn lane sails into, the time being started by crossing, upstream Through Lane to let pass is set to Period Start Time, and on described road, the arrival rate of vehicle is:

$\stackrel{\&OverBar;}{\mathrm{\&lambda;}}=\frac{g_1}{c_1}({\mathrm{\&lambda;}}_1-{\mathrm{\&lambda;}}_2)+{\mathrm{\&lambda;}}_2$

Wherein, λ ₁for the arrival rate of steady flow, λ ₂for the arrival rate of discrete flow, g ₁for the duration that crossing, upstream Through Lane is let pass, c ₁for combination the traffic flow cycle, and combination the traffic flow cycle equal the upstream crossing signals cycle;

Sampling module: to choose in road a certain position as sampling location, gather the digitizing figure of road during travelling without vehicle between upstream and downstream two crossings, using the digitizing figure that the gets original map as described road, the reference position in the corresponding road downstream of starting pixels point of described digitizing figure, the end position of the corresponding road upstream of the pixel that described digitizing figure terminates;

Detection module: select optional position as check point on described road, detects the rate of leaving away of vehicle on described road every sampling interval Δ t, described in the rate of leaving away be in the unit time, leave the vehicle number of described road;

Secondary acquisition module: described check point, when detecting that the vehicle on described road does not readvance within the current cycle, gathers the digitizing figure of described road again in described sampling location;

Comparing module: by the digitizing figure again got, compare with described original map, the difference of comparison two width digitizing figure, the start point distance that obtaining blocks up occurs is from the distance l of check point ₀, and the position occurred that judges to block up is positioned at upstream or the downstream of described check point;

Computing module: if the position got congestion is positioned at the downstream of described check point, according to described distance l ₀, and the position got congestion, and described check point detects the moment t that vehicle does not readvance within the current cycle _s, by vehicle queue length measure formula $L\left(t\right)=\left(N_1+\&lsqb;\frac{t-t_s}{c_1}\&rsqb;\stackrel{\&OverBar;}{\mathrm{\&lambda;}}{c}_1+N_2-\underset{i=1}{\overset{n}{\&Sigma;}}{q}_i\mathrm{\&Delta;}t\right)/k_j+l_0$ Calculate real-time vehicle queue length; If the position got congestion is positioned at the upstream of described check point, according to described distance l ₀, and the position got congestion, and described check point detects the moment t that vehicle does not readvance within the current cycle _s, by vehicle queue length measure formula $L\left(t\right)=\left(N_1+\&lsqb;\frac{t-t_s}{c_1}\&rsqb;\stackrel{\&OverBar;}{\mathrm{\&lambda;}}{c}_1+N_2-\underset{i=1}{\overset{n}{\&Sigma;}}{q}_i\mathrm{\&Delta;}t\right)/k_j-l_0$ Calculate real-time vehicle queue length, wherein, t is that described check point is when detecting that vehicle is not moved within the road cycle or do not detect that vehicle is by any time after described check point, N ₁and N ₂be respectively combination traffic flow place Δ c excess time in cycle when vehicle arrives ₁traffic flow place Δ c excess time in cycle is combined at the end of the vehicle number of interior arrival and diffusion of blocking up ₂the vehicle number of interior arrival; q _ibe the vehicle departing rate detected in i-th sampling time interval, i is the sequence number in the time interval that described check point is detected, and n is the number of times be detected to described check point during any time t; k _jfor section jam density, be taken as 100-150 car/kilometer;

N ₁: as Δ c ₁> c ₁-g ₁time, N ₁=λ ₁(Δ c ₁-c ₁+ g ₁)+λ ₂(c ₁-g ₁), wherein λ ₁(Δ c ₁-c ₁+ g ₁) for combining traffic flow place Δ c excess time in cycle when vehicle arrives ₁the interior vehicle number arrived with steady flow form, λ ₂(c ₁-g ₁) for combining traffic flow place Δ c excess time in cycle when vehicle arrives ₁within discrete flow form arrive vehicle number; As Δ c ₁< c ₁-g ₁time, N ₁=λ ₂c ₁, now, combination traffic flow place Δ c excess time in cycle when vehicle arrives ₁inside only comprise discrete flow, and the vehicle number arrived is λ ₂Δ c ₁;

N ₂: as Δ c ₂< g ₁time, N ₂=λ ₁Δ c ₂, now, at the end of diffusion of blocking up, combine traffic flow place Δ c excess time in cycle ₂inside only comprise steady flow, and the vehicle number arrived is λ ₁Δ c ₂; As Δ c ₂> g ₁time, N ₂=λ ₁g ₁+ λ ₂(Δ c ₂-g ₁), wherein, λ ₁g ₁for combining traffic flow place Δ c excess time in cycle at the end of diffusion of blocking up ₂the interior vehicle number arrived with steady flow form, λ ₂(Δ c ₂-g ₁) for combining traffic flow place Δ c excess time in cycle at the end of diffusion of blocking up ₂the interior vehicle number arrived with discrete flow form.

5. the system of a kind of vehicle queue length measuring and calculating according to claim 4, is characterized in that the digitizing figure will again got in described comparing module is compared with described original map, is specially:

By the digitizing figure again got, compare with the digitizing figure of described original map, the pixel that main comparison two width figure is different, identifies from downstream to first of upstream different pixel, is the position got congestion.

6. the system of a kind of vehicle queue length measuring and calculating according to claim 4 or 5, it is characterized in that, the described check point in described secondary acquisition module is detecting that the vehicle on described road does not readvance within the current cycle, is specially:

When described check point detects that the vehicle in dead ahead is not moved within the road cycle in the given time or vehicle passing detection point do not detected.