A Green Wave Coordination Control Method for Non-Closed Road Networks with Coordination Path Optimization Function

Abstract

This invention discloses a green wave coordination control method for non-closed road networks with coordinated path selection function, comprising the following steps: Step 1, classifying intersections in the non-closed road network; Step 2, constructing a green wave coordination control model for the non-closed road network with coordinated path selection function; Step 3, determining the green wave coordination control scheme for the non-closed road network. This invention considers the inherent correlation between path selection and green wave coordination, and can not only optimize phase difference and intersection phase sequence, but also simultaneously optimize coordinated paths, achieving synchronous optimization of path selection and green wave coordination in non-closed road networks.

Description

Technical Field

[0001] This invention relates to the field of traffic signal control, and specifically to a green wave coordination control method for non-closed road networks with coordinated path selection function. Background Technology

[0002] Green wave signal coordination control technology enables vehicles to pass through multiple signalized intersections with minimal stops, which is of great significance for reducing vehicle delays and improving road traffic efficiency. Current green wave signal coordination control methods often optimize green wave bandwidth after the coordination path is determined. This approach effectively severs the inherent connection between path selection and green wave coordination, resulting in limited green wave control effectiveness.

[0003] To address the aforementioned issues, Chinese invention patent ZL202010613828.X discloses a green wave coordination method for a group of T-shaped intersections on arterial roads with coordinated path optimization. This method treats the coordinated path as a decision variable and incorporates it into the green wave bandwidth optimization, achieving simultaneous optimization of path selection and green wave coordination. However, this method only applies to green wave coordination on arterial roads, and all intersections on the arterial roads must be T-shaped. It has not yet been widely applied to non-closed road networks composed of multiple arterial roads. In reality, implementing green wave coordination control on only one arterial road may achieve good control results on that road, but the control effect on other intersecting arterial roads cannot be guaranteed, meaning that good control results cannot be obtained on a larger scale (road networks composed of multiple arterial roads). Summary of the Invention

[0004] To address the aforementioned issues, this invention provides a green wave coordination control method for non-closed road networks with coordinated path optimization functionality, which enables synchronous optimization of path selection and green wave coordination in non-closed road networks.

[0005] To achieve the above objectives, the technical solution provided by the present invention is as follows:

[0006] A method for coordinated green wave control of a non-closed road network with coordinated path selection function includes the following steps:

[0007] Step 1: Classify intersections in non-closed road networks;

[0008] Step 2: Construct a non-closed road network green wave coordinated control model with coordinated path selection function;

[0009] Step 3: Determine the green wave coordination control scheme for the non-closed road network.

[0010] In step 1, the classification rules for intersections in a non-closed road network are as follows: if an intersection is located on a main road that requires green wave coordination control and is at the end of that main road, it is a type I intersection; if an intersection is located on a main road that requires green wave coordination control but is not at the end of that main road, or is located on two main roads that require green wave coordination control, it is a type II intersection.

[0011] In step 2, by studying the spatiotemporal constraint relationships between green wave coordinated control variables, non-closed road network parameters, and vehicle operating parameters, a non-closed road network green wave coordinated control model with coordinated path selection function is constructed, including the following steps:

[0012] Step 2.1: Number the coordinated path pairs between adjacent intersections;

[0013] Step 2.2: Construct the objective optimization function;

[0014] Step 2.3: Construct green wave bandwidth directional balance constraints;

[0015] Step 2.4: Construct the positional constraints for the green wave band;

[0016] Step 2.5: Construct non-negativity constraints for the variables;

[0017] Step 2.6: Construct equality constraints for integer multiples of the common signal period;

[0018] Step 2.7: Construct constraints for coordinating path optimization.

[0019] In step 2.1, a coordinated path pair refers to a pair consisting of a coordinated path in the upbound direction and a coordinated path in the downbound direction between adjacent intersections (i,j) and (i,j+1). (i,j) represents the j-th intersection on the i-th arterial road, and (i,j+1) represents the (j+1)-th intersection on the i-th arterial road. The upbound direction refers to traffic flowing from west to east or from south to north, and the downbound direction refers to traffic flowing from east to west or from north to south. A coordinated path is a directional connection formed by coordinating traffic flow between adjacent intersections. Let p denote the number of the coordinated path pair, where p=1 indicates the upbound direction. The coordinated path pair formed by coordinated path 1 in the up direction and coordinated path 1 in the down direction, p=2 represents the coordinated path pair formed by coordinated path 1 in the up direction and coordinated path 2 in the down direction, p=3 represents the coordinated path pair formed by coordinated path 1 in the up direction and coordinated path 3 in the down direction, p=4 represents the coordinated path pair formed by coordinated path 1 in the up direction and coordinated path 4 in the down direction, p=5 represents the coordinated path pair formed by coordinated path 2 in the up direction and coordinated path 1 in the down direction, and p=6 represents the coordinated path pair formed by coordinated path 2 in the up direction and coordinated path 1 in the down direction. The coordinated path pair formed by coordinated path 2 in the up direction, p=7 indicates the coordinated path pair formed by coordinated path 2 in the up direction and coordinated path 3 in the down direction, p=8 indicates the coordinated path pair formed by coordinated path 2 in the up direction and coordinated path 4 in the down direction, p=9 indicates the coordinated path pair formed by coordinated path 3 in the up direction and coordinated path 1 in the down direction, p=10 indicates the coordinated path pair formed by coordinated path 3 in the up direction and coordinated path 2 in the down direction, and p=11 indicates the coordinated path pair formed by coordinated path 3 in the up direction and coordinated path 3 in the down direction. The coordinated path pairs are as follows: p=12 represents the coordinated path pair consisting of coordinated path 3 in the up direction and coordinated path 4 in the down direction; p=13 represents the coordinated path pair consisting of coordinated path 4 in the up direction and coordinated path 1 in the down direction; p=14 represents the coordinated path pair consisting of coordinated path 4 in the up direction and coordinated path 2 in the down direction; p=15 represents the coordinated path pair consisting of coordinated path 4 in the up direction and coordinated path 3 in the down direction; and p=16 represents the coordinated path pair consisting of coordinated path 4 in the up direction and coordinated path 4 in the down direction.If the main road runs west-east, the coordinated path 1 in the uphill direction refers to the directional connection formed by the left-turning traffic flow at the north entrance of intersection (i,j) and the left-turning traffic flow at the west entrance of intersection (i,j+1); the coordinated path 2 in the uphill direction refers to the directional connection formed by the left-turning traffic flow at the north entrance of intersection (i,j) and the through traffic flow at the west entrance of intersection (i,j+1); the coordinated path 3 in the uphill direction refers to the directional connection formed by the through traffic flow at the west entrance of intersection (i,j) and the left-turning traffic flow at the west entrance of intersection (i,j+1); and the coordinated path 4 in the uphill direction refers to the directional connection formed by the through traffic flow at the west entrance of intersection (i,j) and the through traffic flow at the west entrance of intersection (i,j+1). The directional connection is as follows: Downward Coordination Path 1 refers to the directional connection formed by the left-turning traffic flow at the south entrance of intersection (i,j+1) and the left-turning traffic flow at the east entrance of intersection (i,j); Downward Coordination Path 2 refers to the directional connection formed by the left-turning traffic flow at the south entrance of intersection (i,j+1) and the straight-through traffic flow at the east entrance of intersection (i,j); Downward Coordination Path 3 refers to the directional connection formed by the straight-through traffic flow at the east entrance of intersection (i,j+1) and the left-turning traffic flow at the east entrance of intersection (i,j); Downward Coordination Path 4 refers to the directional connection formed by the straight-through traffic flow at the east entrance of intersection (i,j+1) and the straight-through traffic flow at the east entrance of intersection (i,j). If the main road runs north-south, the coordinated path 1 in the uphill direction refers to the directional connection formed by the left-turning traffic flow at the west entrance of intersection (i,j) and the left-turning traffic flow at the south entrance of intersection (i,j+1); the coordinated path 2 in the uphill direction refers to the directional connection formed by the left-turning traffic flow at the west entrance of intersection (i,j) and the through traffic flow at the south entrance of intersection (i,j+1); the coordinated path 3 in the uphill direction refers to the directional connection formed by the through traffic flow at the south entrance of intersection (i,j) and the left-turning traffic flow at the south entrance of intersection (i,j+1); and the coordinated path 4 in the uphill direction refers to the directional connection formed by the through traffic flow at the south entrance of intersection (i,j) and the through traffic flow at the south entrance of intersection (i,j+1). The directional connections are as follows: Downward Coordination Path 1 refers to the directional connection formed by the left-turning traffic flow at the east entrance of intersection (i,j+1) and the left-turning traffic flow at the north entrance of intersection (i,j); Downward Coordination Path 2 refers to the directional connection formed by the left-turning traffic flow at the east entrance of intersection (i,j+1) and the through traffic flow at the north entrance of intersection (i,j); Downward Coordination Path 3 refers to the directional connection formed by the through traffic flow at the north entrance of intersection (i,j+1) and the left-turning traffic flow at the north entrance of intersection (i,j); Downward Coordination Path 4 refers to the directional connection formed by the through traffic flow at the north entrance of intersection (i,j+1) and the through traffic flow at the north entrance of intersection (i,j).

[0020] In step 2.2, the objective function of the model is:

[0021]

[0022] Where M represents the number of arterial roads in a non-closed road network; N i This represents the number of intersections on the i-th main road; This represents a 0 / 1 variable, which is introduced to optimize the coordination path. This represents the green wave bandwidth of the uplink coordinated path corresponding to the coordinated path numbered p between intersections (i,j) and (i,j+1). This represents the green wave bandwidth of the downlink coordinated path corresponding to the coordinated path numbered p between intersections (i,j) and (i,j+1). is the weighting coefficient, representing the path flow of the uplink coordinated path corresponding to the numbered p between the coordinated path pairs (i,j) and (i,j+1) at intersection (i,j); is the weighting coefficient, representing the path flow of the downlink coordinated path corresponding to the coordinated path numbered p between intersections (i,j) and (i,j+1).

[0023] In step 2.3, the green wave bandwidth directional balance constraint condition is:

[0024]

[0025] in, Indicates the green wave bandwidth scaling factor.

[0026] In step 2.4, the positional constraint of the green wave band is:

[0027]

[0028] in, This represents the time interval between the left edge of the green wave band in the uphill direction at intersection (i,j) when the coordinate path pair is numbered p and the right edge of the nearest red light time in the uphill direction; This represents the time interval between the left edge of the green wave band in the uphill direction at intersection (i,j+1) when the coordinated path pair between adjacent intersections is numbered p, and the right edge of the nearest red light time in the uphill direction. This represents the time interval between the right edge of the down-direction green wave at intersection (i,j) when the coordinated path pair is numbered p and the left edge of its nearest down-direction red light time; This represents the time interval between the right edge of the down-direction green wave at intersection (i,j+1) when the coordinated path pair is numbered p and the left edge of its nearest down-direction red light time. This represents the initial queue clearing time corresponding to the down-direction coordinated path at intersection (i,j) when numbered p, for the coordinated path between adjacent intersections. This represents the green light time for the coordinated up-traffic flow m at intersection (i,j) when the coordinated path between adjacent intersections is numbered p. This indicates the coordinated down-flow traffic at intersection (i,j) when the coordinated path pair numbered p is used between adjacent intersections. Green light duration; m = {NL, WT, WL, ST}, This represents the green light time for the coordinated traffic flow n in the upbound direction at intersection (i,j+1) when the coordinated path pair between adjacent intersections is numbered p. This indicates the coordinated down-flow traffic at intersection (i,j+1) when the coordinated path pair numbered p is used between adjacent intersections. Green light duration; n = {WL, WT, SL, ST}, m、 n and The symbols WL, WT, EL, ET, SL, ST, NL and NT involved in the traffic flow represent west left turn, west straight, east left turn, east straight, south left turn, south straight, north left turn and north straight, respectively.

[0029] In step 2.5, the non-negativity constraint condition for the variables is:

[0030]

[0031] in, This represents the initial queue clearing time corresponding to the coordinated path in the upbound direction at intersection (i,j+1) when numbered p, between adjacent intersections.

