Urban dynamic green wave band autonomous planning method

Abstract

The urban dynamic green wave band autonomous planning method comprises the following steps: step 1, preparing and preprocessing data; 2, calculating a dynamic direct connection basic green wave path; step 3, calculating a dynamic supplement basic green wave path; and 4, extending the two dynamic basic green wave paths to obtain an autonomous planning result of the urban dynamic green wave band. By integrating real-time or predicted traffic data, closed road sections, accident points, construction areas and congested road sections are automatically avoided in the planning process. The function ensures the continuous effectiveness of the system under various complex and sudden traffic conditions, so that the overall traffic capacity of a road network is maintained, and the green wave band failure and even traffic disorder caused by the failure of a closed road section are avoided.

Description

Technical Field

[0001] The present invention belongs to the field of intelligent transportation technology, and specifically relates to an autonomous planning method for urban dynamic green belts. Background Art

[0002] Green wave is a traffic signal control strategy that coordinates the signal light phases of adjacent intersections so that vehicles can pass through multiple intersections continuously at a set speed without encountering red lights, thereby reducing vehicle dwelling time, fuel consumption and pollution emissions, and improving traffic flow efficiency.

[0003] However, the current planning of green wave belts mainly relies on the experience of traffic managers, and they are fixed on specific roads (such as main roads) manually, and are unable to independently select and dynamically adjust the path. This experience-based setting method makes the effectiveness of green wave belts largely dependent on the judgment of managers, and it is difficult to adapt to complex and changing traffic environments. In fact, under actual traffic conditions, green wave sections may be closed due to traffic accidents, road construction or emergencies. In this case, the fixed-position green wave belts not only fail to play their due role, but may also aggravate traffic congestion and reduce the overall traffic efficiency of the road network.

[0004] In addition, the existing green wave settings usually do not take into account the dynamic OD (Origin-Destination) requirements at different times. In fact, the traffic flow during peak hours in the morning and evening may be significantly different from that during off-peak hours, but the location and operation time of the green wave are usually pre-set and cannot be dynamically adjusted according to real-time OD requirements. This static setting mode may result in low traffic volume or even empty traffic on the road section where the green wave is located during certain periods of time, and the traffic optimization function of the green wave cannot be fully utilized.

[0005] In general, the traditional green belt planning method has significant deficiencies in adaptability and dynamic adjustment capabilities, making it difficult to cope with the increasingly complex and changing traffic needs in modern cities. These problems have greatly limited the actual effectiveness of green belts in traffic management, and they are in urgent need of improvement and perfection through technological innovation. Summary of the invention

[0006] The purpose of the present invention is to propose an autonomous planning method for urban dynamic green belts in response to the above technical problems.

[0007] The present invention provides an autonomous planning method for urban dynamic green belts, comprising:

[0008] Step 1: Prepare and preprocess data;

[0009] Step 2: Calculate the dynamic direct basic green wave path;

[0010] Step 3, calculating the dynamic supplementary basic green wave path;

[0011] Step 4: Extend the two dynamic basic green wave paths to obtain the autonomous planning results of the urban dynamic green wave belt.

[0012] Furthermore, the step 1 comprises the following steps:

[0013] Step 1-1: Data preparation and preprocessing of road network partitions

[0014] Get the partition and geographic information of each road segment from the city map, record the ID, type, geometry and partition ID of each road segment; the road segment set E is expressed as:

[0015] E={(e1,t1,z1,g1),(e2,t2,z2,g2),…,(e n ,t n ,z n ,g n )}

[0016] Among them, each element (e i ,t i ,z i ,g i ) represents the data of the i-th road segment: e i is the road segment ID, t i is the road segment type, z i is the partition ID, g i is the road segment geometry;

[0017] Step 1-2: Data preparation and preprocessing of road segment links

[0018] Calculate the link capacity of all upstream and downstream sections in the road network: sum the capacity of all lanes in the upstream section leading to the downstream section as the link capacity; where the capacity of each lane c lane Calculated by the following formula:

[0019] c lane =c base ×f w ×f hv ×f l ×f s

[0020] Among them, f w 、f hv 、f l and f s are the adjustment factors for lane width, heavy vehicles, parking, lateral friction and traffic lights (determined by the actual traffic environment). base It represents the basic traffic capacity of the lane, and the calculation formula is:

[0021]

[0022] Among them, max_speed, d response d barking d safe and l veh They represent the maximum lane speed (m / s), driver reaction distance (m), vehicle braking distance (m), minimum vehicle safety distance (m) and average vehicle length (m);

[0023] Generate link information: aggregate the link capacity, heading angle and link direction into a link set according to the link; Step 1-3: Center of gravity data preparation and preprocessing

[0024] Calculate the centroid coordinates of each road network partition to prepare for steps 1-5;

[0025] Determine the road section in the road network that is closest to the center of gravity to prepare for steps 1-7 and 1-8;

[0026] Steps 1-4: Data preparation and preprocessing of OD demand matrix

[0027] The shortest path traffic allocation is performed on the predicted OD demand matrix, and the frequency of the travel path passing through each partition is counted, so as to split the cross-district demand into the non-cross-district demand matrix; the OD pairs are reordered in order of frequency from large to small.

