A method for selecting green wave control type for coordinated traffic groups

Abstract

The present invention discloses a method for selecting a green wave control type for a coordinated vehicle flow group, comprising the following steps: 1) determining the upstream intersection I according to the actual coordination requirements; i Intersection with downstream I j The target coordination traffic flow between O(i→j) ; 2) Based on downstream intersection I j The lane settings and phase sequence conditions determine the coordinated traffic flow group F M(i→j) ; 3) Based on the coordination phase duration of the upstream and downstream intersections and the upstream intersection I i Phase sequence situation update coordination traffic group F M(i→j) ; 4) Calculate the coordinated traffic flow group F M(i→j) The density of the vehicle is concentrated and the target coordinated vehicle flow f is determined O(i→j) The optimal green wave control type is proposed. According to the coordination requirements of traffic flows in different directions, the influence of shared lanes and phase sequence is considered, and the selection of target coordinated traffic flows and the updating rules of coordinated traffic flow groups are given. By calculating the density concentration of coordinated traffic flow groups under the influence of upstream and downstream intersection spacing and flow, the optimal green wave coordination control type for target coordinated traffic flows is selected.

Description

Technical Field

[0001] The present invention relates to the technical field of traffic signal control, and more specifically to a method for selecting a green wave control type for a coordinated vehicle flow group. Background Art

[0002] At present, the green wave coordination design methods for urban roads can be roughly divided into three categories: graphical method, numerical method and model method. According to the different coordination objects of the green wave belt, the green wave coordination methods can be divided into three types: the head type, the middle type and the tail type, and the coordination algorithms are designed for these three different green wave coordination methods. However, there is little research on how to select the appropriate green wave coordination type according to the traffic flow in each direction.

[0003] In this regard, the present invention provides a method for selecting the green wave control type for coordinated traffic groups. According to the coordination requirements of traffic flows in different directions, the influence of shared lanes and phase sequence is considered, and the selection of target coordinated traffic and the update rules of coordinated traffic groups are given. By calculating the density concentration of coordinated traffic groups under the influence of upstream and downstream intersection spacing and flow, the optimal green wave coordinated control type for the target coordinated traffic is selected. Summary of the invention

[0004] The main purpose of the present invention is to provide a method for selecting a green wave control type for a coordinated traffic group, by calculating the density concentration of the coordinated traffic group under the influence of the upstream and downstream intersection spacing and flow, and selecting the optimal green wave coordinated control type for the target coordinated traffic.

[0005] The present invention proposes a method for selecting a green wave control type for a coordinated vehicle flow group, the method comprising the following steps:

[0006] S1. Determine the upstream intersection I according to actual coordination needs i Intersection with downstream I j The target coordination traffic flow between O(i→j) ;

[0007] S2, based on downstream intersection I j The lane settings and phase sequence conditions determine the coordinated traffic flow group F M(i→j) ;

[0008] S3, based on the coordinated phase duration of the upstream and downstream intersections and the upstream intersection I i Phase sequence situation update coordination traffic group F M(i→j) ;

[0009] S4. Calculate coordinated traffic flow group F M(i→j) The density of the vehicle is concentrated and the target coordinated vehicle flow f is determined O(i→j) The best green wave control type.

[0010] As a preferred technical solution, in step S1, the upstream intersection I is determined according to the actual coordination requirements. i Intersection with downstream I j The target coordination traffic flow between O(i→j) , specifically:

[0011] S101. Determine downstream intersection I j The lane function of the current entrance road; the vehicle from the upstream intersection I i Go to downstream intersection I j Downstream intersection I j The entrance lane is defined as the current entrance lane. The lane type m existing in the current entrance lane is determined. When m is 1-10, it represents U-turn lane, left turn lane, straight lane, right turn lane, left turn U-turn lane, straight U-turn lane, straight left turn lane, left turn right turn lane, straight right turn lane and straight left and right lanes respectively.

[0012] S102, calculate coordinated vehicle flow f (i,x→j,y) The flow rate q (i,x→j,y) ; will be from the upstream intersection I i Enter with the x direction and leave the downstream intersection I with the y direction j The controlled traffic flow is defined as the coordinated traffic flow f (i,x→j,y) , x takes the values ​​of 1, 2, 3, and 4, which represent the coordinated traffic flow f (i,x→j,y) From upstream intersection I i Make a U-turn, turn left, go straight, turn right and enter the downstream intersection I j , y takes the values ​​of 1, 2, 3, and 4, which represent the coordinated traffic flow f (i,x→j,y) Make a U-turn, turn left, go straight, or turn right from the current entrance to exit the downstream intersection I j ;

[0013] When the upstream intersection I i When right-turn traffic is not controlled by traffic lights, the flow rate q (i,4→j,y) Recorded as 0, y = 1, 2, 3, 4; when the downstream intersection I j When right-turn traffic or U-turn traffic is not controlled by traffic lights, the flow rate q (i,x→j,4) or q (i,x→j,1) Recorded as 0, x = 1, 2, 3, 4; for flow q (i,x→j,y) , when y takes the value of 1, 2, 3, and 4, the following equations are satisfied in turn:

[0014] q (i,x→j,1) =q 1(i,x→j,1) +q 5(i,x→j,1) +q 6(i,x→j,1) (1)

[0015] q (i,x→j,2) =q 2(i,x→j,2) +q5(i,x→j,2) +q 7(i,x→j,2) +q 8(i,x→j,2) +q 10(i,x→j,2) (2)

[0016] q (i,x→j,3) =q 3(i,x→j,3) +q 6(i,x→j,3) +q 7(i,x→j,3) +q 9(i,x→j,3) +q 10(i,x→j,3) (3)

[0017] q (i,x→j,4) =q 4(i,x→j,4) +q 8(i,x→j,4) +q 9(i,x→j,4) +q 10(i,x→j,4) (4)

[0018] In the formula, q m(i,x→j,y) ,m=1,2,3,4,5,6,7,8,9,10 is from the upstream intersection I i Enter from the x direction and pass through the downstream intersection I j Lane type m, leaving downstream intersection I in y direction j Traffic volume;

[0019] S103, determine the upstream intersection I according to the coordinated control requirements of different driving directions and the actual traffic flow i Intersection with downstream I j The target coordination traffic flow between O(i→j) ;

[0020] When only the running efficiency of through traffic is considered, the through traffic f is directly selected. (i,3→j,3) Coordinate traffic flow for the goal f O(i→j) ; Considering the running efficiency of turning traffic flow, the target coordinated traffic flow can be selected according to the actual traffic flow of different directions. O(i→j) , the flow rate q in the controlled coordinated traffic flow (i,x→j,y) The maximum coordinated traffic flow f (i,x→j,y) Selected as the target coordinated traffic flow f O(i→j) .