[0032] In step 2.6, the equality constraint condition for integer multiples of the common signal period is:

[0033]

[0034] in, This indicates the red light duration for the coordinated path between adjacent intersections, specifically for the coordinated up-traffic flow m at intersection (i,j) when the path is numbered p. This indicates the coordinated down-flow traffic at intersection (i,j) when the coordinated path pair numbered p is used between adjacent intersections. Red light time; This represents the green light time for the coordinated traffic flow n in the upbound direction at intersection (i,j+1) when the coordinated path pair between adjacent intersections is numbered p. This indicates the coordinated down-flow traffic at intersection (i,j+1) when the coordinated path pair numbered p is used between adjacent intersections. The green light time; C represents the common signal cycle; H (i,j),(i,j+1) It is an integer, representing an integer multiple of the common signal period; This represents the travel time corresponding to the coordinated path in the uphill direction when the coordinated path pair numbered p is between adjacent intersections (i,j) and (i,j+1). This represents the travel time of the coordinated path in the down direction when the coordinated path pair numbered p is between adjacent intersections (i,j) and (i,j+1). The internal phase difference variable represents the midpoint of the red light time of the coordinated traffic flow m in the upbound direction at intersection (i,j) when the coordinated path between adjacent intersections is p, and the closest coordinated traffic flow in the downbound direction. The time interval between the midpoints of the red light times, if the midpoint of the red light time for the upstream coordinated traffic flow m is at the midpoint for the downstream coordinated traffic flow. To the right of the midpoint of the red light time, Take a positive value, otherwise take a negative value; The internal phase difference variable represents the midpoint of the red light time of the coordinated traffic flow n in the upbound direction at intersection (i,j+1) when the coordinated path between adjacent intersections is p, and the closest coordinated traffic flow in the downbound direction. The time interval between the midpoints of the red light times, if the midpoint of the red light time for the upstream coordinated traffic flow n is at the midpoint for the downstream coordinated traffic flow. To the right of the midpoint of the red light time, Take a positive value, otherwise take a negative value; and The main difference lies in the superscript and subscript; their calculation formulas can be used... Unified representation; when h = m, When c = i and e = j This means When h = n, When c = i and e = j + 1 This means

[0035] Case 1 is defined as an intersection (c,e) using the NEMA phase scheme where the green light time for left turns at the same approach lane is less than the green light time for straight traffic.

[0036] Under Case 1, each The calculation formula is:

[0037] When h=NL and k=EL The calculation formula is:

[0038]

[0039] When h = NL and k = ET The calculation formula is:

[0040]

[0041] When h = WT and k = EL The calculation formula is:

[0042]

[0043] When h = WT and k = ET The calculation formula is:

[0044]

[0045] When h = WL and k = SL The calculation formula is:

[0046]

[0047] When h = WL and k = ET The calculation formula is:

[0048]

[0049] When h=WT and k=SL The calculation formula is:

[0050]

[0051] When h = WL and k = NL The calculation formula is:

[0052]

[0053] When h = WL and k = NT The calculation formula is:

[0054]

[0055] When h = ST and k = NL The calculation formula is:

[0056]

[0057] When h = ST and k = NT The calculation formula is:

[0058]

[0059] When h = SL and k = EL The calculation formula is:

[0060]

[0061] When h = SL and k = NT The calculation formula is:

[0062]

[0063] When h = ST and k = EL The calculation formula is:

[0064]

[0065] in, This represents the time interval between the midpoint of the red light duration for the northbound coordinated traffic flow NL at intersection (c,e) and the midpoint of the red light duration for the nearest southbound coordinated traffic flow EL. If the midpoint of the red light duration for the northbound coordinated traffic flow NL at intersection (c,e) is to the right of the midpoint of the red light duration for the southbound coordinated traffic flow EL, then... Take a positive value, otherwise take a negative value; This represents the time interval between the midpoint of the red light duration for the northbound coordinated traffic flow NL at intersection (c,e) and the midpoint of the red light duration for the nearest southbound coordinated traffic flow ET. If the midpoint of the red light duration for the northbound coordinated traffic flow NL at intersection (c,e) is to the right of the midpoint of the red light duration for the southbound coordinated traffic flow ET, then... Take a positive value, otherwise take a negative value; This represents the time interval between the midpoint of the red light duration of the northbound coordinated traffic flow WT at intersection (c,e) and the midpoint of the red light duration of the nearest southbound coordinated traffic flow EL. If the midpoint of the red light duration of the northbound coordinated traffic flow WT at intersection (c,e) is to the right of the midpoint of the red light duration of the southbound coordinated traffic flow EL, then... Take a positive value, otherwise take a negative value; This represents the time interval between the midpoint of the red light duration for the northbound coordinated traffic flow WT at intersection (c,e) and the midpoint of the red light duration for the nearest southbound coordinated traffic flow ET. If the midpoint of the red light duration for the northbound coordinated traffic flow WT at intersection (c,e) is to the right of the midpoint of the red light duration for the southbound coordinated traffic flow ET, then... Take a positive value, otherwise take a negative value; This represents the time interval between the midpoint of the red light duration of the northbound coordinated traffic flow WL at intersection (c,e) and the midpoint of the red light duration of the nearest southbound coordinated traffic flow SL. If the midpoint of the red light duration of the northbound coordinated traffic flow WL at intersection (c,e) is to the right of the midpoint of the red light duration of the southbound coordinated traffic flow SL, then... Take a positive value, otherwise take a negative value; This represents the time interval between the midpoint of the red light duration of the northbound coordinated traffic flow WL at intersection (c,e) and the midpoint of the red light duration of the nearest southbound coordinated traffic flow ET. If the midpoint of the red light duration of the northbound coordinated traffic flow WL at intersection (c,e) is to the right of the midpoint of the red light duration of the southbound coordinated traffic flow ET, then... Take a positive value, otherwise take a negative value; This represents the time interval between the midpoint of the red light duration for the northbound coordinated traffic flow WT at intersection (c,e) and the midpoint of the red light duration for the nearest southbound coordinated traffic flow SL. If the midpoint of the red light duration for the northbound coordinated traffic flow WT at intersection (c,e) is to the right of the midpoint of the red light duration for the southbound coordinated traffic flow SL, then... Take a positive value, otherwise take a negative value; This represents the time interval between the midpoint of the red light duration of the northbound coordinated traffic flow WL at intersection (c,e) and the midpoint of the red light duration of the nearest southbound coordinated traffic flow NL. If the midpoint of the red light duration of the northbound coordinated traffic flow WL at intersection (c,e) is to the right of the midpoint of the red light duration of the southbound coordinated traffic flow NL, then... Take a positive value, otherwise take a negative value; This represents the time interval between the midpoint of the red light duration of the northbound coordinated traffic flow WL at intersection (c,e) and the midpoint of the red light duration of the nearest southbound coordinated traffic flow NT. If the midpoint of the red light duration of the northbound coordinated traffic flow WL at intersection (c,e) is to the right of the midpoint of the red light duration of the southbound coordinated traffic flow NT, then... Take a positive value, otherwise take a negative value; This represents the time interval between the midpoint of the red light duration for the northbound coordinated traffic flow ST at intersection (c,e) and the midpoint of the red light duration for the nearest southbound coordinated traffic flow NL. If the midpoint of the red light duration for the northbound coordinated traffic flow ST at intersection (c,e) is to the right of the midpoint of the red light duration for the southbound coordinated traffic flow NL, then... Take a positive value, otherwise take a negative value; This represents the time interval between the midpoint of the red light duration for the northbound coordinated traffic flow ST at intersection (c,e) and the midpoint of the red light duration for the nearest southbound coordinated traffic flow NT. If the midpoint of the red light duration for the northbound coordinated traffic flow ST at intersection (c,e) is to the right of the midpoint of the red light duration for the southbound coordinated traffic flow NT, then... Take a positive value, otherwise take a negative value; This represents the time interval between the midpoint of the red light duration of the northbound coordinated traffic flow SL at intersection (c,e) and the midpoint of the red light duration of the nearest southbound coordinated traffic flow EL. If the midpoint of the red light duration of the northbound coordinated traffic flow SL at intersection (c,e) is to the right of the midpoint of the red light duration of the southbound coordinated traffic flow EL, then... Take a positive value, otherwise take a negative value; This represents the time interval between the midpoint of the red light duration for the northbound coordinated traffic flow SL at intersection (c,e) and the midpoint of the red light duration for the nearest southbound coordinated traffic flow NT. If the midpoint of the red light duration for the northbound coordinated traffic flow SL at intersection (c,e) is to the right of the midpoint of the red light duration for the southbound coordinated traffic flow NT, then... Take a positive value, otherwise take a negative value; This represents the time interval between the midpoint of the red light duration of the northbound coordinated traffic flow ST at intersection (c,e) and the midpoint of the red light duration of the nearest southbound coordinated traffic flow EL. If the midpoint of the red light duration of the northbound coordinated traffic flow ST at intersection (c,e) is to the right of the midpoint of the red light duration of the southbound coordinated traffic flow EL, then... Take a positive value, otherwise take a negative value; These represent the red light times for the south, north, west, and east left-turning traffic flows at intersection (c,e), respectively. These represent the red light times for the southbound, northbound, westbound, and eastbound traffic flows at intersection (c,e), respectively. These represent the green light times for the south, north, west, and east left-turn traffic flows at intersection (c,e), respectively. These represent the green light times for southbound, northbound, westbound, and eastbound traffic flows at intersection (c,e); T represents the intersection type number, with values ​​1 and 2 indicating that the intersection is a Type I or Type II intersection, respectively; u (c,e) v (c,e) y (c,e) and z (c,e) To represent a 0 / 1 variable, it is necessary to satisfy u (c,e) +v (c,e) =1, u (c,e) -y (c,e) ≥0, v (c,e) -z (c,e) ≥0; Type II intersections will have two intersection numbers. Assume (d,f) and (s,t) represent the intersection numbers on the east-west and north-south arterial roads, respectively, and the 0 / 1 variable u... (d,f) v (d,f) y (d,f) z (d,f) u (s,t) v (s,t) y (s,t) z (s,t) It is also necessary to satisfy u (d,f) -u (s,t) =0, v (d,f) -v (s,t) =0, y (d,f) -y(s,t) =0, z (d,f) -z (s,t) =0, which satisfies the constraint because an intersection cannot run two different phase sequences at the same time.

[0066] When NEMA phasing is used at intersection (c,e), there are four phase sequences in the west-east direction: west left turn advances and east left turn lags, denoted as S. WE1 Left turns to the east are earlier than left turns to the west, denoted as S. WE2 Left turns to the west and left turns to the east are denoted as S. WE3 The lag between westward and eastward left turns is denoted as S. WE4 There are four phase sequences in the north-south direction: south left turns are earlier and north left turns are later, denoted as S. SN1 The left turn to the north is earlier and the left turn to the south is later, denoted as S. SN2 The advance left turn from the south and the advance left turn from the north are denoted as S. SN3 The lag in left turns to the south and the lag in left turns to the north are denoted as S. SN4 Considering both the east-west and north-south phase sequences, there are 16 possible phase sequences for the intersection (c,e): the one for the east-west direction is S. WE1 S is in the north-south direction SN1 Let P1 be the direction of the west-east direction; S be the direction of the west-east direction. WE1 S is in the north-south direction SN2 Let it be P2; and let it be S in the west-east direction. WE1 S is in the north-south direction SN3 Let it be P3; and let it be S in the west-east direction. WE1 S is in the north-south direction SN4 Let it be P4; S is the direction from west to east. WE2 S is in the north-south direction SN1 It is denoted as P5; the direction to the west and east is S. WE2 S is in the north-south direction SN2 , denoted as P6; S is located in the west-east direction. WE2 S is in the north-south direction SN3 It is denoted as P7; the direction from west to east is S. WE2 S is in the north-south direction SN4 , denoted as P8; S in the west-east direction. WE3 S is in the north-south direction SN1 , denoted as P9; S is located in the west-east direction. WE3 S is in the north-south direction SN2 , denoted as P 10 The direction in the west-east direction is S. WE3 S is in the north-south direction SN3 , denoted as P 11 The direction in the west-east direction is S. WE3 S is in the north-south direction SN4, denoted as P 12 The direction in the west-east direction is S. WE4 S is in the north-south direction SN1 , denoted as P 13 The direction in the west-east direction is S. WE4 S is in the north-south direction SN2 , denoted as P 14 The direction in the west-east direction is S. WE4 S is in the north-south direction SN3 , denoted as P 15 The direction in the west-east direction is S. WE4 S is in the north-south direction SN4 , denoted as P 16 .