[0028] Step 1-5: Calculation of OD centroid azimuth

[0029] Calculate the azimuth of the center of gravity of zone D relative to the center of gravity of zone O in the OD obtained in step 1-4, in preparation for step 2-1-4; given the starting point partition z i The barycentric coordinates p i =(x i ,y i ) and the end point partition z j The barycentric coordinates p j =(x j ,y j ), the formula for calculating the azimuth is as follows:

[0030]

[0031] Among them, θ∈[0,360); the function arctan2(y,x) returns the polar angle of the point (x,y) in the plane rectangular coordinate system, in degrees; "mod360" is a modular operation, which limits the angle to between 0 and 360 degrees; Δλ is the longitude difference, calculated as follows:

[0032]

[0033] The starting point is the partition centroid p i The radian value of latitude is calculated as follows:

[0034]

[0035] The centroid p of the end partition j The radian value of latitude is calculated as follows:

[0036]

[0037] Step 1-6: Data preparation and preprocessing of green wave avoidance sections

[0038] Summarize the IDs of road sections that are inaccessible due to major events, traffic accidents or regular congestion in the future period, and set their travel events to infinity to ensure that they are removed in subsequent steps; the set expression is:

[0039] E delete ={e1,e2,…,e n}

[0040] Step 1-7: Data preparation and preprocessing of edge exit segment links

[0041] Use Dijkstra's shortest path algorithm to find the edge exit road section and its downstream road section that can be reached from the center of gravity in each partition on the road network of the current partition, so as to ensure that the green wave path generated based on this link can effectively guide the traffic from the vicinity of the center of gravity of zone O to other locations, and expand the service range of the green wave path in zone O; the link information of the edge exit road section in the partition should include: edge exit road section ID Partition number (z i ), Road name and type Downstream segment ID Partition number (z k ), Road name and type The link capacity (c j ), heading angle (h j ) and direction (l j ); This information is collected using Link out The specific description is as follows:

[0042]

[0043] Step 1-8: Data preparation and preprocessing of edge entry segment links

[0044] Use the Dijkstra shortest path algorithm to find the edge entrance road section and its upstream road section that can reach the center of gravity in each partition, so as to ensure that the green wave path generated based on this link can effectively guide the traffic from the edge of the D area to the vicinity of the center of gravity, and expand the service range of the green wave path in the D area. Among them, the link information of the edge entrance road section in the partition should include: the upstream road section ID Partition number (z k ), Road name and type Edge entry segment ID Partition number (z i ), Road name and type Link capacity (c j ), heading angle (h j ) and direction (l j ); This information is collected using Link in The specific description is as follows:

[0045]

[0046] Furthermore, the step 2 includes the following steps:

[0047] Step 2-1: Filter the road segments

[0048] From the results of step 1-8, select all links whose upstream segments are in zone O and whose edge entry segments are in zone D, and remove the links containing the closed segments in step 1-6;

[0049] Step 2-2: Handling Duplicate Segments

[0050] Filter links with non-duplicate segments from the results obtained in step 2-1; the specific steps are:

[0051] (1) Follow the upstream sections and edge entrance sections Grouping;

[0052] (2) In the group, follow the link direction l i Sorting, the priority order is {s,r,l,t};

[0053] (3) If the direction l i If the link capacity c is the same, i Sort from largest to smallest;

[0054] (4) Keep the first link in each group, that is, the link with the highest capacity and the direction of straight travel as much as possible; Step 2-3: Processing duplicate road names

[0055] Filter out links with different road names from the results obtained in step 2-2; the specific steps are:

[0056] (1) Follow the road names of the upstream sections and the road name of the edge entrance section Grouping;

[0057] (2) Each group of links follows the link direction l i Sorting, the priority order is {s,r,l,t};

[0058] (3) If the direction l i If they are the same, they are sorted from largest to smallest according to link capacity;

[0059] (4) Keep the first link in each group, that is, select the link that is as straight as possible and has the largest link capacity);

[0060] Step 2-4: Filter link flow

[0061] (1) Obtain the azimuth angle θ of the center of gravity of area D relative to the center of gravity of area O in step 1-5 ij ;

[0062] (2) Assume the offset angle α, and select the paths whose heading angles are within the range of the azimuth angle plus or minus the offset angle from the results obtained in steps 2-3;

[0063] Step 2-5: Sort links

[0064] The links selected in steps 2-4 are sorted in multiple dimensions, taking into account the road segment type, traffic capacity and link direction; the specific sorting steps are as follows:

[0065] (1) First, according to the edge entrance section type The priority order is from high to low: primary, secondary, motorway, trunk, motorway_link, trunk_link, primary_link, residential;

[0066] (2) If the edge entry segment type If the same, then according to the upstream segment type Sort by the same priority;

[0067] (3) For edge entry section type and upstream segment type The same links are connected according to the link capacity c j Sort from largest to smallest;

[0068] (4) If the link capacity c jSame, then follow the link direction l j Sorting, the priority is {s,r,l,t};

[0069] The sorted link set is represented as:

[0070]

[0071] Step 2-6: Accumulate link capacity

[0072] The capacity of each link in the link set obtained in step 2-5 is accumulated in sequence, and the judgment in step 2-7 is performed;

[0073] Step 2-7: Determine the cumulative amount

[0074] Determine whether the accumulated link capacity reaches the OD demand of steps 1-4;

[0075] (1) If the link capacity is greater than or equal to the OD demand, it means that the current accumulated link capacity is sufficient to meet the demand of the OD pair; therefore, the accumulation of link capacity is terminated, and the accumulated link is added to the basic green wave path set of direct connections between the ODs; the basic green wave path set is expressed as:

[0076]

[0077] (2) Otherwise, continue to determine whether it is the last link:

[0078] If it is not the last link, the accumulated link is added to the direct basic green wave path set; at the same time, return to continue to execute steps 2-6;

[0079] If it is the last link, execute steps 2-8, that is, enter the replacement step;

[0080] Step 2-8: Screening candidate links

[0081] Extract unused links from the link set filtered in step 2-3, i.e., links that are not in the directly connected basic green wave path set;

[0082] Step 2-9: Sort candidate links

[0083] The candidate links obtained in step 2-8 are sorted according to the sorting method of step 2-5, and the capacity of each link is accumulated on the result of step 2-7 in order, and the judgment of step 2-10 is performed; the sorted candidate link set is expressed as follows:

[0084]

[0085] Step 2-10: Determine the cumulative amount

[0086] Determine whether the accumulated link capacity meets the OD pair requirements of steps 1-4;

[0087] (1) If yes, it means that the current accumulated link capacity is sufficient to meet the needs of the OD pair; therefore, the accumulation process ends and the accumulated links are added to the basic green wave path set directly connected between the ODs. middle;

[0088] (2) If not, continue to determine whether it is the last link:

[0089] If it is not the last link, add the accumulated links to the direct basic green wave path set At the same time, return to step 2-9 and continue to accumulate the capacity of the next link;

[0090] If it is the last link, it means that after the replacement, no other feasible path can be found in the direct links between the existing ODs, and step 3 needs to be additionally performed to enter the calculation of the supplementary green wave path.