[0021] As a preferred technical solution, in step S2, the downstream intersection I j The lane settings and phase sequence conditions determine the coordinated traffic flow group F M(i→j) , specifically:

[0022] S201, according to the downstream intersection I j The lane setting situation determines the coordinated traffic flow group F M(i→j) ; Define flow direction U to record target coordinated vehicle flow f O(i→j) At the upstream intersection I iThe departure direction of the target vehicle flow f is defined as the flow direction D to record the target coordinated vehicle flow f O(i→j) At downstream intersection I j The departure direction is defined as D' to record the coordinated traffic flow f O(i→j) At downstream intersection I j Use other flows in the shared lane; if the goal is to coordinate traffic flow f O(i→j) Passing downstream intersection I j The shared lanes of traffic flow to D and traffic flow to D', then the goal is to coordinate traffic flow f O(i→j) and coordinated traffic flow (i,U→j,D') Have the same entry and exit time and space characteristics; at this time, the coordinated traffic group F M(i→j) Coordinate traffic flow for the goal f O(i→j) and coordinated traffic flow (i,U→j,D') ; If the target is to coordinate traffic flow f O(i→j) Do not pass through downstream intersection I j The shared lanes of the coordinated traffic group F M(i→j) Only coordinate traffic flow for the target f O(i→j) ;

[0023] S202, according to the downstream intersection I j The phase sequence of the phase sequence determines whether it is necessary to update the coordinated vehicle flow group F. M(i→j) ; Define flow direction D" to record the traffic flow coordinated with the target f O(i→j) At downstream intersection I j At the same time, other flows are released; if at the downstream intersection I j In the phase sequence, there is a shared phase that releases the traffic flow to D and the traffic flow to D” at the same time, then the target coordinated traffic flow f O(i→j) and coordinated traffic flow (i,U→j,D”) Have the same entry and exit time and space characteristics; at this time, determine the coordinated traffic flow group F M(i→j) Whether coordinated traffic flow is already included (i,U→j,D”) If not included, the traffic flow f will be coordinated (i,U→j,D”) Included in coordinated traffic group F M(i→j) Coordinate traffic flow group F M(i→j) Otherwise, coordinate the traffic group F M(i→j) Remain unchanged; if at downstream intersection I j In the phase sequence, there is no shared phase to release the traffic flow to D and other directions at the same time, and coordinate the traffic flow group F M(i→j) Remain unchanged.

[0024] As a preferred technical solution, in step S3, the upstream and downstream intersections are coordinated based on the phase duration and the upstream intersection I i Phase sequence situation update coordination traffic group F M(i→j) , specifically:

[0025] S301: Determine whether to update the coordinated vehicle flow group F according to the coordination phase duration of the upstream and downstream intersections M(i→j) ; The target coordinated traffic flow f O(i→j) Pass upstream intersection I i Intersection with downstream I j The signal control phase is defined as the upstream coordination phase P i Coordinate phase P with downstream j , and then determine the upstream coordination phase green light duration T i Coordinate with downstream phase green light duration T j ; Determine the upstream coordination phase green light duration T i Coordinate with downstream phase green light duration T j If the downstream coordinated phase green light duration T j Less than the upstream coordination phase green light duration T i , giving priority to the target coordinated traffic flow f O(i→j) Operational benefits, coordinated traffic group F M(i→j) Remain unchanged and go to S4; if the downstream coordinated phase green light duration T j Greater than the upstream coordination phase green light duration T i , go to S302;

[0026] S302, according to the upstream intersection I i The phase sequence of the phase sequence determines whether it is necessary to update the coordinated vehicle flow group F. M(i→j) ; If there are other phases coordinating with the upstream phase P i Adjacent, define the flow direction U' to record the corresponding phase at the upstream intersection I i The departure direction; at this time, combined with the flow q (i,U'→j,D) Determine whether the coordinated traffic group F needs to be updated M(i→j) , otherwise coordinate traffic group F M(i→j) Keep unchanged and go to S4;

[0027] Set the flow coefficient threshold K Q , 0≤K Q ≤1; if the flow rate q (i,U'→j,D) Greater than or equal to flow rate q (i,U→j,D) and flow coefficient threshold K Q The product of (i,U'→j,D) Included in coordinated traffic group F M(i→j) Coordinate traffic flow group F M(i→j) Otherwise, coordinate the traffic group F M(i→j) remain unchanged;

[0028] If the coordinated traffic flow f (i,U'→j,D) Included in coordinated traffic group F M(i→j) , and the goal is to coordinate the traffic flow f O(i→j) Passing downstream intersection Ij The shared lanes of flow to D and flow to D' should be coordinated with the flow f (i,U'→j,D') Included in coordinated traffic group F M(i→j) Coordinate traffic flow group F M(i→j) Updates;

[0029] If the coordinated traffic flow f (i,U'→j,D) Included in coordinated traffic group F M(i→j) , and the downstream intersection I j In the phase sequence, if there is a shared phase that releases the traffic flow to D and the traffic flow to D” at the same time, the coordinated traffic flow group F should be determined. M(i→j) Whether coordinated traffic flow is already included (i,U'→j,D”) If not included, the traffic flow f will be coordinated (i,U'→j,D”) Included in coordinated traffic group F M(i→j) Coordinate traffic flow group F M(i→j) Update, if included, coordinate traffic group F M(i→j) Remain unchanged.