[0067] Under Case 1, each The correspondence between the phase sequence and the intersection is as follows:

[0068] When T = 1 or 2, u (c,e) =1, y (c,e) When = 0, The corresponding intersection phase sequence sets are {P6, P7, P...} 10 ,P 11}、{P6,P7,P 14 ,P 15}、{P5,P6,P7,P8,P9,P 10 ,P 11 ,P 12}、{P5,P6,P7,P8}、{P6,P8,P 14 ,P 16}、{P5,P6,P7,P8,P 13 ,P 14 ,P 15 ,P 16}、{P6,P8,P 10 ,P 12}、{P6,P7,P 14 ,P 15}、{P6,P8,P 14 ,P 16}、{P2,P3,P6,P7,P 10 ,P 11 ,P 14 ,P 15}、{P2,P6,P 10 ,P 14}、{P6,P8,P 10 ,P 12}、{P2,P4,P6,P8,P 10 ,P 12 ,P14 ,P 16}、{P6,P7,P 10 ,P 11}

[0069] When T = 1 or 2, u (c,e) =1, y (c,e) When = 1, The corresponding intersection phase sequence sets are {P1, P4, P...} 13 ,P 16}、{P1,P4,P9,P 12}、{P1,P2,P3,P4,P 13 ,P 14 ,P 15 ,P 16}, {P1,P2,P3,P4}, {P1,P3,P9,P 11}、{P1,P2,P3,P4,P9,P 10 ,P 11 ,P 12}、{P1,P3,P 13 ,P 15}、{P1,P4,P9,P 12}、{P1,P3,P9,P 11}、{P1,P4,P5,P8,P9,P 12 ,P 13 ,P 16}、{P1,P5,P9,P 13}、{P1,P3,P 13 ,P 15}、{P1,P3,P5,P7,P9,P 11 ,P 13 ,P 15}、{P1,P4,P 13 ,P 16}

[0070] When T = 1 or 2, v (c,e) =1, z (c,e) When = 0, The corresponding intersection phase sequence sets are {P2, P3, P...} 10 ,P 11}、{P5,P6,P7,P8,P9,P 10 ,P 11 ,P 12}、{P9,P 10 ,P 11 ,P 12}、{P1,P2,P3,P4,P9,P 10 ,P 11 ,P 12}、{P5,P7,P9,P 11}、{P2,P3,P 10 ,P 11}、{P2,P3,P6,P7,P 10 ,P 11 ,P 14 ,P 15}、{P3,P7,P 11 ,P 15}、{P5,P7,P9,P 11}、{P1,P3,P5,P7,P9,P 11 ,P 13 ,P 15}

[0071] When T = 1 or 2, v (c,e) =1, z (c,e) When = 1, The corresponding intersection phase sequence sets are {P5, P8, P...} 13 ,P 16}、{P1,P2,P3,P4,P 13 ,P 14 ,P 15 ,P 16}、{P 13 ,P 14 ,P 15 ,P 16}、{P5,P6,P7,P8,P 13 ,P 14 ,P 15 ,P 16}、{P2,P4,P 14 ,P 16}、{P5,P8,P 13 ,P 16}、{P1,P4,P5,P8,P9,P 12 ,P 13 ,P 16}、{P4,P8,P 12 ,P 16}、{P2,P4,P 14 ,P 16}、{P2,P4,P6,P8,P 10 ,P 12 ,P 14 ,P 16}

[0072] When T=1, v (c,e) =1, z (c,e) When = 0, The corresponding intersection phase sequence sets are {P5, P8, P9, P...} 12}、{P2,P4,P 10 ,P 12}、{P5,P7,P 13 ,P 15}、{P2,P3,P 14 ,P 15}

[0073] When T=2, v (c,e) =1, z (c,e) When = 0, The corresponding intersection phase sequence sets are {P6, P7, P...} 10 ,P 11}、{P1,P3,P9,P 11}、{P1,P3,P9,P 11}、{P6,P7,P 10 ,P 11}

[0074] When T=1, v (c,e) =1, z (c,e) When = 1, The corresponding intersection phase sequence sets are {P2, P3, P...} 14 ,P 15}、{P5,P7,P 13 ,P 15}、{P2,P4,P 10 ,P 12}、{P5,P8,P9,P 12}

[0075] When T = 2, v (c,e) =1, z (c,e) When = 1, The corresponding intersection phase sequence sets are {P1, P4, P...} 13 ,P 16}、{P6,P8,P 14 ,P 16}、{P6,P8,P 14 ,P 16}、{P1,P4,P 13 ,P 16}

[0076] When there is a left-turn green light time greater than or equal to the straight-ahead green light time at intersection (c,e), then intersection (c,e) only has phase sequence S in the west-east direction. WE3 or SWE4 It is applicable, and only phase sequence S is applicable in the north-south direction. SN3 or S SN4 Yes, it applies. Definition 2 is when at intersection (c, e) there are lanes with left-turn green light times greater than or equal to straight-ahead green light times at the same approach, while in case 1... The corresponding intersection phase sequence set satisfies the above applicability requirements. In case 2, each... The calculation formula remains the same as in case 1. The calculation formulas remain consistent. In case 2, each... The correspondence between the phase sequence of the intersection and the various conditions in Case 1 The correspondence with the phase sequence of the intersection is consistent. Case 3 is defined as intersection (c, e) having left-turn green light times greater than or equal to straight-ahead green light times for the same approach lanes, while all lanes under case 1... The corresponding intersection phase sequence set does not meet the above applicability requirements.

[0077] Under scenario 3, each The calculation formula is:

[0078] When h=NL and k=EL The calculation formula is:

[0079]

[0080] When h = NL and k = ET The calculation formula is:

[0081]

[0082] When h = WT and k = EL The calculation formula is:

[0083]

[0084] When h = WT and k = ET The calculation formula is:

[0085]

[0086] When h = WL and k = SL The calculation formula is:

[0087]

[0088] When h = WL and k = ET The calculation formula is:

[0089]

[0090] When h=WT and k=SL The calculation formula is:

[0091]

[0092] When h = WL and k = NL The calculation formula is:

[0093]

[0094] When h = WL and k = NT The calculation formula is:

[0095]

[0096] When h = ST and k = NL The calculation formula is:

[0097]

[0098] When h = ST and k = NT The calculation formula is:

[0099]

[0100] When h = SL and k = EL The calculation formula is:

[0101]

[0102] When h = SL and k = NT The calculation formula is:

[0103]

[0104] When h = ST and k = EL The calculation formula is:

[0105]

[0106] Under scenario 3, each The correspondence between the phase sequence of the intersection and the phase sequence is as follows: Each u (c,e) and y (c,e) The correspondence between value combinations and intersection phase sequence and various cases under condition 1 v (c,e) and z (c,e) The correspondence between the value combinations and the phase sequence of the intersection is consistent, and each v (c,e) and z (c,e) The correspondence between value combinations and intersection phase sequence and various cases under condition 1 v (c,e) and z (c,e) The value combinations correspond to the phase sequence of the intersection.

[0107] In step 2.7, the constraint condition for coordinating the optimal path is:

[0108] In step 3, determining the green wave coordination control scheme for the non-closed road network refers to solving the constructed green wave coordination control model of the non-closed road network with coordination path selection function, and then determining the coordination path pairs between adjacent intersections, the relative phase difference between adjacent intersections, and the phase sequence of each intersection based on the solution results.

[0109] The method for determining coordinated path pairs between adjacent intersections based on the solution results is as follows: In the solution results... The coordination path pair corresponding to the value 1 is the desired coordination path pair.

[0110] The method for determining the relative phase difference between adjacent intersections based on the solution results is as follows: First, determine... The value of the coordination path pair number p corresponding to the value of 1 is determined, and then the corresponding path is determined based on the value of p. and The value of is used to calculate the final relative phase difference using the following formula:

[0111] The method for determining the phase sequence at each intersection is as follows:

[0112] When an intersection is classified as Type I and the green light time for left turns at the same entrance is less than the green light time for straight-through traffic, the phase sequence of the intersection is determined by a phase difference variable within the intersection. The method for determining the phase sequence is as follows: First, based on the determined coordination path, the optimal upstream and downstream coordinated traffic flows for the intersection are determined. Then, based on the phase difference variable within the intersection... The phase sequence of the intersection can be determined by the correspondence between the phase sequence and the phase sequence of the intersection.

[0113] When an intersection is classified as Type I and there is a left-turn green light time greater than or equal to a straight-ahead green light time at the same entrance, the phase sequence of the intersection is determined by a phase difference variable within the intersection. The method for determining the phase sequence is as follows: First, based on the determined coordination path, determine the preferred uphill and downhill coordinated traffic flows for the intersection. Then, based on the phase difference variable within the intersection... The correspondence between the intersection phase sequence and the phase sequence of the intersection determines the set of candidate intersection phase sequences. Finally, if the intersection is located on a west-east oriented arterial road, it is necessary to remove intersections containing phase sequence S from the candidate phase sequence set. WE1 and S WE2 For intersection phase sequence, if the intersection is located on a north-south arterial road, then phases containing S need to be removed from the candidate phase sequence set.SN1 and S SN2 The phase sequence of the intersection, removing those containing S WE1 and S WE2 Or remove the part containing S SN1 and S SN2 The phase sequence of the subsequent intersections is the phase sequence of that intersection.

[0114] When an intersection is classified as Type II and the green light time for left turns at the same entrance is less than the green light time for straight-through traffic, its phase sequence is jointly determined by the phase difference variables within two or more intersections. The method for determining the phase sequence is as follows: First, based on the determined coordination path, determine the preferred upstream and downstream coordinated traffic flows for the intersection. Then, based on the phase difference variables within the intersection... The correspondence between the phase sequence and the intersection phase sequence is that the common intersection phase sequence corresponding to multiple internal phase difference variables is the intersection phase sequence.

[0115] When an intersection is classified as Type II and there is a left-turn green light time greater than or equal to a straight-ahead green light time at the same entrance, its phase sequence is determined by the phase difference variables within two or more intersections. The method for determining the phase sequence is as follows: First, based on the determined coordination path, determine the preferred upstream and downstream coordinated traffic flows for the intersection. Then, based on the phase difference variables within the intersection... The correspondence between the intersection phase sequence and the phase sequence of the intersection is as follows: the common intersection phase sequence corresponding to multiple internal phase difference variables forms the candidate intersection phase sequence set. Finally, if the intersection is located on a west-east running arterial road, the intersection containing S needs to be removed from the candidate intersection phase sequence set. WE1 and S WE2 For intersection phase sequence, if the intersection is located on a north-south arterial road, then intersections containing S need to be removed from the candidate intersection phase sequence set. SN1 and S SN2 The phase sequence of the intersection, removing those containing S WE1 and S WE2 Or remove the part containing S SN1 and S SN2 The phase sequence of the intersection is the phase sequence of that intersection.

[0116] Compared with the prior art, the beneficial effects of the present invention are:

[0117] I. The present invention provides a green wave coordination control method for non-closed road networks with coordinated path optimization function. It considers the inherent correlation between path selection and green wave coordination. It can not only optimize phase difference and intersection phase sequence, but also optimize coordinated paths at the same time. It can fully consider the differentiated needs of different coordinated paths in non-closed road networks and achieve better green wave coordination control effect.

[0118] Second, the green wave coordination control method for non-closed road networks with coordinated path optimization function provided by this invention can not only realize the synchronous optimization of path selection and green wave coordination, but also realize green wave coordination control under a specified path in a non-closed road network according to actual needs, and has good versatility and applicability.

[0119] Third, this invention is a promotion and application of synchronous optimization of path selection and green wave coordination at the road network level, which can realize synchronous optimization of path selection and green wave coordination in non-closed road networks. Attached Figure Description

[0120] Figure 1 This is a flowchart of a green wave coordination control method for a non-closed road network with coordinated path selection function;

[0121] Figure 2 This is an example of a non-closed road network;

[0122] Figure 3 It is a diagram showing the inflow and outflow relationship of traffic between adjacent intersections;

[0123] Figure 4 This is a green wave time interval map;

[0124] Figure 5 These are the four phase sequences in the west-east direction under the NEMA phase scheme;

[0125] Figure 6 These are the four phase sequences in the north-south direction under the NEMA phase scheme;

[0126] Figure 7 This is the non-closed road network corresponding to the embodiment. Detailed Implementation

[0127] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. These embodiments are implemented based on the technical solution of the present invention, providing detailed implementation methods and specific operating procedures. However, the scope of protection of the present invention is not limited to the following embodiments.

[0128] like Figure 1 As shown, the present invention provides a green wave coordination control method for a non-closed road network with coordinated path selection function, comprising the following steps:

[0129] Step 1: Classify intersections in non-closed road networks;

[0130] Step 2: Construct a non-closed road network green wave coordinated control model with coordinated path selection function;

[0131] Step 3: Determine the green wave coordination control scheme for the non-closed road network.

[0132] Step 1 is to classify intersections in non-closed road networks. The classification rules are as follows: if an intersection is located on a main road that requires green wave coordination control and is at the end of that main road, it is a Type I intersection; if an intersection is located on a main road that requires green wave coordination control but is not at the end of that main road, or is located on two main roads that require green wave coordination control, it is a Type II intersection. Figure 2 This is an example of a non-closed road network consisting of four arterial roads: A1, A2, A3, and A4. The number of intersections on arterial roads A1, A2, A3, and A4 are 4, 4, 3, and 2, respectively. According to the intersection classification rules in the non-closed road network described in step 1, intersection (1,1) on arterial road A1 is a Type I intersection, while (1,2), (1,3), and (1,4) are Type II intersections; intersections (2,1) and (2,4) on arterial road A2 are Type I intersections, while (2,2) and (2,3) are Type II intersections; intersection (3,3) on arterial road A3 is a Type I intersection, while (3,1) and (3,2) are Type II intersections; and intersection (4,1) on arterial road A4 is a Type I intersection, while (4,2) is a Type II intersection. Furthermore, to make... Figure 2 The types of intersections are more obvious and easier to understand. Figure 2 Intersections belonging to Type I and Type II are shown in the form of squares and hollow circles, respectively.