[0091] Furthermore, in step 3: when the basic green wave path directly connected between ODs cannot meet the demand, it is necessary to generate a supplementary basic green wave path with the help of road sections in other partitions; in this process, it is necessary to extract the unused edge exit link of the O zone and the unused edge entrance link of the D zone in step 2, and find the shortest path of the two links in a many-to-many manner, and select the shortest path that can meet the OD demand as the supplementary basic green wave path: specifically, the following steps are included:

[0092] Step 3-1: Select the OD pair that follows step 2-10, and extract the O and D zone numbers from the OD pair that does not meet the OD requirement. o and z d ;

[0093] Step 3-2: Select the starting link

[0094] Results from steps 1-7 Link out , filter the edge exit sections Located in Zone O and downstream All links located in non-D zones form the starting link set;

[0095] Step 3-3: Handling duplicate segments

[0096] Following the result of step 3-2, refer to the processing method of step 2-2 and only keep the edge exit segments in the starting link set. Or downstream Same one link;

[0097] Step 3-4: Handling duplicate road names

[0098] Follow the result of step 3-3, refer to the processing method of step 2-3, and keep the exit or downstream section Road name A duplicate link;

[0099] Step 3-5: Eliminate selected roads

[0100] Eliminate the exit section from the results obtained in step 3-4 Downstream section and its road name The basic green wave path set with direct connection The links with duplicate corresponding elements in , and further delete the links containing the road sections that need to be removed in steps 1-6; the expression of the processed link set is as follows:

[0101]

[0102] Step 3-6: Screening for terminated links

[0103] Results from steps 1-8 Link in Screening upstream sections Not belonging to the O zone and edge entrance section All links located in area D form a set of terminated links;

[0104] Step 3-7: Handling Duplicate Segments

[0105] Following the results of step 3-6, refer to the processing method of step 2-2 and only keep the upstream section in the termination link set Or edge entrance section Same one link;

[0106] Step 3-8: Handling duplicate road names

[0107] Following the results of steps 3-7, refer to the processing method of steps 2-3 and retain the road name of the edge entrance section and the road name of the upstream section A duplicate link;

[0108] Step 3-9: Eliminate selected roads

[0109] Remove the entry segment from the link from the results of steps 3-8 Upstream section The name of the road where it is located The basic green wave path set with direct connection The links with duplicated corresponding elements in ; then, further delete the links of the road sections that need to be eliminated in steps 1-6; the processed link set expression is as follows:

[0110]

[0111] Step 3-10: Calculate the shortest path

[0112] In the road network without the marked sections in steps 1-6, use the Dijkstra algorithm to calculate the set obtained in steps 3-5 Each link is to the collection obtained in steps 3-9 The shortest path, path distance and path capacity of each link in the

[0113] Step 3-11: Eliminate the selected path

[0114] Filter out the basic path set where any segment is not directly connected from the shortest path set obtained in step 3-10 , thereby avoiding duplication of the supplemented basic green wave path and the OD directly connected basic green wave path obtained in step 2;

[0115] Step 3-12: Add link direction sequence

[0116] With the help of the results of step 1-2, determine the link direction sequence L of two adjacent segments in the path obtained in step 3-11 k ;

[0117] Step 3-13: Filter link direction

[0118] With the help of the link direction sequence obtained in step 3-12, preferentially select the paths containing at most one non-direct link direction l, i.e., non-s, from the path set obtained in step 3-11;

[0119] Step 3-14: Filter road names

[0120] Following the result of step 3-13, we continue to filter out the paths where the road name r of each road section is less than or equal to 2, so as to ensure that the path only has sequentially changing roads; the filtered path set can be expressed as:

[0121]

[0122] Among them, the path Path k is a series of road segments {e k1 ,e k2 ,…,e kn}, K is the index set of the path, R k Represents the set of road names of all sections of path k;

[0123] Step 3-15: Handle paths with duplicate start links

[0124] Filter the paths with repeated starting links to avoid the problem that the sum of the capacity of each path does not meet the OD requirement due to the shared starting section of the paths selected later.

[0125] Step 3-16: Handle the path where the link is duplicated

[0126] The duplication of the termination link is handled to avoid the problem that the subsequent selected paths will not meet the capacity and OD requirements of each path due to the shared end section;

[0127] Step 3-17: Sort the alternative paths

[0128] The final candidate basic green wave paths of OD obtained in step 3-16 are sorted in ascending order according to the path distance;

[0129] Step 3-18: Accumulate the capacity of alternative paths

[0130] For the basic green wave path obtained in step 3-17, the capacity of each path is added to the link capacity obtained in step 2-11 in order, and the judgment of step 3-19 is performed once;

[0131] Step 3-19: Determine demand

[0132] Determine whether the accumulated value is less than the OD demand in steps 1-4;

[0133] (1) If yes, return to step 3-18 and accumulate the capacity of the next path;

[0134] (2) If not, it means that the currently found direct and supplementary basic green wave paths can already meet the OD's demand for the next hour; therefore, the accumulation process ends and the path is added to the supplementary basic green wave path set between the ODs. At the same time, start processing the next OD pair that needs to be supplemented with the basic green wave path until the processing of all OD pairs that need to be supplemented is completed.