[0030] As a preferred technical solution, in step S4, the calculation of the coordinated vehicle flow group F M(i→j) The density of the vehicle is concentrated and the target coordinated vehicle flow f is determined O(i→j) The best green wave control types are:

[0031] S401, calculate coordinated traffic flow group F M(i→j) The density of the traffic group F M(i→j) The pth vehicle passing through the current entrance is denoted as vehicle V p , calculate vehicle V p The ideal arrival time T at the current entrance stop line Ip ; If the vehicle V p If the car does not stop at the current entrance, the ideal arrival time is T Ip For vehicle V p Arrival at the stop line; if the vehicle V p If the vehicle stops at the current entrance, the vehicle V p The first parking point of the current entrance road is used as the reference point to calculate the vehicle V p The ideal arrival time T Ip ; Change the vehicle V p The distance from the first parking point to the parking line is recorded as D p , the average vehicle speed of the upstream exit section of the current entrance road is recorded as v, and the ideal arrival time T Ip Satisfy the following formula:

[0032] T Ip =T Sp +D p / v (5)

[0033] Where, T Sp For vehicle V p The moment of first parking at the current entrance;

[0034] The upstream intersection I i The signal period is recorded as C, and the vehicle V p The ideal arrival time T Ip Converted to the signal period C, called the first observation period, during which the vehicle V p The adjusted arrival time after conversion is T Cp The value range of is [0,C); at this time, the first observation time T Cp Satisfy the following formula:

[0035]

[0036] In the formula, is the floor operator;

[0037] In order to continuously describe the vehicle arrival gathering time period, all the first observation times T in the first observation period are Cp Add a signal cycle C to generate the second observation cycle; in the second observation cycle, the vehicle V p The second observation time T′ Cp Satisfy the following formula:

[0038] T′ Cp =T Cp +C (7)

[0039] Determine the arrival time interval t between the first observation period and the second observation period A = [0,2C), set the initial equal division threshold K T , K T =4N T , N T is a positive integer; the arrival time interval t A Divided into K T Equally divide the time interval between any i-th arrivals into t Ai , time interval between arrivals t Ai The starting time is defined as T Ai The end time is defined as T′ Ai , time interval between arrivals t Ai The vehicle arrival frequency in is defined as N Ai ; Count the different arrival time intervals t in turn A1 to The number of vehicles arriving within A1 to ;

[0040] Set the initial clustering threshold K A , 0.9≤K A ≤1.0; Based on formula (8), determine the time period with the most dense vehicle arrivals in the first observation period and the second observation period, starting from the arrival time interval t Aa Continue until the arrival time interval t Ab , and the sum of the number of vehicles in a certain period of time is the maximum value:

[0041]

[0042] Where a is the start-arrival time interval of the most densely populated time period Aa The subscript of b is the end arrival time interval t of the most dense time period. Ab The subscript of ;

[0043] Calculate the arrival time interval t Aa The starting time T Aa and the arrival time t Ab The end time T′ Ab The minimum observation time is recorded as T B , the maximum observation time is recorded as T′ B , determine the target arrival time interval t B =[T B ,T′ B ]; Set the equal division threshold K′ T , K′ T =3N′ T , N′ T is a positive integer; the target arrival time interval t B Divide into K′ T The time interval between any i-th target arrival is defined as t Bi , target arrival time interval t Bi The vehicle arrival frequency in is defined as N Bi ; Count the arrival time intervals t of different targets in turn B1 to The number of vehicles arriving within B1 to ;

[0044] S402, determine the target coordinated vehicle flow f O(i→j) The best green wave control type; set the aggregation threshold K′ A , 0.5<K′ A ≤1; Determine the coordinated traffic flow group F based on formula (9) M(i→j) The time period with the most dense vehicle arrivals is t Bn Continue until the target reaches the time interval t Bm , and the sum of the number of vehicles in a certain period of time is the maximum value:

[0045]

[0046] Where A is the parameter for determining the type of green wave coordinated control, and n is the time interval t between the start and target arrivals in the most intensive time period. Bn The subscript of m is the time interval t between the end and the destination of the most intensive time period. Bm The subscript of is the ceiling operator.

[0047] As a preferred technical solution, in step S402, when parameter A is 1, the coordinated vehicle flow group F M(i→j) The density of traffic flow at the head of the team is large, and the target coordinated traffic flow f O(i→j) The head-of-the-line green wave coordination mode should be selected; when parameter A is 2, the coordinated vehicle flow group F M(i→j) The traffic density in the team is relatively large, and the target is to coordinate the traffic flow f O(i→j) The green wave coordination mode should be selected; when parameter A is 3, the coordinated traffic group F M(i→j) The traffic density at the tail end of the team is large, and the target coordinated traffic flow f O(i→j) The tail-end green wave coordination method should be selected.

[0048] Compared with the prior art, the present invention has the following beneficial effects:

[0049] 1) The present invention provides a target coordinated vehicle flow selection method for the coordination needs of vehicle flows in different directions, solves the problem of coordinated vehicle flow selection in the process of urban traffic signal green wave coordinated control optimization, and thus provides a research idea for the selection of coordinated paths and coordinated path chains.

[0050] 2) The present invention provides a coordinated traffic group selection and update rule that takes into account the shared lanes and phase sequence settings of upstream and downstream intersections, which solves the problem of lack of consideration of the temporal and spatial correlation characteristics with other traffic flows in the existing analysis of the operating characteristics of the target coordinated traffic flow, thereby laying the foundation for the subsequent calculation of the density aggregation of the coordinated traffic group.