[0133] Step 2 involves constructing a non-closed road network green wave coordination control model with coordinated path selection function by studying the spatiotemporal constraint relationships between green wave coordination variables, non-closed road network parameters, and vehicle operation parameters. This includes the following steps:

[0134] Step 2.1: Number the coordinated path pairs between adjacent intersections;

[0135] Step 2.2: Construct the objective optimization function;

[0136] Step 2.3: Construct green wave bandwidth directional balance constraints;

[0137] Step 2.4: Construct the positional constraints for the green wave band;

[0138] Step 2.5: Construct non-negativity constraints for the variables;

[0139] Step 2.6: Construct equality constraints for integer multiples of the common signal period;

[0140] Step 2.7: Construct constraints for coordinating path optimization.

[0141] In step 2.1, a coordinated path pair refers to a pair consisting of a coordinated path in the upbound direction and a coordinated path in the downbound direction between adjacent intersections (i,j) and (i,j+1). (i,j) represents the j-th intersection on the i-th arterial road, and (i,j+1) represents the (j+1)-th intersection on the i-th arterial road. Upbound direction refers to traffic flowing from west to east or from south to north, and downbound direction refers to traffic flowing from east to west or from north to south. A coordinated path is a directional connection formed by coordinating traffic flow between adjacent intersections. Let p denote the number of the coordinated path pair; the specific value of p can be determined using... Figure 3 The diagram illustrates the inflow and outflow relationships of traffic between adjacent intersections. Figure 3 The specific coordination paths for the up and down directions are shown in Table 1. Figure 3 If the main road in the middle runs from west to east, f (i,j),1 f (i,j),4 , These represent the left-turn traffic flow at the north entrance, the through traffic flow at the west entrance, the left-turn traffic flow at the east entrance, and the through traffic flow at the east entrance of intersection (i,j), respectively; f (i,j+1),3 f (i,j+1),4 , These represent the left-turn traffic flow at the west entrance of the intersection (i,j+1), the straight-through traffic flow at the west entrance, the left-turn traffic flow at the south entrance, and the straight-through traffic flow at the east entrance. Figure 3 If the main road in the middle runs north-south, f (i,j),1 f (i,j),4 , These represent the left-turning traffic flow at the west entrance, the straight-through traffic flow at the south entrance, the left-turning traffic flow at the north entrance, and the straight-through traffic flow at the north entrance of intersection (i,j), respectively; f (i,j+1),3 f (i,j+1),4 , These represent the left-turn traffic flow at the south entrance of the intersection (i,j+1), the straight-through traffic flow at the south entrance, the left-turn traffic flow at the east entrance, and the straight-through traffic flow at the north entrance.

[0142] Table 1 Coordination Paths Between Adjacent Intersections

[0143]

[0144] Taking into account both the coordinated paths in the up direction and the coordinated paths in the down direction, there will be 16 (4×4) coordinated path pairs between two adjacent intersections, as shown in Table 2.

[0145] Table 2 Coordination Path Pairs Between Adjacent Intersections

[0146]

[0147]

[0148] Figure 4This diagram illustrates the spatiotemporal relationships between adjacent intersections, including green wave bandwidth, coordinated path, phase difference, phase sequence, distance, green wave speed, and traffic light duration. This green wave time-distance diagram can help construct a non-closed road network green wave coordinated control model with coordinated path optimization functionality.

[0149] The goal of the model constructed in step 2 is to maximize the sum of the weighted green wave bandwidths of each preferred coordinated path. Therefore, the objective function in step 2.2 can be expressed as:

[0150]

[0151] Where M represents the number of arterial roads in a non-closed road network; N i This represents the number of intersections on the i-th main road; This represents a 0 / 1 variable, which is introduced to optimize the coordination path. This represents the green wave bandwidth of the uplink coordinated path corresponding to the coordinated path numbered p between intersections (i,j) and (i,j+1). This represents the green wave bandwidth of the downlink coordinated path corresponding to the coordinated path numbered p between intersections (i,j) and (i,j+1). is the weighting coefficient, representing the path flow of the uplink coordinated path corresponding to the numbered p between the coordinated path pairs (i,j) and (i,j+1) at intersection (i,j); is the weighting coefficient, representing the path flow of the downlink coordinated path corresponding to the coordinated path numbered p between intersections (i,j) and (i,j+1).

[0152] To balance the green wave bandwidth of the coordinated paths in the uplink and downlink directions, the green wave bandwidth directional balance constraint in step 2.3 can be expressed as:

[0153]

[0154] in, Indicates the green wave bandwidth scaling factor.

[0155] according to Figure 4 The meaning of the green wave band is that its left and right edges must be confined within the green light time range and cannot intersect with the red light time. Therefore, the green wave band position constraint in step 2.4 can be expressed as:

[0156]

[0157] in, This represents the time interval between the left edge of the green wave band in the uphill direction at intersection (i,j) when the coordinate path pair is numbered p and the right edge of the nearest red light time in the uphill direction; This represents the time interval between the left edge of the green wave band in the uphill direction at intersection (i,j+1) when the coordinated path pair between adjacent intersections is numbered p, and the right edge of the nearest red light time in the uphill direction. This represents the time interval between the right edge of the down-direction green wave at intersection (i,j) when the coordinated path pair is numbered p and the left edge of its nearest down-direction red light time; This represents the time interval between the right edge of the down-direction green wave at intersection (i,j+1) when the coordinated path pair is numbered p and the left edge of its nearest down-direction red light time. This represents the initial queue clearing time corresponding to the down-direction coordinated path at intersection (i,j) when numbered p, for the coordinated path between adjacent intersections. This represents the green light time for the coordinated up-traffic flow m at intersection (i,j) when the coordinated path between adjacent intersections is numbered p. This indicates the coordinated down-flow traffic at intersection (i,j) when the coordinated path pair numbered p is used between adjacent intersections. Green light duration; m = {NL, WT, WL, ST}, This represents the green light time for the coordinated traffic flow n in the upbound direction at intersection (i,j+1) when the coordinated path pair between adjacent intersections is numbered p. This indicates the coordinated down-flow traffic at intersection (i,j+1) when the coordinated path pair numbered p is used between adjacent intersections. Green light duration; n = {WL, WT, SL, ST}, m、 n and The symbols WL, WT, EL, ET, SL, ST, NL and NT involved in the traffic flow represent west left turn, west straight, east left turn, east straight, south left turn, south straight, north left turn and north straight, respectively.

[0158] According to variables Given the definition, it is easy to see that the non-negativity constraint condition of the variables in step 2.5 can be expressed as:

[0159]

[0160] in, This represents the initial queue clearing time corresponding to the coordinated path in the upbound direction at intersection (i,j+1) when numbered p, between adjacent intersections.

[0161] Since all intersections use the same signal period (common period), there will be an equality constraint between intersections (i,j) and (i,j+1) regarding integer multiples of the common period, i.e. Figure 4The distance between points A and F (A→B→C→D→E→F) is an integer multiple of the common signal period. Points A, B, C, D, E, and F are all the midpoints of their respective red light times. The constraint condition of the common signal period multiple equation in step 2.6 can be expressed as:

[0162]

[0163] in, This indicates the red light duration for the coordinated path between adjacent intersections, specifically for the coordinated up-traffic flow m at intersection (i,j) when the path is numbered p. This indicates the coordinated down-flow traffic at intersection (i,j) when the coordinated path pair numbered p is used between adjacent intersections. Red light time; This represents the green light time for the coordinated traffic flow n in the upbound direction at intersection (i,j+1) when the coordinated path pair between adjacent intersections is numbered p. This indicates the coordinated down-flow traffic at intersection (i,j+1) when the coordinated path pair numbered p is used between adjacent intersections. The green light time; C represents the common signal cycle; H (i,j),(i,j+1) It is an integer, representing an integer multiple of the common signal period; This represents the travel time corresponding to the coordinated path in the uphill direction when the coordinated path pair numbered p is between adjacent intersections (i,j) and (i,j+1). This represents the travel time of the coordinated path in the down direction when the coordinated path pair numbered p is between adjacent intersections (i,j) and (i,j+1). The internal phase difference variable represents the midpoint of the red light time of the coordinated traffic flow m in the upbound direction at intersection (i,j) when the coordinated path between adjacent intersections is p, and the closest coordinated traffic flow in the downbound direction. The time interval between the midpoints of the red light times, if the midpoint of the red light time for the upstream coordinated traffic flow m is at the midpoint for the downstream coordinated traffic flow. To the right of the midpoint of the red light time, Take a positive value, otherwise take a negative value; The internal phase difference variable represents the midpoint of the red light time of the coordinated traffic flow n in the upbound direction at intersection (i,j+1) when the coordinated path between adjacent intersections is p, and the closest coordinated traffic flow in the downbound direction. The time interval between the midpoints of the red light times, if the midpoint of the red light time for the upstream coordinated traffic flow n is at the midpoint for the downstream coordinated traffic flow. To the right of the midpoint of the red light time, Take a positive value, otherwise take a negative value; and The main difference lies in the superscript and subscript; their calculation formulas can be used... Unified representation; when h = m, When c = i and e = j This means When h = n, When c = i and e = j + 1 This means

[0164] according to The meaning of is readily apparent; its value is closely related to the phase sequence of the intersection, with different values ​​corresponding to different phase sequences. Therefore, by introducing 0 / 1 variables, we can give... The general formula can be used to optimize the 0 / 1 variables, thus achieving the optimal phase sequence for the intersection. When the NEMA phase scheme is adopted for intersection (c,e), the phase sequence arrangements in the west-east and north-south directions are as follows: Figure 5 and 6 As shown. Figure 5 It shows four phase sequences existing in the west-east direction: S WE1 S WE2 S WE3 and S WE4 S WE1 This indicates that left turns to the west are earlier than left turns to the east, S WE2 This indicates that left turns to the east are earlier and left turns to the west are later, S WE3 This indicates that left turns to the west and left turns to the east should be made earlier, S WE4 This indicates that the westward left turn is delayed compared to the eastward left turn. Figure 6 It shows four phase sequences that exist in the north-south direction: S SN1 S SN2 S SN3 and S SN4 S SN1 This indicates that left turns to the south are earlier than left turns to the north, S SN2 This indicates that the north left turn is earlier and the south left turn is later, S SN3 This indicates that the left turn to the south and the left turn to the north should be made earlier, S SN4 This indicates the delay for left turns from the south and the delay for left turns from the north. Taking into account both the phase sequence in the east-west and north-south directions, there are 16 possible phase sequence combinations for an intersection, as shown in Table 3. In Table 3, P1 to P... 16 This indicates the numbering of the intersection sequence formed by the phase sequence in the west-east direction and the north-south direction.

[0165] Table 3 shows 16 possible phase sequences at intersections under the NEMA phase scheme.

[0166]

[0167] Case 1 is defined as an intersection (c,e) using the NEMA phase scheme where the green light time for left turns at the same approach lane is less than the green light time for straight traffic.