[0135] Furthermore, the steps 3-15 include the following steps:

[0136] Step 3-15-1: Path grouping

[0137] For the path set obtained in step 3-14, according to the first segment e of each path k1 Grouping: integrating paths with repeated starting links together to facilitate subsequent processing and screening;

[0138] Step 3-15-2: Sorting within the group

[0139] For each group obtained in step 3-15-1, k According to the path distance D k Sort from smallest to largest;

[0140] Step 3-15-3: Sorting between groups

[0141] For the groups obtained in step 3-15-2, calculate the path distance of the first path in each group. Sort from small to large; the sorted path set is expressed as:

[0142]

[0143] Among them, e k1 Path k The first section, e (k+1)1 Path k+1 The first section of Indicated by e k1 is the path distance of the i-th path in the path group of the starting segment, Indicated by e k1 is the path distance of the i+1th path in the path group of the starting segment, Indicated by e k1 is the path distance of the first path in the path group of the starting segment;

[0144] Step 3-15-4: Find each set of repeated sections

[0145] For the path obtained in step 3-15-3, search for continuous and repeated sections along the direction from the starting link to the ending link;

[0146] Step 3-15-5: Calculate the capacity of each set of repeated sections

[0147] Using the results of step 1-2, calculate the road section capacity of each set of repeated parts obtained in step 3-15-4;

[0148] Step 3-15-6: Add up the capacity of each set of repeated paths

[0149] For each group of paths obtained in step 3-15-4, the capacity of each path is accumulated in the order within the group, and the judgment of step 3-15-7 is performed;

[0150] Step 3-15-7: Determine the cumulative value of each group

[0151] Determine whether the accumulated path capacity is greater than the result of step 3-15-5:

[0152] (1) If not, it means that the capacity of the initial repeated section can ensure that the path with accumulated capacity can be diverted at the maximum capacity, and more branch paths can be added for diversion; therefore, continue to execute step 3-15-6 and add the path to the preliminary candidate basic green wave path set.

[0153] (2) If yes, it means that after adding up the capacity of the current branch path, the capacity of the initial repeated section can no longer guarantee that each branch can divert traffic at its maximum capacity, that is, the actual capacity of each branch will be less than its maximum capacity; therefore, it is necessary to end the screening of this group of paths and start screening the next group of paths from step 3-15-4 until the screening of all groups of repeated paths is completed.

[0154] Furthermore, the steps 3-16 include the following steps:

[0155] Step 3-16-1: Path grouping

[0156] For the path set obtained in step 3-15 According to each path Path k The last section of kn Grouping: The paths with repeated termination links are integrated together to facilitate the subsequent screening of paths with repeated termination links.

[0157] Step 3-16-2: Sorting within the group

[0158] For each path in the group obtained in step 3-16-1 k According to the path distance D k Sort from smallest to largest;

[0159] Step 3-16-3: Sorting between groups

[0160] For the groups obtained in step 3-16-2, the path distance of the first path in each group is Sort from small to large; the sorted path set is expressed as:

[0161]

[0162] Among them, e kn Path k The last section of the road, e (k+1)n Path k+1 The last section of Indicated by e kn is the path distance of the i-th path in the path group of the starting segment, Indicated by e kn is the path distance of the i+1th path in the path group of the starting segment, Indicated by e kn is the path distance of the first path in the path group of the starting segment;

[0163] Step 3-16-4: Find each set of repeated sections

[0164] For the path obtained in step 3-16-3, search for continuous and repeated sections along the direction from the end link to the start link;

[0165] Step 3-16-5: Calculate the capacity of each set of repeated sections

[0166] Using the results of steps 1-2, calculate the road capacity of each set of repeated parts;

[0167] Step 3-16-6: Add up the capacity of each set of repeated paths

[0168] For the paths obtained in step 3-16-4, the capacity of each path is accumulated in the order of precedence within the group, and the judgment in step 3-16-7 is performed;

[0169] Step 3-16-7: Determine the cumulative value of each group

[0170] Determine whether the accumulated path capacity is greater than the result of step 3-16-5:

[0171] (1) If not, it means that the capacity of the terminated repeated section can support the path with accumulated capacity to merge with the maximum capacity, and can also increase the merge of the upstream branch path; therefore, continue to execute step 3-16-6 and add this path to the final alternative basic green wave path

[0172] (2) If yes, it means that after accumulating the capacity of the current branch path, the capacity of the terminating repeated section can no longer support the influx of each branch with the maximum capacity; therefore, it is necessary to end the screening of this group of paths and start screening the next group of paths from step 3-16-4 until the screening of all groups of repeated paths is completed.

[0173] Furthermore, the step 4 comprises:

[0174] Step 4-1: Basic Green Wave Path Summary

[0175] According to the OD pair sequence obtained in steps 1-4, summarize the direct basic green wave path obtained in step 2 The basic green wave path obtained in step 3 is supplemented The aggregated OD basic green wave path set is expressed as:

[0176]

[0177] Among them, the basic green wave path Path k It is composed of a series of road segment IDs, which are specifically expressed as follows:

[0178] Path k =(e1,e2,…,e n )

[0179] Among them, e1 is the starting point of the basic green wave path, and e1 belongs to the O zone (e1∈z o );e n is the end point of the basic green wave path, and e n Belongs to Zone D (e n ∈z d );

[0180] Step 4-2: End Directional Path Extension

[0181] For any path in the basic green wave path set obtained in step 4-1, extend the path to area D with the help of the terminal segment, so that the green wave path serves more segments in area D;

[0182] Step 4-3: Path expansion along the starting direction

[0183] For any path in the basic green wave path set obtained in step 4-2, the path is extended to area O with the help of the starting section, so that the green wave path serves more sections in area O.