[0051] 3) The present invention provides a method for selecting the optimal green wave control type for target coordinated traffic flow based on the calculation of the density aggregation of coordinated traffic flow groups, which solves the problem of the lack of a clear method for selecting the green wave coordination type in existing research and provides a technical basis for selecting the optimal green wave coordination control type for target coordinated traffic flow. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0053] Figure 1 This is a flow chart of a method for selecting a green wave control type for a coordinated vehicle flow group according to an embodiment of the present invention;

[0054] Figure 2 is a schematic diagram of different lane types of the current entrance road according to an embodiment of the present invention;

[0055] Figure 3 It is a schematic diagram of the upstream and downstream intersection structure and signal scheme according to an embodiment of the present invention. DETAILED DESCRIPTION

[0056] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application.

[0057] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments.

[0058] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0059] The intersection of Lingnan Avenue North and Lujing Road in Chancheng District, Foshan was selected as the upstream intersection I1 (I i , i=1), Wenhua Road-Lujing Road intersection is the downstream intersection I2 (I j , j = 2), the intersection structure and signal control scheme are as follows Figure 3 shown.

[0060] like Figure 1 As shown, the present embodiment provides a method for selecting a green wave control type for a coordinated vehicle flow group, comprising the following steps:

[0061] Step S1: Determine the target coordinated traffic flow f between the upstream intersection I1 and the downstream intersection I2 according to the actual coordination requirements. O(1→2) , the specific steps are as follows:

[0062] S101, determine the lane function of the current entrance road of the downstream intersection I2. The entrance road of the downstream intersection I2 where the vehicle drives from the upstream intersection I1 to the downstream intersection I2 is defined as the current entrance road. Determine the lane type m existing in the current entrance road, where m is 1-10, which represents the U-turn lane, left turn lane, straight lane, right turn lane, left turn U-turn lane, straight U-turn lane, straight left turn lane, left turn right turn lane, straight right turn lane, straight left and right lanes. The specific situation of the current entrance road is shown in Table 1.

[0063] Table 1 Number of lanes under different lane types m on the current entrance

[0064]

[0065] S102, calculate coordinated vehicle flow f (1,x→2,y) The flow rate q (1,x→2,y) Coordinated traffic flow refers to the traffic flow that needs to be coordinated from the upstream intersection I1 to the relevant entrance and exit lanes of the downstream intersection I2. The controlled traffic flow that enters the upstream intersection I1 in the x direction and leaves the downstream intersection I2 in the y direction is defined as coordinated traffic flow f (1,x→2,y) When x is 1, 2, 3, and 4, it represents the coordinated traffic flow f. (1,x→2,y) Turn around, turn left, go straight, turn right and enter the downstream intersection I2 from the upstream intersection I1. When y takes the value of 1, 2, 3, and 4, it represents the coordinated traffic flow f. (1,x→2,y) Make a U-turn at the current entrance, turn left, go straight, and then turn right to exit the downstream intersection I2.

[0066] For the flow rate q (1,x→2,y) , when y takes the value of 1, 2, 3, and 4, the following equations are satisfied in turn:

[0067] q (1,x→2,1) =q 1(1,x→2,1) +q 5(1,x→2,1) +q 6(1,x→2,1) (1)

[0068] q (1,x→2,2) =q 2(1,x→2,2) +q 5(1,x→2,2) +q 7(1,x→2,2) +q 8(1,x→2,2) +q 10(1,x→2,2) (2)

[0069] q (1,x→2,3) =q 3(1,x→2,3) +q 6(1,x→2,3) +q 7(1,x→2,3) +q9(1,x→2,3) +q 10(1,x→2,3) (3)

[0070] q (1,x→2,4) =q 4(1,x→2,4) +q 8(1,x→2,4) +q 9(1,x→2,4) +q 10(1,x→2,4) (4)

[0071] In the formula, q m(1,x→2,y) ,m=1,2,3,4,5,6,7,8,9,10 are the traffic flows entering from the upstream intersection I1 in the x direction, passing through the lane type m of the downstream intersection I2, and leaving the downstream intersection I2 in the y direction. The right-turn traffic flow at the downstream intersection I2 is not controlled by the traffic lights, and the flow q (1,x→2,4) , x=1,2,3,4 is recorded as 0, and the flow q is calculated (1,x→2,y) The situation is shown in Table 2.

[0072] Table 2 Flow rate q (1,x→2,y) Calculation table

[0073]

[0074] S103, determine the target coordinated vehicle flow f between the upstream intersection I1 and the downstream intersection I2 according to the coordinated control requirements of different driving directions and the actual traffic flow O(1→2) .

[0075] If only the running efficiency of straight traffic is considered, the straight traffic f can be directly selected. (1,3→2,3) Coordinate traffic flow for the goal f O(1→2) If the operating efficiency of turning traffic is considered, the target coordinated traffic flow f can be selected according to the actual traffic flow of traffic in different directions. O(1→2) , the flow rate q in the controlled coordinated traffic flow (1,x→2,y) The maximum coordinated traffic flow f (1,3→2,3) Selected as the target coordinated traffic flow f O(1→2) In this case, the target coordinated traffic flow f is selected under two different coordination demand scenarios. O(1→2) All are coordinated traffic flow (1,3→2,3) , so the coordinated traffic flow f is selected (1,3→2,3) Coordinate traffic flow for the goal f O(1→2) .

[0076] Step S2: Determine the coordinated traffic flow group F based on the lane setting and phase sequence of the downstream intersection I2 M(1→2) .