[0168] Under Case 1, each The calculation formula is:

[0169] When h=NL and k=EL The calculation formula is:

[0170]

[0171] When h = NL and k = ET The calculation formula is:

[0172]

[0173] When h = WT and k = EL The calculation formula is:

[0174]

[0175] When h = WT and k = ET The calculation formula is:

[0176]

[0177] When h = WL and k = SL The calculation formula is:

[0178]

[0179] When h = WL and k = ET The calculation formula is:

[0180]

[0181] When h=WT and k=SL The calculation formula is:

[0182]

[0183] When h = WL and k = NL The calculation formula is:

[0184]

[0185] When h = WL and k = NT The calculation formula is:

[0186]

[0187] When h = ST and k = NL The calculation formula is:

[0188]

[0189] When h = ST and k = NT The calculation formula is:

[0190]

[0191] When h = SL and k = EL The calculation formula is:

[0192]

[0193] When h = SL and k = NT The calculation formula is:

[0194]

[0195] When h = ST and k = EL The calculation formula is:

[0196]

[0197] in, This represents the time interval between the midpoint of the red light duration for the northbound coordinated traffic flow NL at intersection (c,e) and the midpoint of the red light duration for the nearest southbound coordinated traffic flow EL. If the midpoint of the red light duration for the northbound coordinated traffic flow NL at intersection (c,e) is to the right of the midpoint of the red light duration for the southbound coordinated traffic flow EL, then... Take a positive value, otherwise take a negative value; This represents the time interval between the midpoint of the red light duration for the northbound coordinated traffic flow NL at intersection (c,e) and the midpoint of the red light duration for the nearest southbound coordinated traffic flow ET. If the midpoint of the red light duration for the northbound coordinated traffic flow NL at intersection (c,e) is to the right of the midpoint of the red light duration for the southbound coordinated traffic flow ET, then... Take a positive value, otherwise take a negative value; This represents the time interval between the midpoint of the red light duration of the northbound coordinated traffic flow WT at intersection (c,e) and the midpoint of the red light duration of the nearest southbound coordinated traffic flow EL. If the midpoint of the red light duration of the northbound coordinated traffic flow WT at intersection (c,e) is to the right of the midpoint of the red light duration of the southbound coordinated traffic flow EL, then... Take a positive value, otherwise take a negative value; This represents the time interval between the midpoint of the red light duration for the northbound coordinated traffic flow WT at intersection (c,e) and the midpoint of the red light duration for the nearest southbound coordinated traffic flow ET. If the midpoint of the red light duration for the northbound coordinated traffic flow WT at intersection (c,e) is to the right of the midpoint of the red light duration for the southbound coordinated traffic flow ET, then... Take a positive value, otherwise take a negative value; This represents the time interval between the midpoint of the red light duration of the northbound coordinated traffic flow WL at intersection (c,e) and the midpoint of the red light duration of the nearest southbound coordinated traffic flow SL. If the midpoint of the red light duration of the northbound coordinated traffic flow WL at intersection (c,e) is to the right of the midpoint of the red light duration of the southbound coordinated traffic flow SL, then... Take a positive value, otherwise take a negative value; This represents the time interval between the midpoint of the red light duration of the northbound coordinated traffic flow WL at intersection (c,e) and the midpoint of the red light duration of the nearest southbound coordinated traffic flow ET. If the midpoint of the red light duration of the northbound coordinated traffic flow WL at intersection (c,e) is to the right of the midpoint of the red light duration of the southbound coordinated traffic flow ET, then... Take a positive value, otherwise take a negative value; This represents the time interval between the midpoint of the red light duration for the northbound coordinated traffic flow WT at intersection (c,e) and the midpoint of the red light duration for the nearest southbound coordinated traffic flow SL. If the midpoint of the red light duration for the northbound coordinated traffic flow WT at intersection (c,e) is to the right of the midpoint of the red light duration for the southbound coordinated traffic flow SL, then... Take a positive value, otherwise take a negative value; This represents the time interval between the midpoint of the red light duration of the northbound coordinated traffic flow WL at intersection (c,e) and the midpoint of the red light duration of the nearest southbound coordinated traffic flow NL. If the midpoint of the red light duration of the northbound coordinated traffic flow WL at intersection (c,e) is to the right of the midpoint of the red light duration of the southbound coordinated traffic flow NL, then... Take a positive value, otherwise take a negative value; This represents the time interval between the midpoint of the red light duration of the northbound coordinated traffic flow WL at intersection (c,e) and the midpoint of the red light duration of the nearest southbound coordinated traffic flow NT. If the midpoint of the red light duration of the northbound coordinated traffic flow WL at intersection (c,e) is to the right of the midpoint of the red light duration of the southbound coordinated traffic flow NT, then... Take a positive value, otherwise take a negative value; This represents the time interval between the midpoint of the red light duration for the northbound coordinated traffic flow ST at intersection (c,e) and the midpoint of the red light duration for the nearest southbound coordinated traffic flow NL. If the midpoint of the red light duration for the northbound coordinated traffic flow ST at intersection (c,e) is to the right of the midpoint of the red light duration for the southbound coordinated traffic flow NL, then... Take a positive value, otherwise take a negative value; This represents the time interval between the midpoint of the red light duration for the northbound coordinated traffic flow ST at intersection (c,e) and the midpoint of the red light duration for the nearest southbound coordinated traffic flow NT. If the midpoint of the red light duration for the northbound coordinated traffic flow ST at intersection (c,e) is to the right of the midpoint of the red light duration for the southbound coordinated traffic flow NT, then... Take a positive value, otherwise take a negative value; This represents the time interval between the midpoint of the red light duration of the northbound coordinated traffic flow SL at intersection (c,e) and the midpoint of the red light duration of the nearest southbound coordinated traffic flow EL. If the midpoint of the red light duration of the northbound coordinated traffic flow SL at intersection (c,e) is to the right of the midpoint of the red light duration of the southbound coordinated traffic flow EL, then... Take a positive value, otherwise take a negative value; This represents the time interval between the midpoint of the red light duration for the northbound coordinated traffic flow SL at intersection (c,e) and the midpoint of the red light duration for the nearest southbound coordinated traffic flow NT. If the midpoint of the red light duration for the northbound coordinated traffic flow SL at intersection (c,e) is to the right of the midpoint of the red light duration for the southbound coordinated traffic flow NT, then... Take a positive value, otherwise take a negative value; This represents the time interval between the midpoint of the red light duration of the northbound coordinated traffic flow ST at intersection (c,e) and the midpoint of the red light duration of the nearest southbound coordinated traffic flow EL. If the midpoint of the red light duration of the northbound coordinated traffic flow ST at intersection (c,e) is to the right of the midpoint of the red light duration of the southbound coordinated traffic flow EL, then... Take a positive value, otherwise take a negative value; These represent the red light times for the south, north, west, and east left-turning traffic flows at intersection (c,e), respectively. These represent the red light times for the southbound, northbound, westbound, and eastbound traffic flows at intersection (c,e), respectively. These represent the green light times for the south, north, west, and east left-turn traffic flows at intersection (c,e), respectively. These represent the green light times for southbound, northbound, westbound, and eastbound traffic flows at intersection (c,e); T represents the intersection type number, with values ​​1 and 2 indicating that the intersection is a Type I or Type II intersection, respectively; u (c,e) v (c,e) y (c,e) and z (c,e) To represent a 0 / 1 variable, it is necessary to satisfy u (c,e) +v (c,e) =1, u (c,e) -y (c,e) ≥0, v (c,e) -z (c,e) ≥0; Type II intersections will have two intersection numbers. Assume (d,f) and (s,t) represent the intersection numbers on the east-west and north-south arterial roads, respectively, and the 0 / 1 variable u... (d,f) v (d,f) y (d,f) z(d,f) u (s,t) v (s,t) y (s,t) z (s,t) It is also necessary to satisfy u (d,f) -u (s,t) =0, v (d,f) -v (s,t) =0, y (d,f) -y (s,t) =0, z (d,f) -z (s,t) =0, which satisfies the constraint because an intersection cannot run two different phase sequences at the same time.

[0198] When NEMA phasing is used at intersection (c,e), there are four phase sequences in the west-east direction: west left turn advances and east left turn lags, denoted as S. WE1 Left turns to the east are earlier than left turns to the west, denoted as S. WE2 Left turns to the west and left turns to the east are denoted as S. WE3 The lag between westward and eastward left turns is denoted as S. WE4 There are four phase sequences in the north-south direction: south left turns are earlier and north left turns are later, denoted as S. SN1 The left turn to the north is earlier and the left turn to the south is later, denoted as S. SN2 The advance left turn from the south and the advance left turn from the north are denoted as S. SN3 The lag in left turns to the south and the lag in left turns to the north are denoted as S. SN4 Considering both the east-west and north-south phase sequences, there are 16 possible phase sequences for the intersection (c,e): the one for the east-west direction is S. WE1 S is in the north-south direction SN1 Let P1 be the direction of the west-east direction; S be the direction of the west-east direction. WE1 S is in the north-south direction SN2 Let it be P2; and let it be S in the west-east direction. WE1 S is in the north-south direction SN3 Let it be P3; and let it be S in the west-east direction. WE1 S is in the north-south direction SN4 Let it be P4; S is the direction from west to east. WE2 S is in the north-south direction SN1 It is denoted as P5; the direction to the west and east is S. WE2 S is in the north-south direction SN2 , denoted as P6; S is located in the west-east direction. WE2 S is in the north-south direction SN3 It is denoted as P7; the direction from west to east is S. WE2 S is in the north-south direction SN4 , denoted as P8; S in the west-east direction. WE3 S is in the north-south direction SN1, denoted as P9; S is located in the west-east direction. WE3 S is in the north-south direction SN2 , denoted as P 10 The direction in the west-east direction is S. WE3 S is in the north-south direction SN3 , denoted as P 11 The direction in the west-east direction is S. WE3 S is in the north-south direction SN4 , denoted as P 12 The direction in the west-east direction is S. WE4 S is in the north-south direction SN1 , denoted as P 13 The direction in the west-east direction is S. WE4 S is in the north-south direction SN2 , denoted as P 14 The direction in the west-east direction is S. WE4 S is in the north-south direction SN3 , denoted as P 15 The direction in the west-east direction is S. WE4 S is in the north-south direction SN4 , denoted as P 16 .

[0199] Under Case 1, each The correspondence between the phase sequence and the intersection is as follows:

[0200] When T = 1 or 2, u (c,e) =1, y (c,e) When = 0, The corresponding intersection phase sequence sets are {P6, P7, P...} 10 ,P 11}、{P6,P7,P 14 ,P 15}、{P5,P6,P7,P8,P9,P 10 ,P 11 ,P 12}、{P5,P6,P7,P8}、{P6,P8,P 14 ,P 16}、{P5,P6,P7,P8,P 13 ,P 14 ,P 15 ,P 16}、{P6,P8,P 10 ,P 12}、{P6,P7,P 14 ,P 15}、{P6,P8,P 14 ,P 16}、{P2,P3,P6,P7,P 10 ,P11 ,P 14 ,P 15}、{P2,P6,P 10 ,P 14}、{P6,P8,P 10 ,P 12}、{P2,P4,P6,P8,P 10 ,P 12 ,P 14 ,P 16}、{P6,P7,P 10 ,P 11}

[0201] When T = 1 or 2, u (c,e) =1, y (c,e) When = 1, The corresponding intersection phase sequence sets are {P1, P4, P...} 13 ,P 16}、{P1,P4,P9,P 12}、{P1,P2,P3,P4,P 13 ,P 14 ,P 15 ,P 16}, {P1,P2,P3,P4}, {P1,P3,P9,P 11}、{P1,P2,P3,P4,P9,P 10 ,P 11 ,P 12}、{P1,P3,P 13 ,P 15}、{P1,P4,P9,P 12}、{P1,P3,P9,P 11}、{P1,P4,P5,P8,P9,P 12 ,P 13 ,P 16}、{P1,P5,P9,P 13}、{P1,P3,P 13 ,P 15}、{P1,P3,P5,P7,P9,P 11 ,P 13 ,P 15}、{P1,P4,P 13 ,P 16}

[0202] When T = 1 or 2, v (c,e) =1, z (c,e) When = 0, The corresponding intersection phase sequence sets are {P2, P3, P...} 10 ,P 11}、{P5,P6,P7,P8,P9,P 10 ,P 11 ,P 12}、{P9,P 10 ,P 11 ,P 12}、{P1,P2,P3,P4,P9,P 10 ,P 11 ,P 12}、{P5,P7,P9,P 11}、{P2,P3,P 10 ,P 11}、{P2,P3,P6,P7,P 10 ,P 11 ,P 14 ,P 15}、{P3,P7,P 11 ,P 15}、{P5,P7,P9,P 11}、{P1,P3,P5,P7,P9,P 11 ,P 13 ,P 15}

[0203] When T = 1 or 2, v (c,e) =1, z (c,e) When = 1, The corresponding intersection phase sequence sets are {P5, P8, P...} 13 ,P 16}、{P1,P2,P3,P4,P 13 ,P 14 ,P 15 ,P 16}、{P 13 ,P 14 ,P 15 ,P 16}、{P5,P6,P7,P8,P 13 ,P 14 ,P 15 ,P 16}、{P2,P4,P 14 ,P 16}、{P5,P8,P 13 ,P 16}、{P1,P4,P5,P8,P9,P 12 ,P 13 ,P 16}、{P4,P8,P 12,P 16}、{P2,P4,P 14 ,P 16}、{P2,P4,P6,P8,P 10 ,P 12 ,P 14 ,P 16}

[0204] When T=1, v (c,e) =1, z (c,e) When = 0, The corresponding intersection phase sequence sets are {P5, P8, P9, P...} 12}、{P2,P4,P 10 ,P 12}、{P5,P7,P 13 ,P 15}、{P2,P3,P 14 ,P 15}

[0205] When T = 2, v (c,e) =1, z (c,e) When = 0, The corresponding intersection phase sequence sets are {P6, P7, P...} 10 ,P 11}、{P1,P3,P9,P 11}、{P1,P3,P9,P 11}、{P6,P7,P 10 ,P 11}

[0206] When T=1, v (c,e) =1, z (c,e) When = 1, The corresponding intersection phase sequence sets are {P2, P3, P...} 14 ,P 15}、{P5,P7,P 13 ,P 15}、{P2,P4,P 10 ,P 12}、{P5,P8,P9,P 12}

[0207] When T = 2, v (c,e) =1, z (c,e) When = 1, The corresponding intersection phase sequence sets are {P1, P4, P...} 13 ,P 16}、{P6,P8,P 14 ,P 16}、{P6,P8,P 14,P 16}、{P1,P4,P 13 ,P 16}

[0208] When there is a left-turn green light time greater than or equal to the straight-ahead green light time at intersection (c,e), then intersection (c,e) only has phase sequence S in the west-east direction. WE3 or S WE4 It is applicable, and only phase sequence S is applicable in the north-south direction. SN3 or S SN4 Yes, it applies. Definition 2 is when at intersection (c, e) there are lanes with left-turn green light times greater than or equal to straight-ahead green light times at the same approach, while in case 1... The corresponding intersection phase sequence set satisfies the above applicability requirements. In case 2, each... The calculation formula remains the same as in case 1. The calculation formulas remain consistent. In case 2, each... The correspondence between the phase sequence of the intersection and the various conditions in Case 1 The correspondence with the phase sequence of the intersection is consistent. Case 3 is defined as intersection (c, e) having left-turn green light times greater than or equal to straight-ahead green light times for the same approach lanes, while all lanes under case 1... The corresponding intersection phase sequence set does not meet the above applicability requirements.