[0184] Furthermore, the step 4-2 includes:

[0185] Step 4-2-1: Find the downstream section of the destination

[0186] With the help of the link data of the road network obtained in step 1-2, find all the downstream road segment IDs and link directions linked to the terminal road segment in the path obtained in step 4-1; if no downstream road segment is found, end the extension of the path to the terminal direction; if there is a downstream road segment, execute step 4-2-2;

[0187] Step 4-2-2: Check the downstream section of the destination

[0188] Determine whether there is a downstream section with a link direction of straight (s); if not, end the extension of the path to the termination direction; if there is a straight link direction, extract the downstream section of the straight, and execute step 4-2-3;

[0189] Step 4-2-3: Determine the downstream section of the destination

[0190] Continue to determine whether all downstream sections with a straight link direction belong to area D; if none of them do, end the extension of the path to the termination direction; if there are downstream sections belonging to area D, extract all downstream section IDs belonging to area D, and execute step 4-2-4;

[0191] Step 4-2-4: Eliminate closed or congested sections

[0192] For the set of downstream road sections of the destination obtained in step 4-2-3, remove the closed or congested road sections in steps 1-6;

[0193] Step 4-2-5: Generate a new destination segment

[0194] With the help of the results of step 1-2, calculate the connection capacity between the terminal section of the basic green wave path and each section obtained in step 4-2-4; then, select the downstream section with the largest connection capacity as the new terminal section of the path, and continue to execute step 4-2-1 until all basic green wave paths are extended in the termination direction.

[0195] Furthermore, the step 4-3 includes:

[0196] Step 4-3-1: Find the upstream section of the starting point

[0197] With the help of the link data of the road network obtained in step 1-2, find all the upstream road segment IDs and link directions linked to the starting road segment; if no upstream road segment is found, end the extension of the path toward the starting direction; if there is an upstream road segment, execute step 4-3-2;

[0198] Step 4-3-2: Check the upstream section of the starting point

[0199] Determine whether there is an upstream section with a link direction of straight (s); if not, end the extension of the path toward the starting point; if there is a straight link direction, extract the upstream section of the straight, and execute step 4-3-3;

[0200] Step 4-3-3: Determine the upstream section of the starting point

[0201] Continue to determine whether all upstream sections with a straight link direction belong to zone O; if none of them do, end the extension of the path to the termination direction; if there are upstream sections belonging to zone O, extract all upstream section IDs belonging to zone O, and execute step 4-3-4;

[0202] Step 4-3-4: Eliminate closed or congested sections

[0203] For the set of downstream road sections of the destination obtained in step 4-3-3, remove the closed or congested road sections in steps 1-6;

[0204] Step 4-3-5: Generate a new starting point segment

[0205] With the help of the results of steps 1-2-3, calculate the connection capacity between each section obtained in step 4-3-4 and the starting section; then, select the upstream section with the largest connection capacity as the new starting section of the path, and return to continue executing step 4-3-1 until all basic green wave paths are extended toward the starting point.

[0206] Beneficial Effects

[0207] The present invention mainly includes the following beneficial effects:

[0208] 1. Autonomous planning of green wave routes

[0209] By automatically analyzing OD traffic and road network characteristics, the system of the present invention can autonomously select and plan the optimal green wave path without human intervention. This allows the green wave belt to be dynamically adjusted according to real-time traffic conditions, thereby improving the flexibility and adaptability of the green wave belt and effectively reducing traffic bottlenecks and delays.

[0210] 2. Autonomously avoid closed road sections

[0211] The present invention can automatically avoid closed sections, accident points, construction areas and congested sections by integrating real-time or predicted traffic data. This function ensures the continued effectiveness of the green wave belt under various complex and sudden traffic conditions, thereby maintaining the overall traffic capacity of the road network and avoiding traffic chaos caused by the failure of closed sections.

[0212] 3. Dynamic response to OD needs

[0213] The system of the present invention can dynamically adjust the number and layout of green wave paths according to the real-time predicted OD demand, ensuring that the capacity of the green wave paths matches the actual demand. This dynamic adjustment capability not only improves the utilization efficiency of the green wave belt, but also significantly improves the overall mobility of urban traffic and optimizes the travel time of vehicles.

[0214] The present invention solves the following technical problems:

[0215] 1. This invention solves the limitations of manually planning green wave paths

[0216] The present invention can autonomously plan the optimal green wave path within the next hour based on the analysis of OD flow characteristics and road network structure, without the need for manual intervention in the planning of the green wave path. Through this technology, the flexibility of the green wave belt is greatly improved, enabling it to better adapt to complex and changing traffic environments, and reducing traffic bottlenecks and unnecessary delays caused by unreasonable manual settings.

[0217] 2. This invention solves the problem that traditional green belt planning cannot avoid closed road sections

[0218] The present invention integrates real-time or predicted traffic information, including data on road closures, accidents, construction and congestion, to autonomously avoid affected road sections in the green wave route planning for the next hour. This function ensures the continued effectiveness of the green wave belt, and even in emergencies or abnormal traffic conditions, it can maintain the overall traffic capacity of the road network and avoid traffic chaos caused by the failure of the green wave belt due to road closures.

[0219] 3. This invention solves the problem that traditional green wave planning cannot respond to dynamic OD requirements

[0220] Based on the predicted OD demand changes, the present invention can dynamically adjust the number and layout of green wave paths to ensure that the total capacity of green wave paths between ODs can meet the OD demand in the next hour. This technological innovation effectively improves the utilization efficiency of green wave belts, while alleviating traffic congestion and providing urban traffic management. BRIEF DESCRIPTION OF THE DRAWINGS

[0221] Figure 1 This is a flow chart of the autonomous planning method for urban dynamic green belts in the present invention.

[0222] Figure 2 Schematic diagram of the basic green wave path of OD direct connection in the present invention.

[0223] Figure 3 Schematic diagram of the basic green wave path for OD supplementation in the present invention.

[0224] Figure 4 Schematic diagram of OD green wave path in the present invention. DETAILED DESCRIPTION

[0225] The following combination Figures 1 to 4 This embodiment will be described in detail.

[0226] like Figure 1 As shown, the method for autonomous planning of urban dynamic green belts of the present invention comprises the following steps:

[0227] Step 1: Data preparation and preprocessing

[0228] To support the operations of subsequent steps, it is necessary to prepare in advance the road network partition data, section link data, partition center of gravity data, OD demand matrix data, OD center of gravity azimuth data, and link data of partition edge exit and entrance sections.