[0077] S201, determine the coordinated traffic flow group F according to the lane setting of the downstream intersection I2 M(1→2) Define the flow direction U to record the target coordinated vehicle flow f O(1→2)In the departure direction of the upstream intersection I1, define the flow direction D to record the target coordinated vehicle flow f O(1→2) The departure flow at the downstream intersection I2 is U = 3, D = 3. Define the flow direction D′ to record the coordinated traffic flow f O(1→2) Other flows using the shared lane at the downstream intersection I2. Objective to coordinate traffic flow f O(1→2) The straight left turn shared lane passing the downstream intersection I2, D′=2, then the target coordinated traffic flow f O(1→2) and coordinated traffic flow (1,3→2,2) Have the same entry and exit time and space characteristics. At this time, the coordinated traffic flow group F M(1→2) Coordinate traffic flow for the goal f O(1→2) and coordinated traffic flow (1,3→2,2) , coordinate traffic group F M(1→2) =f (1,3→2,3) ∪f (1,3→2,2) .

[0078] S202: Determine whether to update the coordinated vehicle flow group F according to the phase sequence of the downstream intersection I2. M(1→2) Define the flow direction D" to record the traffic flow coordinated with the target f O(1→2) Other flows are released at the downstream intersection I2 at the same time. In the phase sequence of the downstream intersection I2, there is a west entrance straight left turn shared phase to release the target coordinated vehicle flow f O(1→2) and coordinated traffic flow (1,3→2,2) , D”=2, then the target coordinated traffic flow f O(1→2) and coordinated traffic flow (1,3→2,2) Have the same entry and exit time and space characteristics. At this time, the coordinated traffic flow group F M(1→2) Already includes coordinated traffic flow f (1,3→2,2) , coordinate traffic group F M(1→2) Remain unchanged.

[0079] Step S3: Update the coordinated traffic flow group F based on the coordinated phase duration of the upstream and downstream intersections and the phase sequence of the upstream intersection I1. M(1→2) , the specific steps are as follows:

[0080] S301: Determine whether to update the coordinated vehicle flow group F according to the coordination phase duration of the upstream and downstream intersections M(1→2) . The target coordinated traffic flow f O(1→2) The signal control phases through the upstream intersection I1 and the downstream intersection I2 are defined as the upstream coordination phase P1 and the downstream coordination phase P2, respectively, and then the upstream coordination phase green light duration T1 = 29s and the downstream coordination phase green light duration T2 = 42s are determined. The relationship between the upstream coordination phase green light duration T1 and the downstream coordination phase green light duration T2 is determined. If the downstream coordination phase green light duration T2 is less than the upstream coordination phase green light duration T1, the target coordinated vehicle flow f is given priority. O(1→2)Operational benefits, coordinated traffic group F M(1→2) Remain unchanged and go to S4. If the downstream coordination phase green light duration T2 is greater than the upstream coordination phase green light duration T1, go to S302. At this time, the downstream coordination phase green light duration T2 is greater than the upstream coordination phase green light duration T1.

[0081] S302: Determine whether to update the coordinated vehicle flow group F according to the phase sequence of the upstream intersection I1 M(1→2) There are other phases adjacent to the upstream coordination phase P1, and the flow direction U′ is defined to record the departure direction of the corresponding phase at the upstream intersection I1. At this time, U′=2. Combined with the flow q (1,2→2,3) Determine whether the coordinated traffic group F needs to be updated M(1→2) .

[0082] Set the flow coefficient threshold K Q =0.6. Flow rate q (1,2→2,3) =194 greater than flow q (1,3→2,3) and flow coefficient threshold K Q The product of (1,3→2,3) ×K Q =177, will coordinate traffic flow f (1,2→2,3) Included in coordinated traffic group F M(1→2) Coordinate traffic flow group F M(1→2) Update, coordinate traffic group F M(1→2) =f (1,3→2,3) ∪f (1,3→2,2) ∪f (1,2→2,3) .

[0083] Coordinate traffic flow (1,2→2,3) Included in coordinated traffic group F M(1→2) , and the goal is to coordinate the traffic flow f O(1→2) The straight left turn shared lane passing the downstream intersection I2 should coordinate the traffic flow f (1,2→2,2) Included in coordinated traffic group F M(1→2) Coordinate traffic flow group F M(1→2) Update, coordinate traffic group F M(1→2) =f (1,3→2,3) ∪f (1,3→2,2) ∪f (1,2→2,3) ∪f (1,2→2,2) .

[0084] Coordinate traffic flow (1,2→2,3) Included in coordinated traffic group F M(1→2) , and in the phase sequence of the downstream intersection I2, there is a shared phase that releases the traffic flows to D and D” at the same time. At this time, the coordinated traffic group F M(1→2) Already includes coordinated traffic flow f (1,2→2,2) , coordinate traffic group F M(1→2) Remain unchanged.

[0085] Step S4: Calculate coordinated traffic flow group F M(1→2) The density of the vehicle is concentrated and the target coordinated vehicle flow f is determined O(1→2) The best green wave control type, the specific steps are as follows:

[0086] S401, calculate coordinated traffic flow group F M(1→2) The density of the traffic group F M(1→2) The pth vehicle passing through the current entrance is denoted as vehicle V p . Calculate vehicle V p The ideal arrival time T at the current entrance stop line Ip If the vehicle V p If the car does not stop at the current entrance, the ideal arrival time is T Ip For vehicle V p The moment when the vehicle reaches the stop line. p If the vehicle stops at the current entrance, the vehicle V p The first parking point of the current entrance road is used as the reference point to calculate the vehicle V p The ideal arrival time T Ip . Set the vehicle V p The distance from the first parking point to the parking line is denoted as D p , the average vehicle speed of the upstream exit section of the current entrance road is recorded as v, and the ideal arrival time T Ip Satisfy the following formula:

[0087] T Ip =T Sp +D p / v (5)

[0088] Where, T Sp For vehicle V p The moment of first parking at the current entrance.

[0089] The signal cycle of the upstream intersection I1 is recorded as C = 160s, and the vehicle V p The ideal arrival time T Ip Converted to the signal period C, called the first observation period, during which the vehicle V p The adjusted arrival time after conversion is T Cp The value range of is [0,C). At this time, the first observation time T Cp Satisfy the following formula:

[0090]

[0091] In the formula, is the floor operator.