[0209] Under scenario 3, each The calculation formula is:

[0210] When h=NL and k=EL The calculation formula is:

[0211]

[0212] When h = NL and k = ET The calculation formula is:

[0213]

[0214] When h = WT and k = EL The calculation formula is:

[0215]

[0216] When h = WT and k = ET The calculation formula is:

[0217]

[0218] When h = WL and k = SL The calculation formula is:

[0219]

[0220] When h = WL and k = ET The calculation formula is:

[0221]

[0222] When h=WT and k=SL The calculation formula is:

[0223]

[0224] When h = WL and k = NL The calculation formula is:

[0225]

[0226] When h = WL and k = NT The calculation formula is:

[0227]

[0228] When h = ST and k = NL The calculation formula is:

[0229]

[0230] When h = ST and k = NT The calculation formula is:

[0231]

[0232] When h = SL and k = EL The calculation formula is:

[0233]

[0234] When h = SL and k = NT The calculation formula is:

[0235]

[0236] When h = ST and k = EL The calculation formula is:

[0237]

[0238] Under scenario 3, each The correspondence between the phase sequence of the intersection and the phase sequence is as follows: Each u (c,e) and y (c,e)The correspondence between value combinations and intersection phase sequence and various cases under condition 1 v (c,e) and z (c,e) The correspondence between the value combinations and the phase sequence of the intersection is consistent, and each v (c,e) and z (c,e) The correspondence between value combinations and intersection phase sequence and various cases under condition 1 v (c,e) and z (c,e) The value combinations correspond to the phase sequence of the intersection.

[0239] In step 2.7, the constraint condition for coordinating the optimal path is:

[0240] In step 3, determining the green wave coordination control scheme for the non-closed road network refers to solving the constructed green wave coordination control model of the non-closed road network with coordination path selection function, and then determining the coordination path pairs between adjacent intersections, the relative phase difference between adjacent intersections, and the phase sequence of each intersection based on the solution results.

[0241] The method for determining coordinated path pairs between adjacent intersections based on the solution results is as follows: In the solution results... The coordination path pair corresponding to the value 1 is the desired coordination path pair.

[0242] The method for determining the relative phase difference between adjacent intersections based on the solution results is as follows: First, determine... The value of the coordination path pair number p corresponding to the value of 1 is determined, and then the corresponding path is determined based on the value of p. and The value of is used to calculate the final relative phase difference using the following formula:

[0243] The method for determining the phase sequence at each intersection is as follows:

[0244] When an intersection is classified as Type I and the green light time for left turns at the same entrance is less than the green light time for straight-through traffic, the phase sequence of the intersection is determined by a phase difference variable within the intersection. The method for determining the phase sequence is as follows: First, based on the determined coordination path, the optimal upstream and downstream coordinated traffic flows for the intersection are determined. Then, based on the phase difference variable within the intersection... The phase sequence of the intersection can be determined by the correspondence between the phase sequence and the phase sequence of the intersection.

[0245] When an intersection is classified as Type I and there is a left-turn green light time greater than or equal to a straight-ahead green light time at the same entrance, the phase sequence of the intersection is determined by a phase difference variable within the intersection. The method for determining the phase sequence is as follows: First, based on the determined coordination path, determine the preferred uphill and downhill coordinated traffic flows for the intersection. Then, based on the phase difference variable within the intersection... The correspondence between the intersection phase sequence and the phase sequence of the intersection determines the set of candidate intersection phase sequences. Finally, if the intersection is located on a west-east oriented arterial road, it is necessary to remove intersections containing phase sequence S from the candidate phase sequence set. WE1 and S WE2 For intersection phase sequence, if the intersection is located on a north-south arterial road, then phases containing S need to be removed from the candidate phase sequence set. SN1 and S SN2 The phase sequence of the intersection, removing those containing S WE1 and S WE2 Or remove the part containing S SN1 and S SN2 The phase sequence of the subsequent intersections is the phase sequence of that intersection.

[0246] When an intersection is classified as Type II and the green light time for left turns at the same entrance is less than the green light time for straight-through traffic, its phase sequence is jointly determined by the phase difference variables within two or more intersections. The method for determining the phase sequence is as follows: First, based on the determined coordination path, determine the preferred upstream and downstream coordinated traffic flows for the intersection. Then, based on the phase difference variables within the intersection... The correspondence between the phase sequence and the intersection phase sequence is that the common intersection phase sequence corresponding to multiple internal phase difference variables is the intersection phase sequence.

[0247] When an intersection is classified as Type II and there is a left-turn green light time greater than or equal to a straight-ahead green light time at the same entrance, its phase sequence is determined by the phase difference variables within two or more intersections. The method for determining the phase sequence is as follows: First, based on the determined coordination path, determine the preferred upstream and downstream coordinated traffic flows for the intersection. Then, based on the phase difference variables within the intersection... The correspondence between the intersection phase sequence and the phase sequence of the intersection is as follows: the common intersection phase sequence corresponding to multiple internal phase difference variables forms the candidate intersection phase sequence set. Finally, if the intersection is located on a west-east running arterial road, the intersection containing S needs to be removed from the candidate intersection phase sequence set. WE1 and S WE2 For intersection phase sequence, if the intersection is located on a north-south arterial road, then intersections containing S need to be removed from the candidate intersection phase sequence set. SN1 and S SN2 The phase sequence of the intersection, removing those containing S WE1 and S WE2 Or remove the part containing S SN1 and S SN2 The phase sequence of the intersection is the phase sequence of that intersection. Specific Implementation

[0249] Given a non-closed road network, such as Figure 7 As shown. Figure 7 The length figures represent the distance between adjacent intersections. The traffic light times for each intersection are shown in Table 4. The path flow for each coordinated path is shown in Table 5. The green wave bandwidth scaling factor is shown in Table 6. The green wave design speed for each coordinated path is assumed to be 12.5 m / s. The travel time for each coordinated path is calculated as: intersection spacing ÷ green wave design speed, as shown in Table 7. The initial queue clearing time for each coordinated path is assumed to be 0.

[0250] Table 4 shows the green and red light times at each intersection in the embodiments (unit: seconds).

[0251]

[0252] Table 5. Path traffic for each coordination path (unit: pcu / h)

[0253]

[0254] Table 6 Green Wave Bandwidth Proportion Factor

[0255]

[0256]

[0257] Table 7. Travel time for each coordinated route (unit: seconds)

[0258]

[0259] Step 1: Classify the intersections in the non-closed road network.

[0260] According to the classification rules of intersections in non-closed road networks, Figure 7 The intersections (1,1), (1,4), (2,1), and (2,4) are Type I intersections, while the intersections (1,2), (1,3), (2,2), and (2,3) are Type II intersections.

[0261] Step 2: Construct a non-closed road network green wave coordination control model with coordinated path selection function.

[0262] When constructing the model corresponding to the embodiment, the required number of arterial roads M and the number of intersections N on each arterial road are as follows: i Specifically: Figure 7 In the middle, there are 2 main roads, that is, M=2; there are 4 intersections on main road A1, that is, N1=4; there are 4 intersections on main road A2, that is, N2=4.

[0263] When constructing the model corresponding to the embodiment, the required green light time and red light time data for each intersection, path traffic data for each coordinated path, green wave bandwidth ratio factor data, and travel time data for each coordinated path can be obtained from Tables 4-7, respectively. The required common signal cycle data is 130 seconds.

[0264] Substituting the required data into the corresponding formulas, a non-closed road network green wave coordinated control model with coordinated path selection function suitable for the embodiment can be obtained.

[0265] Step 3: Determine the green wave coordination control scheme for the non-closed road network.

[0266] The LINGO optimization tool is used to solve the non-closed road network green wave coordinated control model with coordinated path selection function suitable for the embodiment. Then, based on the solution results, the coordinated path pairs between adjacent intersections, the relative phase difference between adjacent intersections, and the phase sequence of each intersection are determined. According to the method for determining the coordinated path pairs between adjacent intersections, the relative phase difference between adjacent intersections, and the phase sequence of each intersection, the green wave coordinated control scheme of the embodiment is shown in Table 8.

[0267] Table 8 Green Wave Coordination Control Scheme in Examples

[0268] intersection Coordination path pair Relative phase difference / second Intersection phase sequence (1,1) - - <![CDATA[{P3,P 11 }]]> (1,2) p＝8 31 <![CDATA[{P1}]]> (1,3) p＝14 45 <![CDATA[{P6,P8}]]> (1,4) p＝12 36 <![CDATA[{P9,P 10 ,P 11 ,P 12 }]]> (2,1) - - <![CDATA[{P2,P6,P 10 ,P 14 }]]> (2,2) p＝16 39 <![CDATA[{P1}]]> (2,3) p＝8 28 <![CDATA[{P1,P5,P9,P 13 }]]> (2,4) p＝14 35 <![CDATA[{P1,P4,P 13 ,P 16 }]]>

[0269] The technical content and features of the present invention have been disclosed above. However, those skilled in the art may still make various substitutions and modifications based on the disclosure of the present invention without departing from the spirit of the present invention. Therefore, the scope of protection of the present invention should not be limited to the content disclosed in the embodiments, but should include various substitutions and modifications that do not depart from the present invention, and should be covered by the claims of this patent application.