[0229] Step 1-1: Data preparation and preprocessing of road network partitions

[0230] Get the zoning and geographic information of each road segment from the city map, and ensure that the ID, type, geometry and the zoning ID of each road segment are clearly and accurately recorded. The road segment set E is represented as:

[0231] E={(e1,t1,z1,g1),(e2,t2,z2,g2),…,(e n ,t n ,z n ,g n )}

[0232] Among them, each element (e i ,t i ,z i ,g i ) represents the data of the i-th road segment: e i is the road segment ID, t i is the road segment type, z i is the partition ID, g i It is the road segment geometry (expressed in POLYGON format).

[0233] Step 1-2: Data preparation and preprocessing of road segment links

[0234] Calculate the link capacity of all upstream and downstream sections in the road network. Link capacity c i It is the sum of the capacity of all lanes in the upstream section leading to the downstream section, and is an important basis for the subsequent green wave path selection. Among them, the capacity of each lane c lane Calculated by the following formula:

[0235] c lane =c base ×f w ×f hv ×f l ×f s

[0236] Among them, f w 、f hv 、f l and f s are the adjustment factors for lane width, heavy vehicles, parking, lateral friction and traffic lights (determined by the actual traffic environment). base It represents the basic traffic capacity of the lane, and the calculation formula is:

[0237]

[0238] Among them, max_speed, d response d barking d safe and l veh They represent the maximum lane speed (m / s), driver reaction distance (m), vehicle braking distance (m), minimum vehicle safety distance (m) and average vehicle length (m).

[0239] Generate link information. This step is used to determine the transfer mode of traffic flow between different road sections. Specific information includes the link capacity, heading angle and link direction (such as straight, right turn, left turn or U-turn, etc.), providing basic data for subsequent path planning. The link set Link is represented as

[0240]

[0241] Among them, each element Corresponding to the link data between the i-th upstream segment and the downstream segment in the road network. is the upstream segment ID, is the downstream segment ID, c i is the link capacity, h i is the heading angle of the link terminal, l i is the link direction (s means going straight, r means turning right, l means turning left, and t means U-turn).

[0242] Step 1-3: Centroid data preparation and preprocessing

[0243] Calculate the centroid coordinates of each road network partition to prepare for steps 1-5. The basic principle is to merge the geometric objects of regular roads in the same partition into a polygon and calculate its geometric center. Among them, regular roads refer to the urban expressways (road section type t i motorway, etc.) or non-motorized lane (road section type t i The calculated geometric center is used as the center of gravity of the partition, and its coordinates are expressed as:

[0244] p i =POINT(x i ,y i )

[0245] Where (x i ,y i ) is the longitude and latitude of the center of gravity.

[0246] Determine the road section closest to the centroid in the road network to prepare for steps 1-7 and 1-8. The basic principle is to calculate the centroid p i To each section i The distance between the two segments is , and the segment with the shortest distance is selected as the nearest segment. The calculation result is expressed by set Z as follows:

[0247] Z={(z1,e1,p1),(z2,e2,p2),…,(z n ,e n ,p n )}

[0248] Among them, each element (z i ,e i ,p i ) corresponds to the centroid information of the i-th partition, including the partition number (z i ), the road segment ID closest to the center of gravity (e i ) and the coordinates of the center of gravity (p i ).

[0249] Steps 1-4: Data preparation and preprocessing of OD demand matrix

[0250] Since the OD matrix generated by the prediction model may contain cross-zone demand (i.e., passing through multiple other zones in the process of going from one zone to another), this situation is difficult to operate in green wave path planning. Therefore, it is necessary to perform the shortest path traffic allocation on the predicted OD demand matrix and count the frequency of the travel path passing through each zone, so as to split the cross-zone demand into the non-cross-zone demand matrix. Finally, reorder the OD pairs in order of frequency from large to small. The reorganized predicted OD demand matrix is ​​represented by set V as:

[0251] V={(z i ,z j ,v ij )|v ij ≥v (i+1)(j+1)}

[0252] Among them, z i and z j Indicates the starting and ending partitions, v ij Indicates that from partition z i To partition z j Forecasted demand.

[0253] Step 1-5: Calculation of OD centroid azimuth

[0254] Calculate the azimuth of the center of gravity of zone D relative to the center of gravity of zone O in the OD obtained in step 1-4 to prepare for step 2-1-4. Given the starting point partition z i The barycentric coordinates p i =(x i ,y i ) and the end point partition z j The barycentric coordinates p j =(x j ,y j ), the formula for calculating the azimuth is as follows:

[0255]

[0256] Among them, θ∈[0,360); the function arctan2(y,x) returns the polar angle of the point (x,y) in the plane rectangular coordinate system, in degrees; "mod360" is a modular operation, which limits the angle to between 0 and 360 degrees. Δλ is the longitude difference, calculated as follows:

[0257]

[0258] The starting point is the partition centroid p i The radian value of latitude is calculated as follows:

[0259]

[0260] The centroid p of the end partition j The radian value of latitude is calculated as follows:

[0261]

[0262] Step 1-6: Data preparation and preprocessing of green wave avoidance sections

[0263] Summarize the IDs of road sections that are inaccessible due to major events, traffic accidents, or regular congestion in the future period, and set their travel events to infinity to ensure that they are removed in subsequent steps. The set is expressed as:

[0264] E delete ={e1,e2,…,e n}

[0265] Step 1-7: Data preparation and preprocessing of edge exit segment links

[0266] This step is intended to prepare for step 3. The task is to find the edge exit section and its downstream section that are reachable from the center of gravity in each partition, so as to ensure that the green wave path generated based on this link can effectively guide the traffic from the vicinity of the center of gravity of zone O to other locations, thereby expanding the service range of the green wave path in zone O.