[0092] In order to continuously describe the vehicle arrival gathering time period, all the first observation times T in the first observation period are Cp Add a signal cycle C to generate the second observation cycle. In the second observation cycle, the vehicle V p The second observation time T′ Cp Satisfy the following formula:

[0093] T′ Cp =T Cp +C (7)

[0094] Determine the arrival time interval t between the first observation period and the second observation period A = [0,2C), set the initial equal division threshold K T =24, N T =6. The arrival time interval t A Divide into 24 equal parts, define any i-th arrival time interval as t Ai , time interval between arrivals t Ai The starting time is defined as T Ai The end time is defined as T′ Ai , time interval between arrivals t Ai The vehicle arrival frequency in is defined as N Ai . Count the different arrival time intervals t in turn A1 to A24 The number of vehicles arriving within A1 To N A24 .

[0095] Table 3 Vehicle arrival frequency calculation table

[0096]

[0097] Set the initial clustering threshold K A =0.99. Based on the following formula, the time period with the most dense vehicle arrivals in the first observation period and the second observation period is determined, starting from the arrival time interval t Aa Continue until the arrival time interval t Ab , and the sum of the number of vehicles in a certain period of time is the maximum value:

[0098]

[0099] Where a is the start-arrival time interval of the most densely populated time period Aa The subscript of b is the end arrival time interval t of the most dense time period. Ab The subscript of .

[0100] After calculation, the time period with the most dense vehicle arrivals in the first observation period and the second observation period is from the arrival time interval t A2 Continue until the arrival time interval t A7The time interval t can be obtained. A2 The starting time T A2 = 13.33s and the arrival time interval t A7 End time T′ A7 =93.33s, the minimum observation time is T B =13.33s, the maximum observation time is T′ B =93.33s, determine the target arrival time interval t B =[T B ,T′ B ] Set the equal division threshold K′ T =12, N′ T =4. Set the target arrival time interval t B Divide into 12 equal parts, define the time interval between any i-th target arrival as t Bi , target arrival time interval t Bi The vehicle arrival frequency in is defined as N Bi . Count the arrival time intervals t of different targets in turn B1 to B12 The number of vehicles arriving within B1 To N B12 .

[0101] Table 4 Vehicle arrival frequency calculation table

[0102]

[0103] S402, determine the target coordinated vehicle flow f O(1→2) The best green wave control type. Set the aggregation threshold K′ A =0.7. The coordinated traffic group F is determined based on the following formula M(1→2) The time period with the most dense vehicle arrivals is t Bn Continue until the target reaches the time interval t Bm , and the sum of the number of vehicles in a certain period of time is the maximum value:

[0104]

[0105] Where A is the parameter for determining the type of green wave coordinated control, and n is the time interval t between the start and target arrivals in the most intensive time period. Bn The subscript of m is the time interval t between the end and the destination of the most intensive time period. Bm The subscript of is the ceiling operator.

[0106] When parameter A is 1, the coordinated traffic group F M(i→j) The density of traffic flow at the head of the team is large, and the target coordinated traffic flow f O(i→j)The head-of-the-line green wave coordination mode should be selected; when parameter A is 2, the coordinated vehicle flow group F M(i→j) The traffic density in the team is relatively large, and the target is to coordinate the traffic flow f O(i→j) The green wave coordination mode should be selected; when parameter A is 3, the coordinated traffic group F M(i→j) The traffic density at the tail end of the team is large, and the target coordinated traffic flow f O(i→j) The tail-end green wave coordination method should be selected. After calculation, n = 2, m = 8, A = 2, and the target coordinated traffic flow f O(1→2) Adopt the team-wide green wave coordination method.

[0107] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A method for selecting green wave control type for coordinated vehicle flow groups, characterized in that: The method comprises the following steps: S1. Determine the upstream intersection I according to actual coordination needs i Intersection with downstream I j The target coordination traffic flow between O(i→j) ; Specifically: S101. Determine downstream intersection I j The lane function of the current entrance road; the vehicle from the upstream intersection I i Go to downstream intersection I j Downstream intersection I j The entrance lane is defined as the current entrance lane. The lane type m existing in the current entrance lane is determined. When m is 1-10, it represents U-turn lane, left turn lane, straight lane, right turn lane, left turn U-turn lane, straight U-turn lane, straight left turn lane, left turn right turn lane, straight right turn lane and straight left and right lanes respectively. S102, calculate coordinated vehicle flow f (i,x→j,y) The flow rate q (i,x→j,y) ; will be from the upstream intersection I i Enter with the x direction and leave the downstream intersection I with the y direction j The controlled traffic flow is defined as the coordinated traffic flow f (i,x→j,y) , x takes the values ​​of 1, 2, 3, and 4, which represent the coordinated traffic flow f (i,x→j,y) From upstream intersection I i Make a U-turn, turn left, go straight, turn right and enter the downstream intersection I j , y takes the values ​​of 1, 2, 3, and 4, which represent the coordinated traffic flow f (i,x→j,y) Make a U-turn, turn left, go straight, or turn right from the current entrance to exit the downstream intersection I j ; When the upstream intersection I i When right-turn traffic is not controlled by traffic lights, the flow rate q (i,4→j,y) Recorded as 0, y = 1, 2, 3, 4; when the downstream intersection I j When right-turn traffic or U-turn traffic is not controlled by traffic lights, the flow rate q (i,x→j,4) or q (i,x→j,1) Recorded as 0, x = 1, 2, 3, 4; for flow q (i,x→j,y) , when y takes the value of 1, 2, 3, and 4, the following equations are satisfied in turn: q (i,x→j,1) =q 1(i,x→j,1) +q 5(i,x→j,1) +q 6(i,x→j,1) (1) q (i,x→j,2) =q 2(i,x→j,2) +q 5(i,x→j,2) +q 7(i,x→j,2) +q 8(i,x→j,2) +q 10(i,x→j,2) (2) q (i,x→j,3) =q 3(i,x→j,3) +q 6(i,x→j,3) +q 7(i,x→j,3) +q 9(i,x→j,3) +q 10(i,x→j,3) (3) q (i,x→j,4) =q 4(i,x→j,4) +q 8(i,x→j,4) +q 9(i,x→j,4) +q 10(i,x→j,4) (4) In the formula, q m(i,x→j,y) ,m=1,2,3,4,5,6,7,8,9,10 is from the upstream intersection I i Enter from the x direction and pass through the downstream intersection I j Lane type m, leaving downstream intersection I in y direction j Traffic volume; S103, determine the upstream intersection I according to the coordinated control requirements of different driving directions and the actual traffic flow i Intersection with downstream I j The target coordination traffic flow between O(i→j) ; When only the running efficiency of through traffic is considered, the through traffic f is directly selected. (i,3→j,3) Coordinate traffic flow for the goal O(i→j) ; Considering the running efficiency of turning traffic flow, the target coordinated traffic flow can be selected according to the actual traffic flow of different directions. O(i→j) , the flow rate q in the controlled coordinated traffic flow (i,x→j,y) The maximum coordinated traffic flow f (i,x→j,y) Selected as the target coordinated traffic flow f O(i→j) ; S2, based on downstream intersection I j The lane settings and phase sequence conditions determine the coordinated traffic flow group F M(i→j) ; S3, based on the coordinated phase duration of the upstream and downstream intersections and the upstream intersection I i Phase sequence situation update coordination traffic group F M(i→j) ; S4. Calculate coordinated traffic flow group F M(i→j) The density of the vehicle is concentrated and the target coordinated vehicle flow f is determined O(i→j) The best green wave control type.