Claims

1. A non-closed road network green wave coordination control method with coordinated path preference function, characterized in that, The method comprises the following steps: Step 1, classifying intersections in a non-closed road network; Step 2, constructing a green wave coordination control model of the non-closed road network with a coordinated path optimization function; Step 3, determining a green wave coordination control scheme of the non-closed road network; In step 1, the classification rules of intersections in the non-closed road network are as follows: if an intersection is on a trunk road on which green wave coordination control is implemented and is at an end point of the trunk road, the intersection is a type I intersection; if an intersection is on a trunk road on which green wave coordination control is implemented and is not at an end point of the trunk road or is on two trunk roads on which green wave coordination control is implemented, the intersection is a type II intersection; In step 2, the green wave coordination control model of the non-closed road network with the coordinated path optimization function is constructed by studying the space-time constraint relationship among green wave coordination control variables, non-closed road network parameters and vehicle operation parameters, and comprises the following steps: Step 2.1, numbering coordinated path pairs between adjacent intersections; Step 2.2, constructing an objective optimization function; Step 2.3, constructing a green wave bandwidth direction balance constraint condition; Step 2.4, constructing a green wave band position constraint condition; Step 2.5, constructing a variable non-negative constraint condition; Step 2.6, constructing a public signal cycle integer multiple equality constraint condition; Step 2.7, constructing a coordinated path optimization constraint condition; In step 2.1, the coordinated path pair refers to the coordinated path between adjacent intersections in the uplink direction and the coordinated path in the downlink direction, denotes the th intersection on the th arterial road, denotes the th intersection on the th arterial road; the uplink direction refers to the direction from west to east or from south to north, and the downlink direction refers to the direction from east to west or from north to south; the coordinated path refers to the directional connection formed by the coordinated traffic flow between adjacent intersections; the denotes the number of the coordinated path pair, denotes the coordinated path pair formed by the coordinated path 1 in the uplink direction and the coordinated path 1 in the downlink direction, denotes the coordinated path pair formed by the coordinated path 1 in the uplink direction and the coordinated path 2 in the downlink direction, denotes the coordinated path pair formed by the coordinated path 1 in the uplink direction and the coordinated path 3 in the downlink direction, denotes the coordinated path pair formed by the coordinated path 1 in the uplink direction and the coordinated path 4 in the downlink direction, denotes the coordinated path pair formed by the coordinated path 2 in the uplink direction and the coordinated path 1 in the downlink direction, denotes the coordinated path pair formed by the coordinated path 2 in the uplink direction and the coordinated path 2 in the downlink direction, denotes the coordinated path pair formed by the coordinated path 2 in the uplink direction and the coordinated path 3 in the downlink direction, denotes the coordinated path pair formed by the coordinated path 2 in the uplink direction and the coordinated path 4 in the downlink direction, denotes the coordinated path pair formed by the coordinated path 3 in the uplink direction and the coordinated path 1 in the downlink direction, denotes the coordinated path pair formed by the coordinated path 3 in the uplink direction and the coordinated path 2 in the downlink direction, denotes the coordinated path pair formed by the coordinated path 3 in the uplink direction and the coordinated path 3 in the downlink direction, denotes the coordinated path pair formed by the coordinated path 3 in the uplink direction and the coordinated path 4 in the downlink direction, denotes the coordinated path pair formed by the coordinated path 4 in the uplink direction and the coordinated path 1 in the downlink direction, denotes the coordinated path pair formed by the coordinated path 4 in the uplink direction and the coordinated path 2 in the downlink direction, denotes the coordinated path pair formed by the coordinated path 4 in the uplink direction and the coordinated path 3 in the downlink direction, The coordination path pair composed of the coordination path 4 in the uplink direction and the coordination path 4 in the downlink direction; if the arterial road is in the north-south direction, the coordination path 1 in the uplink direction refers to the intersection The directional link composed of the left-turn vehicle flow of the north approach and the intersection The directional link composed of the left-turn vehicle flow of the west approach, the coordination path 2 in the uplink direction refers to the intersection The directional link composed of the left-turn vehicle flow of the north approach and the intersection The directional link composed of the straight vehicle flow of the west approach, the coordination path 3 in the uplink direction refers to the intersection The directional link composed of the straight vehicle flow of the west approach and the intersection The directional link composed of the left-turn vehicle flow of the west approach, the coordination path 4 in the uplink direction refers to the intersection The directional link composed of the straight vehicle flow of the west approach and the intersection The directional link composed of the straight vehicle flow of the west approach, the coordination path 1 in the downlink direction refers to the intersection The directional link composed of the left-turn vehicle flow of the south approach and the intersection The directional link composed of the left-turn vehicle flow of the east approach, the coordination path 2 in the downlink direction refers to the intersection The directional link composed of the left-turn vehicle flow of the south approach and the intersection The directional link composed of the straight vehicle flow of the east approach, the coordination path 3 in the downlink direction refers to the intersection The directional link composed of the straight vehicle flow of the east approach and the intersection The directional link composed of the left-turn vehicle flow of the east approach, the coordination path 4 in the downlink direction refers to the intersection The directional link composed of the straight vehicle flow of the east approach and the intersection The directional link composed of the straight vehicle flow of the east approach; if the arterial road is in the north-south direction, the coordination path 1 in the uplink direction refers to the intersection The directional link composed of the left-turn vehicle flow of the west approach and the intersection The directional link composed of the left-turn vehicle flow of the south approach, the coordination path 2 in the uplink direction refers to the intersection The directional link composed of the left-turn vehicle flow of the west approach and the intersection The directional link composed of the straight vehicle flow of the south approach, the coordination path 3 in the uplink direction refers to the intersection The directional link composed of the straight vehicle flow of the south approach and the intersection The directional link composed of the left-turn vehicle flow of the south approach, the coordination path 4 in the uplink direction refers to the intersection The directional link composed of the straight vehicle flow of the south approach and the intersection The directional link composed of the straight vehicle flow of the south approach, the coordination path 1 in the downlink direction refers to the intersection The directional link composed of the left-turn vehicle flow of the east approach and the intersection The directional link composed of the left-turn vehicle flow of the north approach, the coordination path 2 in the downlink direction refers to the intersection The directional link composed of the left-turn vehicle flow of the east approach and the intersection The directional link formed by the northbound straight flow of the entrance, the coordinated path 3 in the downward direction refers to the intersection The directional link formed by the northbound straight flow of the entrance, the coordinated path 3 in the downward direction refers to the intersection The directional link formed by the northbound left-turn flow of the entrance, the coordinated path 4 in the downward direction refers to the intersection The directional link formed by the northbound straight flow of the entrance, the coordinated path 3 in the downward direction refers to the intersection The directional link formed by the northbound straight flow of the entrance In step 2.2, the objective optimization function of the model is as follows: In step 2.3, the green wave bandwidth direction balance constraint condition is as follows: Indicates the number of arterial roads in a non-closed road network; Indicates the first The number of intersections on main roads; This represents a 0 / 1 variable, which is introduced to optimize the coordination path. Indicates an intersection and Coordination path pair numbered The green wave bandwidth of the uplink coordination path corresponding to the time; Indicates an intersection and Coordination path pair numbered The green wave bandwidth of the corresponding downlink coordinated path; The weighting coefficient represents the intersection. and Coordination path pair numbered The path flow of the coordinated path in the uplink direction corresponding to the time; The weighting coefficient represents the intersection. and Coordination path pair numbered The path flow of the corresponding downlink coordinated path at that time; In step 2.4, the green wave band position constraint condition is as follows: In step 2.5, the variable non-negative constraint condition is as follows: represents a green wave bandwidth proportion factor, ; In step 2.6, the public signal cycle integer multiple equality constraint condition is as follows: In step 2.7, the coordinated path optimization constraint condition is as follows: the time interval between the left edge of the uplink green wave band at the intersection and the right edge of the most proximate uplink red time at the intersection ; the time interval between the left edge of the uplink green wave band at the intersection and the right edge of the most proximate uplink red time at the intersection ; the time interval between the right edge of the downlink green wave band at the intersection and the left edge of the most proximate downlink red time at the intersection ; the time interval between the right edge of the downlink green wave band at the intersection and the left edge of the most proximate downlink red time at the intersection ; the initial queue clearance time of the downlink coordinated route at the intersection ; the uplink green time of the coordinated route at the intersection ; ; the downlink green time of the coordinated route at the intersection ; ; the uplink green time of the coordinated route at the intersection ; the downlink green time of the coordinated route at the intersection ; the uplink green time of the coordinated route at the intersection ; ; the downlink green time of the coordinated route at the intersection ; , , and WL, WT, EL, ET, SL, ST, NL and NT in the above equations respectively represent west left-turn, west through, east left-turn, east through, south left-turn, south through, north left-turn and north through traffic flows. In step 3, the determination of the green wave coordination control scheme of the non-closed road network refers to solving the constructed green wave coordination control model of the non-closed road network with the coordinated path optimization function, and then determining coordinated path pairs between adjacent intersections, relative phase differences between adjacent intersections and phase sequences of all intersections according to a solution result; The determination method of the phase sequences of all intersections is as follows: denotes the coordinated path pair number between adjacent intersections when intersection the initial queue clearance time corresponding to the coordinated path in the uplink direction ​ ​ Indicates the coordinated path pair numbered between adjacent intersections. Intersection Coordinating traffic flow in the uphill direction Red light time; Indicates the coordinated path pair numbered between adjacent intersections. Intersection Coordinating traffic flow in the down direction Red light time; Indicates the coordinated path pair numbered between adjacent intersections. Intersection Coordinating traffic flow in the uphill direction Green light time; Indicates the coordinated path pair numbered between adjacent intersections. Intersection Coordinating traffic flow in the down direction Green light time; Indicates the period of the common signal; It is an integer, representing an integer multiple of the common signal period; Indicates adjacent intersections and Coordination path pair numbered The travel time corresponding to the coordinated path in the uphill direction; Indicates adjacent intersections and Coordination path pair numbered The travel time corresponding to the current coordinated route in the outward direction; The internal phase difference variable represents the coordinated path pair numbered between adjacent intersections. Intersection Coordinating traffic flow in the uphill direction Coordinate traffic flow between the midpoint of the red light time and the nearest downstream direction. The time interval between the midpoints of the red light duration, if the traffic flow in the upbound direction is coordinated. The midpoint of the red light time coordinates the flow of traffic in the downhill direction. To the right of the midpoint of the red light time, Take a positive value, otherwise take a negative value; The internal phase difference variable represents the coordinated path pair numbered between adjacent intersections. Intersection Coordinating traffic flow in the uphill direction Coordinate traffic flow between the midpoint of the red light time and the nearest downstream direction. The time interval between the midpoints of the red light duration, if the traffic flow in the upbound direction is coordinated. The midpoint of the red light time coordinates the flow of traffic in the downhill direction. the right of the midpoint of the red light time, then take the positive value, otherwise take the negative value; and The main difference between them is the superscript and subscript, and their calculation formula can use unified representation; when , , , , is ; when , , , , is ; Define Case 1 as an intersection NEMA phase plan with left turn green time < through green time at the approach In case 1, each of The calculation formula is: , , The calculation formula is: , When, The calculation formula is: , At this time, The calculation formula is: , At this time, The calculation formula is: , when, The calculation formula is: , , The calculation formula is: , At this time, The calculation formula is: , At this time, The calculation formula is: , At this time, The calculation formula is: , When, The calculation formula is: , , The calculation formula is: , At this time, The calculation formula is: , At this time, The calculation formula is: , At this time, The calculation formula is: ​ Indicates an intersection The time interval between the midpoint of the red light time of the upstream coordinated traffic flow NL and the midpoint of the red light time of the nearest downstream coordinated traffic flow EL, if the intersection If the midpoint of the red light time for the northbound coordinated traffic flow NL is to the right of the midpoint of the red light time for the southbound coordinated traffic flow EL, then... Take a positive value, otherwise take a negative value; Indicates an intersection The time interval between the midpoint of the red light time of the upstream coordinated traffic flow NL and the midpoint of the red light time of the nearest downstream coordinated traffic flow ET, if the intersection If the midpoint of the red light time for the northbound coordinated traffic flow NL is to the right of the midpoint of the red light time for the southbound coordinated traffic flow ET, then... Take a positive value, otherwise take a negative value; Indicates an intersection The time interval between the midpoint of the red light time of the upstream coordinated traffic flow WT and the midpoint of the red light time of the nearest downstream coordinated traffic flow EL, if the intersection If the midpoint of the red light time for the northbound coordinated traffic flow WT is to the right of the midpoint of the red light time for the southbound coordinated traffic flow EL, then... Take a positive value, otherwise take a negative value; Indicates an intersection The time interval between the midpoint of the red light time of the upstream coordinated traffic flow WT and the midpoint of the red light time of the nearest downstream coordinated traffic flow ET, if the intersection If the midpoint of the red light time for the northbound coordinated traffic flow (WT) is to the right of the midpoint of the red light time for the southbound coordinated traffic flow (ET), then... Take a positive value, otherwise take a negative value; Indicates an intersection The time interval between the midpoint of the red light time of the coordinated up-direction traffic flow WL and the midpoint of the red light time of the nearest coordinated down-direction traffic flow SL, if the intersection If the midpoint of the red light time for the northbound coordinated traffic flow WL is to the right of the midpoint of the red light time for the southbound coordinated traffic flow SL, then... Take a positive value, otherwise take a negative value; Indicates an intersection The time interval between the midpoint of the red light time of the coordinated up-direction traffic flow WL and the midpoint of the red light time of the nearest coordinated down-direction traffic flow ET, if the intersection If the midpoint of the red light time for the northbound coordinated traffic flow WL is to the right of the midpoint of the red light time for the southbound coordinated traffic flow ET, then... Take a positive value, otherwise take a negative value; Indicates an intersection the time interval between the midpoint of the red light time of the uplink coordinated traffic flow WT and the closest downlink coordinated traffic flow SL, if the intersection the midpoint of the red light time of the uplink coordinated traffic flow WT is on the right side of the midpoint of the red light time of the downlink coordinated traffic flow SL, then takes a positive value, otherwise, takes a negative value; denotes the intersection the time interval between the midpoint of the red light time of the uplink coordinated traffic flow WL and the closest downlink coordinated traffic flow NL, if the intersection the midpoint of the red light time of the uplink coordinated traffic flow WL is on the right side of the midpoint of the red light time of the downlink coordinated traffic flow NL, then takes a positive value, otherwise, takes a negative value; denotes the intersection the time interval between the midpoint of the red light time of the uplink coordinated traffic flow WL and the closest downlink coordinated traffic flow NT, if the intersection the midpoint of the red light time of the uplink coordinated traffic flow WL is on the right side of the midpoint of the red light time of the downlink coordinated traffic flow NT, then takes a positive value, otherwise, takes a negative value; denotes the intersection the time interval between the midpoint of the red light time of the uplink coordinated traffic flow ST and the closest downlink coordinated traffic flow NL, if the intersection the midpoint of the red light time of the uplink coordinated traffic flow ST is on the right side of the midpoint of the red light time of the downlink coordinated traffic flow NL, then takes a positive value, otherwise, takes a negative value; denotes the intersection the time interval between the midpoint of the red light time of the uplink coordinated traffic flow ST and the closest downlink coordinated traffic flow NT, if the intersection the midpoint of the red light time of the uplink coordinated traffic flow ST is on the right side of the midpoint of the red light time of the downlink coordinated traffic flow NT, then takes a positive value, otherwise, takes a negative value; denotes the intersection the time interval between the midpoint of the red light time of the uplink coordinated traffic flow SL and the closest downlink coordinated traffic flow EL, if the intersection the midpoint of the red light time of the uplink coordinated traffic flow SL is on the right side of the midpoint of the red light time of the downlink coordinated traffic flow EL, then takes a positive value, otherwise, takes a negative value; denotes the intersection The time interval between the midpoint of the red light time of the upstream coordinated traffic flow SL and the midpoint of the red light time of the nearest downstream coordinated traffic flow NT, if the intersection If the midpoint of the red light time for the northbound coordinated traffic flow SL is to the right of the midpoint of the red light time for the southbound coordinated traffic flow NT, then... Take a positive value, otherwise take a negative value; Indicates an intersection The time interval between the midpoint of the red light time of the upstream coordinated traffic flow ST and the midpoint of the red light time of the nearest downstream coordinated traffic flow EL, if the intersection If the midpoint of the red light time for the northbound coordinated traffic flow ST is to the right of the midpoint of the red light time for the southbound coordinated traffic flow EL, then... Take a positive value, otherwise take a negative value; , , , They represent the intersections. Red light times for southbound left-turn traffic, northbound left-turn traffic, westbound left-turn traffic, and eastbound left-turn traffic; , , , They represent the intersections. Red light times for southbound, northbound, westbound, and eastbound traffic flows; , , , They represent the intersections. Green light times for left-turn traffic from the south, north, west, and east; , , , They represent the intersections. Green light times for southbound, northbound, westbound, and eastbound traffic flows; This indicates the intersection type number, with values ​​of 1 and 2 representing Type I and Type II intersections, respectively. , , and To represent a 0 / 1 variable, it must satisfy the following conditions: , , Type II intersections will have two intersection numbers, assuming... and These represent the intersection's number on the east-west and north-south arterial roads, respectively, and are 0 / 1 variables. , , , , 、 、 、 Also need to meet 、 、 、 The reason for meeting this constraint is that one intersection cannot run two different phase sequences at the same time. intersection When using NEMA phases, there are four phase sequences in the west-east direction: west left turn advances and east left turn lags, denoted as S. WE1 Left turns to the east are earlier than left turns to the west, denoted as S. WE2 Left turns to the west and left turns to the east are denoted as S. WE3 The lag between westward and eastward left turns is denoted as S. WE4 There are four phase sequences in the north-south direction: south left turns are earlier and north left turns are later, denoted as S. SN1 The left turn to the north is earlier and the left turn to the south is later, denoted as S. SN2 The advance left turn from the south and the advance left turn from the north are denoted as S. SN3 The lag in left turns to the south and the lag in left turns to the north are denoted as S. SN4 Taking into account both the phase sequence in the east-west and north-south directions, for intersections... In other words, there will be 16 possible intersection phase sequences: S in the west-east direction. WE1 S is in the north-south direction SN1 Let P1 be the direction of the west-east direction; S be the direction of the west-east direction. WE1 S is in the north-south direction SN2 Let it be P2; and let it be S in the west-east direction. WE1 S is in the north-south direction SN3 Let it be P3; and let it be S in the west-east direction. WE1 S is in the north-south direction SN4 Let it be P4; S is the direction from west to east. WE2 S is in the north-south direction SN1 It is denoted as P5; the direction to the west and east is S. WE2 S is in the north-south direction SN2 , denoted as P6; S is located in the west-east direction. WE2 S is in the north-south direction SN3 It is denoted as P7; the direction from west to east is S. WE2 S is in the north-south direction SN4 , denoted as P8; S in the west-east direction. WE3 S is in the north-south direction SN1 , denoted as P9; S is located in the west-east direction. WE3 S is in the north-south direction SN2 , denoted as P 10 The direction in the west-east direction is S. WE3 S is in the north-south direction SN3 , denoted as P 11 The direction in the west-east direction is S. WE3 S is in the north-south direction SN4 , denoted as P 12 The direction in the west-east direction is S. WE4 S is in the north-south direction SN1 , denoted as P 13 The direction in the west-east direction is S. WE4 S in the north-south direction SN2 , denoted P 14 S in the west-east direction WE4 S in the north-south direction SN3 , denoted P 15 S in the west-east direction WE4 S in the north-south direction SN4 , denoted P 16 S in the west-east direction In case 1, each of The correspondence between the intersection and the sequence is as follows: When T = 1 or 2, , , , , , , , , , , , , , , , The corresponding intersection phase sequence sets are {P6, P7, P 10 , 11 , {P6, P7, P 14 , 15 , {P5, P6, P7, P8, P9, P 10 , 11 , 12 , {P5, P6, P7, P8}, {P6, P8, P 14 , 16 , {P5, P6, P7, P8, P 13 , 14 , 15 , 16 , {P6, P8, P 10 , 12 , {P6, P7, P 14 , 15 , {P6, P8, P 14 , 16 , {P2, P3, P6, P7, P 10 , 11 , 14 , 15 , {P2, P6, P 10 , 14 , {P6, P8, P 10 , 12 , {P2, P4, P6, P8, P 10 , 12 , 14 , 16 , {P6, P7, P 10 , 11 , When T = 1 or 2, , , , , , , , , , , , , , , , The corresponding intersection phase sequence sets are {P1, P4, P 13 , 16 , 12 , 13 , 14 , 15 , 16 , 11 , 10 , 11 , 12 , 13 , 15 , 12 , 11 , 12 , 13 , 16 , 13 , 13 , 15 , 11 , 13 , 15 , 13 , 16 , respectively. When T = 1 or 2, , , , , , , , , , , , The corresponding intersection phase sequence sets are {P2, P3, P 10 , 11 , {P5, P6, P7, P8, P9, P 10 , 11 , 12 , {P9, P 10 , 11 , P 12 , {P1, P2, P3, P4, P9, P 10 , 11 , P 12 , {P5, P7, P9, P 11 , {P2, P3, P 10 , 11 , {P2, P3, P6, P7, P 10 , 11 , P 14 , P 15 , {P3, P7, P 11 , 15 , {P5, P7, P9, P 11 , {P1, P3, P5, P7, P9, P 11 , 13 , P 15 ; When T=1 or 2, , hour, , , , , , , , , , The corresponding intersection phase sequence sets are {P5, P8, P...} 13 ,P 16 }、{P1,P2,P3,P4,P 13 ,P 14 ,P 15 ,P 16 }、{P 13 ,P 14 ,P 15 ,P 16 }、{P5,P6,P7,P8,P 13 ,P 14 ,P 15 ,P 16 }、{P2,P4,P 14 ,P 16 }、{P5,P8,P 13 ,P 16 }、{P1,P4,P5,P8,P9,P 12 ,P 13 ,P 16 }、{P4,P8,P 12 ,P 16 }、{P2,P4,P 14 ,P 16 }、{P2,P4,P6,P8,P 10 ,P 12 ,P 14 ,P 16 }; When T = 1, , , , , , The corresponding intersection phase sequence sets are {P5, P8, P9, P 12}, {P2, P4, P 10 , P 12}, {P5, P7, P 13 , P 15}, {P2, P3, P 14 , P 15}, respectively. When T = 2, , , , , , The corresponding intersection phase sequence sets are {P6, P7, P 10 , P 11}, {P1, P3, P9, P 11}, {P1, P3, P9, P 11}, {P6, P7, P 10 , P 11}, respectively; When T = 1, , , , , , The corresponding intersection phase sequence sets are {P2, P3, P 14 , P 15}, {P5, P7, P 13 , P 15}, {P2, P4, P 10 , P 12}, {P5, P8, P9, P 12}, respectively. When T = 2, , , , , , The corresponding intersection phase sequence sets are {P1, P4, P 13 , P 16}, {P6, P8, P 14 , P 16}, {P6, P8, P 14 , P 16}, {P1, P4, P 13 , P 16}; When the intersection There exists same approach left turn green light time ≥ straight green light time, at this time intersection There is only phase sequence S WE3 or S WE4 is applicable in the north-south direction, only phase sequence S SN3 or S SN4 is applicable; define case 2 as intersection There exists same approach left turn green light time ≥ straight green light time, at the same time, each The corresponding intersection phase sequence set meets the above applicable requirements; the calculation formula of each In case 2 remains consistent with the calculation formula of each In case 1; the corresponding relationship between each In case 2 and intersection phase sequence remains consistent with the corresponding relationship between each In case 1 and intersection phase sequence; define case 3 as intersection There exists same approach left turn green light time ≥ straight green light time, at the same time, each The corresponding intersection phase sequence set does not meet the above applicable requirements; In case 3, each of The calculation formula is: , , The calculation formula is: , At this time, The calculation formula is: , At this time, The calculation formula is: , At this time, The calculation formula is: , At this time, The calculation formula is: , , The calculation formula is: , At this time, The calculation formula is: , At this time, The calculation formula is: , At this time, The calculation formula is: , When, The calculation formula is: , , The calculation formula is: , When, The calculation formula is: , , The calculation formula is: , At this time, The calculation formula is: Under scenario 3, each The correspondence between the phase sequence of the intersection and the phase sequence is as follows: Each of and The correspondence between value combinations and intersection phase sequence and various cases under condition 1 of and The correspondence between the value combinations and the phase sequence of the intersection is consistent, and each of and The correspondence between value combinations and intersection phase sequence and various cases under condition 1 of and The value combinations correspond to the phase sequence of the intersection; In step 2.7, the coordination path preferably constrains the condition that .