[0267] Screening of centroid-reachable sections. For each partition z i , the road segment e closest to the center of gravity of the partition i As the starting point, use Dijkstra's shortest path algorithm to find the set of all road sections that can be reached from the center of gravity on the road network of the current partition. If there is no path connecting a segment to the centroid, the segment is considered unreachable from the centroid. The expression is as follows:

[0268]

[0269] Filter the edge exit segments. With the help of the link information from step 1-2, obtain Each road segment e j The downstream segment ID Form Link Then, filter out the downstream segments Not in partition z i Links to form a collection Among them, the link j For partition z i The edge exit section (use Represents). Collection The expression is as follows:

[0270]

[0271] The edge exit segment link set is represented. To serve the subsequent steps, the edge exit segment link information within the partition should include: edge exit segment ID Partition number (z i ), Road name and type Downstream segment ID Partition number (z k ), Road name and type The link capacity (c j ), heading angle (h j ) and direction (l j ). This information is collected using Link out The specific description is as follows:

[0272]

[0273] Step 1-8: Data preparation and preprocessing of edge entry segment links

[0274] This step is intended to prepare for step 2. The task is to find the edge entrance section and its upstream section that can reach the center of gravity in each partition, so as to ensure that the green wave path generated based on this link can effectively guide the traffic from the edge of zone D to the vicinity of the center of gravity, thereby expanding the service scope of the green wave path in zone D.

[0275] Screening of reachable centroid sections. For each partition z i , the road segment e closest to the center of gravity of the partition i As the end point, use Dijkstra's shortest path algorithm to find the set of all road sections that can reach the center of gravity on the road network of the current partition. If there is no path connecting a road segment to the centroid, the road segment is considered to be unreachable. The expression is as follows:

[0276]

[0277] Filter the edge entry segment. With the help of the link information from step 1-2, obtain Each road segment e j The upstream segment ID Form Link Then, filter out the upstream segments Not in current partition z i Links to form a collection Among them, the link j For partition z i The edge entrance section (use Represents). Collection The expression is as follows:

[0278]

[0279] The edge entry segment link set indicates that: To serve the subsequent steps, the edge entry segment link information within the partition should include: Upstream segment ID Partition number (z k ), Road name and type Edge entry segment ID Partition number (z i ), Road name and type Link capacity (c j ), heading angle (hj ) and direction (l j ). This information is collected using Link in The specific description is as follows:

[0280]

[0281] Step 2: Calculation of OD direct basic green wave path

[0282] The OD direct basic green wave path refers to the link that can support the corresponding OD demand, which is determined by strict screening of the road section, road section ID, road name, OD traffic flow direction and link capacity in the D zone edge entry link set obtained in steps 1-8. Figure 2 As shown in the figure. This basic path only contains two sections, the upstream section is located in area O, and the downstream section is located in area D. The purpose of calculating this basic path is to find a link with the largest possible capacity that can directly carry traffic from area O to area D, so as to extend the path on this basis and expand the traffic range served by area O to area D.

[0283] Step 2-1: Filter the road segments

[0284] From the results of step 1-8, filter all links whose upstream segments are in zone O and whose edge entry segments are in zone D, and remove the links containing the closed segments in step 1-6. Assume that the IDs of zones O and D are z o and z d , the filtered link set is expressed as:

[0285]

[0286] Step 2-2: Handling Duplicate Segments

[0287] Step 2-1 There may be the same upstream section or edge entrance section in the OD. If not handled, the subsequent green wave path may share the link, which will affect the overall capacity of the green wave path between OD. To avoid this problem, it is necessary to Filter links with non-duplicate segments. The specific steps are:

[0288] (1) Follow the upstream sections and edge entrance sections Grouping;

[0289] (2) In the group, follow the link direction l i Sorting, the priority order is {s,r,l,t};

[0290] (3) If the directions are the same, the link capacity c i Sort from largest to smallest;

[0291] (4) Keep the first link in each group (i.e., the link that is as straight as possible and has the largest link capacity).

[0292] The filtered link set is represented as:

[0293]

[0294] Step 2-3: Handling duplicate road names

[0295] Step 2-2 There may be the same road name in the OD. If not handled, the extended green wave paths may share some road sections, which will affect the overall traffic capacity of the green wave paths between OD. To avoid this problem, it is necessary to Filter out links with different road names. The specific steps are:

[0296] (1) Follow the road names of the upstream sections and the road name of the edge entrance section Grouping;

[0297] (2) Each group of links follows the link direction l i Sorting, the priority order is {s,r,l,t};

[0298] (3) If the direction l i If they are the same, then the link capacity c i Sort from largest to smallest;

[0299] (4) Keep the first link in each group (i.e., select the link that is as straight as possible and has the largest link capacity).

[0300] The filtered links are used as candidates for the basic green wave path of OD direct connection. The candidate link set can be expressed as:

[0301]

[0302] Step 2-4: Filter link flow

[0303] In order to ensure that the selected links can include more sections in the OD area after extension, it is necessary to give priority to the links that can flow from the center of gravity of the O area to the center of gravity of the D area. The specific steps are as follows:

[0304] (1) Obtain the azimuth angle θ of the center of gravity of area D relative to the center of gravity of area O in step 1-5 ij ;

[0305] (2) Let the offset angle α, from Filter out h j ∈[(θ ij -α)mod360,(θ ij +α)mod360] link.

[0306] The filtered link set can be expressed as:

[0307]

[0308] Step 2-5 Sort links

[0309] For the links selected in steps 2-4 Multi-dimensional sorting is performed, focusing on the road segment type, traffic capacity and link direction. This sorting aims to give priority to links located in urban living areas (such as road segment types of primary and secondary) and links with large traffic capacity to maximize the service scope and traffic efficiency of the green wave belt. The specific sorting steps are as follows:

[0310] (1) First, according to the edge entrance section type The priorities are as follows: primary, secondary, motorway, trunk, motorway_link, trunk_link, primary_link, residential.

[0311] (2) If If the same, then according to the upstream segment type Sort by the same priority;

[0312] (3) For and The same links are connected according to the link capacity c j Sort from largest to smallest;

[0313] (4) If c j Same, then follow the link direction l j Sorting, the priority is {s,r,l,t}.