2. The method for selecting a green wave control type for a coordinated vehicle flow group according to claim 1, characterized in that: In step S2, the downstream intersection I j The lane settings and phase sequence conditions determine the coordinated traffic flow group F M(i→j) , specifically: S201, according to the downstream intersection I j The lane setting situation determines the coordinated traffic flow group F M(i→j) ; Define flow direction U to record target coordinated vehicle flow f O(i→j) At the upstream intersection I i The departure direction of the target vehicle flow f is defined as the flow direction D to record the target coordinated vehicle flow f O(i→j) At downstream intersection I j The departure direction is defined as D' to record the coordinated traffic flow f O(i→j) At downstream intersection I j Use other flows in the shared lane; if the goal is to coordinate traffic flow f O(i→j) Passing downstream intersection I j The shared lanes of traffic flow to D and traffic flow to D', then the goal is to coordinate traffic flow f O(i→j) and coordinated traffic flow (i,U→j,D') Have the same entry and exit time and space characteristics; at this time, the coordinated traffic group F M(i→j) Coordinate traffic flow for the goal f O(i→j) and coordinated traffic flow (i,U→j,D') ; If the target is to coordinate traffic flow f O(i→j) Do not pass through downstream intersection I j The shared lanes of the coordinated traffic group F M(i→j) Only coordinate traffic flow for the target f O(i→j) ; S202, according to the downstream intersection I j The phase sequence of the phase sequence determines whether it is necessary to update the coordinated vehicle flow group F. M(i→j) ; Define flow direction D" to record the traffic flow coordinated with the target f O(i→j) At downstream intersection I j At the same time, other flows are released; if at the downstream intersection I j In the phase sequence, there is a shared phase that releases the traffic flow to D and the traffic flow to D” at the same time, then the target coordinated traffic flow f O(i→j) and coordinated traffic flow (i,U→j,D”) Have the same entry and exit time and space characteristics; at this time, determine the coordinated traffic flow group F M(i→j) Whether coordinated traffic flow is already included (i,U→j,D”) If not included, the traffic flow f will be coordinated (i,U→j,D”) Included in coordinated traffic group F M(i→j) Coordinate traffic flow group F M(i→j) Otherwise, coordinate the traffic group F M(i→j) Remain unchanged; if at downstream intersection I j In the phase sequence, there is no shared phase to release the traffic flow to D and other directions at the same time, and coordinate the traffic flow group F M(i→j) Remain unchanged.

3. The method for selecting a green wave control type for a coordinated vehicle flow group according to claim 1, characterized in that: In step S3, the phase duration based on the upstream and downstream intersection coordination and the upstream intersection I i Phase sequence situation update coordination traffic group F M(i→j) , specifically: S301: Determine whether to update the coordinated vehicle flow group F according to the coordination phase duration of the upstream and downstream intersections M(i→j) ; The target coordinated traffic flow f O(i→j) Pass upstream intersection I i Intersection with downstream I j The signal control phase is defined as the upstream coordination phase P i Coordinate phase P with downstream j , and then determine the upstream coordination phase green light duration T i Coordinate with downstream phase green light duration T j ; Determine the upstream coordination phase green light duration T i Coordinate with downstream phase green light duration T j If the downstream coordinated phase green light duration T j Less than the upstream coordination phase green light duration T i , giving priority to the target coordinated traffic flow f O(i→j) Operational benefits, coordinated traffic group F M(i→j) Remain unchanged and go to S4; if the downstream coordinated phase green light duration T j Greater than the upstream coordination phase green light duration T i , go to S302; S302, according to the upstream intersection I i The phase sequence of the phase sequence determines whether it is necessary to update the coordinated vehicle flow group F. M(i→j) ; If there are other phases coordinating with the upstream phase P i Adjacent, define the flow direction U' to record the corresponding phase at the upstream intersection I i The departure direction; at this time, combined with the flow q (i,U'→j,D) Determine whether the coordinated traffic group F needs to be updated M(i→j) , otherwise coordinate traffic group F M(i→j) Keep unchanged and go to S4; Set the flow coefficient threshold K Q , 0≤K Q ≤1; if the flow rate q (i,U'→j,D) Greater than or equal to flow rate q (i,U→j,D) and flow coefficient threshold K Q The product of (i,U'→j,D) Included in coordinated traffic group F M(i→j) Coordinate traffic flow group F M(i→j) Otherwise, coordinate the traffic group F M(i→j) remain unchanged; If the coordinated traffic flow f (i,U'→j,D) Included in coordinated traffic group F M(i→j) , and the goal is to coordinate the traffic flow f O(i→j) Passing downstream intersection I j The shared lanes of flow to D and flow to D' should be coordinated with the flow f (i,U'→j,D') Included in coordinated traffic group F M(i→j) Coordinate traffic flow group F M(i→j) Updates; If the coordinated traffic flow f (i,U'→j,D) Included in coordinated traffic group F M(i→j) , and the downstream intersection I j In the phase sequence, if there is a shared phase that releases the traffic flow to D and the traffic flow to D” at the same time, the coordinated traffic flow group F should be determined. M(i→j) Whether coordinated traffic flow is already included (i,U'→j,D”) If not included, the traffic flow f will be coordinated (i,U'→j,D”) Included in coordinated traffic group F M(i→j) Coordinate traffic flow group F M(i→j) Update, if included, coordinate traffic group F M(i→j) Remain unchanged.

