Real-time estimation method of queue length at signalized intersection based on vehicle trajectory

Abstract

The invention relates to a method for real-time estimation of the queuing length of a signalized intersection based on a vehicle track. The method comprises the following steps: (1) judging a vehicle traffic state according to real-time vehicle traffic information; (2) estimating a vehicle queue-joining key point and a vehicle queue-leaving key point according to the real-time vehicle track information, vehicle traffic state and kinematical equation; (3) identifying an upstream reached fleet according to the estimated vehicle queue-joining key point; (4) performing queuing wave and evanescent wave estimation according to the estimated vehicle queue-joining key point, the queue-leaving key point and the identified fleet; and (5) estimating the intersection signal parameter and the queuing length according to the estimated queuing wave and evanescent wave. Compared with the prior art, the method is adaptive to a data environment with low sampling frequency and low sampling rate, and has the advantages of strong robustness, high real-time performance, good accuracy and the like.

Description

technical field [0001] The invention relates to the field of traffic control, in particular to a real-time estimation method for queuing length at intersections controlled by signals of vehicle trajectories. Background technique [0002] As the main part of the urban road network, signalized intersections often cause traffic congestion due to the periodic alternation of traffic lights, which greatly restricts the overall operating efficiency of the urban road traffic system. Queue length is an important indicator for evaluating intersection operation. On the one hand, it can be used to indirectly estimate vehicle delays, parking times, and travel time, and on the other hand, it can be directly fed back for signal timing optimization. [0003] The existing approaches to queuing length estimation based on vehicle trajectories mainly include: (1) Cheng et al. based on high-precision vehicle trajectory data, extracted key trajectory points representing vehicle state changes, and...

AI Technical Summary

Problems solved by technology

[0004] Summarizing the existing research on queuing length estimation based on vehicle trajectories, there are mainly the following problems: (1) Assuming vehicle arrival (uniform or Poisson arrival), this assumption ignores the impact of upstream intersections on vehicle arrival; (2) Assuming floating vehicles Sampling rate, in fact, the sampling rate of the floating car is not a fixed value, it will change with time and place, thus affecting the estimation accuracy; (3) Assuming that the signal parameters are known, in fact, it is impossible to obtain signal parameter information in most cases , especially for adaptive signal control systems

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