2. The non-closed road network green wave coordination control method with coordinated path preference function according to claim 1, characterized in that, ​ The method for determining the coordinated path pair between the adjacent intersections according to the solution result is that the coordinated path pair corresponding to 1 in the solution result is the coordinated path pair to be determined. The coordinated path pair corresponding to 1 in the solution result is the coordinated path pair to be determined. The method for determining the relative phase difference between adjacent intersections according to the solution result is: first, determining the value of the coordination path pair number corresponding to 1 , then determining the value of the coordination path pair number corresponding to the value of the above , determining the value of the coordination path pair number corresponding to the value of the above , and , and finally the calculation formula of the relative phase difference is ; ​ When the intersection belongs to type I and the left-turn green light time is less than the straight green light time, the phase sequence of the intersection is determined by the internal phase difference variable of the intersection. The determination method of the phase sequence is as follows: first, the uplink coordinated traffic and downlink coordinated traffic of the intersection are determined according to the determined coordination path; then, the phase sequence of the intersection is determined according to the corresponding relationship between the internal phase difference variable of the intersection and the phase sequence of the intersection of the intersection. When the intersection belongs to type I and there exists left-turn green light time ≥ straight green light time at the same entrance, the phase sequence of the intersection is determined by the internal phase difference variable of the intersection, and the determination method of the phase sequence is as follows: first, the uplink coordinated traffic and downlink coordinated traffic of the intersection are determined according to the determined coordination path, and then the internal phase difference variable of the intersection is determined according to the internal phase difference variable of the intersection The corresponding relationship between the intersection phase sequence and the intersection phase sequence is determined, and finally if the intersection is located on the west-east oriented trunk road, the intersection phase sequence containing S WE1 and S WE2 needs to be removed from the candidate phase sequence set, if the intersection is located on the south-north oriented trunk road, the intersection phase sequence containing S SN1 and S SN2 needs to be removed from the candidate phase sequence set, the intersection phase sequence after removing the intersection phase sequence containing S WE1 and S WE2 or S SN1 and S SN2 is the intersection phase sequence of the intersection. When the intersection belongs to type II and the left-turn green light time is less than the straight green light time, the phase sequence of the intersection is determined by two or more internal phase difference variables, and the determination method of the phase sequence is as follows: first, the uplink coordinated traffic and downlink coordinated traffic of the intersection are determined according to the determined coordination path, and then the phase sequence of the intersection is determined according to the internal phase difference variable The corresponding relationship between the intersection phase sequence and the intersection phase sequence is that the public intersection phase sequence corresponding to the multiple internal phase difference variables is the intersection phase sequence. When the intersection belongs to type II and the left-turn green light time of the same-inlet is greater than the straight green light time, the phase sequence of the intersection is determined by two or more internal phase difference variables, and the determination method is as follows: first, the uplink and downlink coordinated traffic flows of the intersection are determined according to the determined coordination path, and then the phase sequence of the intersection is determined according to the internal phase difference variable and the corresponding relationship between the intersection phase sequence, the public intersection phase sequence corresponding to the multiple internal phase difference variables is the candidate intersection phase sequence set, finally if the intersection is located on the west-east oriented trunk road, the intersection phase sequence containing S WE1 and S WE2 needs to be removed from the candidate intersection phase sequence set, if the intersection is located on the south-north oriented trunk road, the intersection phase sequence containing S SN1 and S SN2 needs to be removed from the candidate intersection phase sequence set, the intersection phase sequence after removing the intersection phase sequence containing S WE1 and S WE2 or S SN1 and S SN2 is the intersection phase sequence of the intersection.

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