4. The method for selecting a green wave control type for a coordinated vehicle flow group according to claim 1, characterized in that: In step S4, the calculation of coordinated vehicle flow group F M(i→j) The density of the vehicle is concentrated and the target coordinated vehicle flow f is determined O(i→j) The best green wave control types are: S401, calculate coordinated traffic flow group F M(i→j) The density of the traffic group F M(i→j) The pth vehicle passing through the current entrance is denoted as vehicle V p , calculate vehicle V p The ideal arrival time T at the current entrance stop line Ip ; If the vehicle V p If the car does not stop at the current entrance, the ideal arrival time is T Ip For vehicle V p Arrival at the stop line; if the vehicle V p If the vehicle stops at the current entrance, the vehicle V p The first parking point of the current entrance road is used as the reference point to calculate the vehicle V p The ideal arrival time T Ip ; Change the vehicle V p The distance from the first parking point to the parking line is recorded as D p , the average vehicle speed of the upstream exit section of the current entrance road is recorded as v, and the ideal arrival time T Ip Satisfy the following formula: T Ip =T Sp +D p / v (5) Where, T Sp For vehicle V p The moment of first parking at the current entrance; The upstream intersection I i The signal period is recorded as C, and the vehicle V p The ideal arrival time T Ip Converted to the signal period C, called the first observation period, during which the vehicle V p The adjusted arrival time after conversion is T Cp The value range of is [0,C); at this time, the first observation time T Cp Satisfy the following formula: In the formula, is the floor operator; In order to continuously describe the vehicle arrival gathering time period, all the first observation times T in the first observation period are Cp Add a signal cycle C to generate the second observation cycle; in the second observation cycle, the vehicle V p The second observation time T C ' p Satisfy the following formula: T C ' p =T Cp +C (7) Determine the arrival time interval t between the first observation period and the second observation period A = [0,2C), set the initial equal division threshold K T , K T =4N T , N T is a positive integer; the arrival time interval t A Divided into K T Equally divide the time interval between any i-th arrivals into t Ai , time interval between arrivals t Ai The starting time is defined as T Ai , the end time is defined as T A ' i , time interval between arrivals t Ai The vehicle arrival frequency in is defined as N Ai ; Count the different arrival time intervals t in turn A1 to The number of vehicles arriving within A1 to Set the initial clustering threshold K A , 0.9≤K A ≤1.0; Based on formula (8), determine the time period with the most dense vehicle arrivals in the first observation period and the second observation period, starting from the arrival time interval t Aa Continue until the arrival time interval t Ab , and the sum of the number of vehicles in a certain period of time is the maximum value: Where a is the start-arrival time interval of the most densely populated time period Aa The subscript of b is the end arrival time interval t of the most dense time period. Ab The subscript of ; Calculate the arrival time interval t Aa The starting time T Aa and the arrival time t Ab The end time T A ' b The minimum observation time is recorded as T B , the maximum observation time is recorded as T′ B , determine the target arrival time interval t B =[T B ,T′ B ]; Set the equal division threshold K' T , K' T =3N' T , N' T is a positive integer; the target arrival time interval t B Divide into K' T The time interval between any i-th target arrival is defined as t Bi , target arrival time interval t Bi The vehicle arrival frequency in is defined as N Bi ; Count the arrival time intervals t of different targets in turn B1 to The number of vehicles arriving within B1 to S402, determine the target coordinated vehicle flow f O(i→j) The best green wave control type; set the aggregation threshold K' A , 0.5<K' A ≤1; Determine the coordinated traffic flow group F based on formula (9) M(i→j) The time period with the most dense vehicle arrivals is t Bn Continue until the target reaches the time interval t Bm , and the sum of the number of vehicles in a certain period of time is the maximum value: Where A is the parameter for determining the type of green wave coordinated control, and n is the time interval t between the start and target arrivals in the most intensive time period. Bn The subscript of m is the time interval t between the end and the destination of the most intensive time period. Bm The subscript of is the ceiling operator.

5. The method for selecting a green wave control type for a coordinated vehicle flow group according to claim 4, characterized in that: In step S402, when parameter A is 1, the coordinated vehicle flow group F M(i→j) The density of traffic flow at the head of the team is large, and the target coordinated traffic flow f O(i→j) The head-of-the-line green wave coordination mode should be selected; when parameter A is 2, the coordinated vehicle flow group F M(i→j) The traffic density in the team is relatively large, and the target is to coordinate the traffic flow f O(i→j) The green wave coordination mode should be selected; when parameter A is 3, the coordinated traffic group F M(i→j) The traffic density at the tail end of the team is large, and the target coordinated traffic flow f O(i→j) The tail-end green wave coordination method should be selected.

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