[0314] The sorted link set is represented as:

[0315]

[0316] Step 2-6: Accumulate link capacity

[0317] For the link set obtained in steps 2-5 The capacity of each link in j The cumulative result is expressed as After each accumulation, the judgment of steps 2-7 is performed.

[0318] Step 2-7: Determine the cumulative amount

[0319] Determine the accumulated link capacity Whether the OD requirement v of steps 1-4 is reached od .

[0320] (1) If This indicates that the current accumulated link capacity is sufficient to meet the needs of the OD pair. Therefore, the accumulated link capacity is terminated, and the accumulated links are added to the basic green wave path set of direct connections between the ODs. The basic green wave path set is expressed as:

[0321]

[0322] (2) If Continue to determine whether it is the last link:

[0323] If it is not the last link, add the accumulated link to the collection Meanwhile, return to continue with steps 2-6;

[0324] If it is the last link, execute steps 2-8, that is, enter the supplementary step.

[0325] Step 2-8: Filter and sort candidate links

[0326] The collection of links filtered from steps 2-3 Extract unused links (i.e., links not in the directly connected basic green wave path) The filtered link set is represented as:

[0327]

[0328] Then, yes The candidate links in are sorted according to the sorting method in step 2-2-1, and the sorted candidate link set is expressed as follows:

[0329]

[0330] Step 2-9: Accumulate the capacity of candidate links

[0331] For the candidate link set obtained in step 2-8 Continue in order according to the results of steps 2-7 Above, add up the capacity of each link c j , and perform the judgment of steps 2-10.

[0332] Step 2-10: Determine the cumulative amount

[0333] Determine the accumulated link capacity Whether the OD requirement v of steps 1-4 is met od .

[0334] (1) If This indicates that the current accumulated link capacity is sufficient to meet the needs of the OD pair. Therefore, the accumulation process ends and the accumulated links are added to the basic green wave path set directly connected between the ODs. middle;

[0335] (2) If Continue to determine whether it is the last link:

[0336] If it is not the last link, add the accumulated links to the collection At the same time, return to step 2-9 and continue to accumulate the capacity of the next link;

[0337] If it is the last link, it means that after the replacement, no other feasible path can be found in the direct links between the existing ODs, and step 3 needs to be additionally performed to enter the calculation of the supplementary green wave path.

[0338] 3. Calculation of OD supplementary basic green wave path

[0339] For basic green wave paths directly connected between ODs When the demand cannot be met, it is necessary to generate a supplementary basic green wave belt path with the help of road sections in other partitions. In this process, it is necessary to extract the unused edge exit links in zone O in step 2. And the unused edge entry link in zone D And search in many-to-many manner Links to The shortest path of each link in the OD is selected as the supplementary basic green wave path. The schematic diagram of the supplementary basic green wave path between OD is shown in Figure 3 shown.

[0340] Step 3-1: Selection of OD pairs

[0341] Continue with step 2-10 and extract the O and D zone numbers z from the OD pairs that do not meet the OD requirements o and z d .

[0342] Step 3-2: Select the starting link

[0343] Results from steps 1-7 Link out , filter the edge exit sections Located in Zone O and downstream All links in non-D zones form the starting link set The set is represented as follows:

[0344]

[0345] Step 3-3: Handling duplicate segments

[0346] To avoid the problem in step 3-2 The same edge exit segment appears in and downstream sections This will result in the planning of a green wave path with repeated starting points. Please refer to the processing method in step 2-2 and keep or The same link. The processed link set is expressed as follows:

[0347]

[0348] Step 3-4: Handling duplicate road names

[0349] To avoid the problem in step 3-3 The same edge exit road segment appears in the and the road name of the downstream section In step 4, when the path is expanded, the repeated green wave path is caused. The processing method of step 2-3 should be referred to, and a link with a repeated road name of the exit or downstream section should be retained. The expression of the processed link set is as follows:

[0350]

[0351] Step 3-5: Eliminate selected roads

[0352] Remove the links that are repeated with the basic green wave path. The elements of may be related to the basic green wave path determined in step 2 To avoid planning duplicate paths,

[0353] Eliminate the exit section Downstream section and its road name The same as step 2-7 The corresponding element is repeated. The processed link set expression is as follows:

[0354]

[0355] Eliminate links that contain closed or congested roads. It may include the closed or congested road sections in steps 1-6. The green wave path can smoothly achieve the subsequent green wave coordination, and it is necessary to further delete the sections containing The link of the element. The processed link set expression is as follows:

[0356]

[0357] Step 3-6: Screening for terminated links

[0358] Results from steps 1-8 Link in Screening upstream sections Not belonging to the O zone and edge entrance section All links in zone D form a set of terminated links The set is represented as follows:

[0359]

[0360] Step 3-7: Handling Duplicate Segments

[0361] To avoid the results of steps 3-6 The same edge entry segment appears in and upstream sections Please refer to step 2-2 for processing and keep or The same link. The processed link set is represented as:

[0362]

[0363] Step 3-8: Handling duplicate road names

[0364] To avoid the results of steps 3-7 The road names of the same edge entry segments appear in and the road name of the upstream section If a repeated green wave path appears during the path expansion in step 4, refer to the processing method of steps 2-3 and keep a link with a repeated road name at the exit or downstream section. The processed link set expression is as follows:

[0365]

[0366] Step 3-9: Eliminate selected roads

[0367] Remove the links that are repeated with the basic green wave path. The elements of the basic green wave path determined in step 2 There may be duplication of elements in . To avoid this problem, the entry section in the link needs to be removed. Upstream section The name of the road where it is located and The corresponding element is repeated. The processed link set expression is as follows:

[0368]

[0369] Eliminate links that contain closed or congested roads. It may include the closed or congested road sections in steps 1-6. To ensure that the green wave path can smoothly achieve subsequent green wave coordination, it is necessary to further delete the E delete The link of the element. The processed link set expression is as follows:

[0370]

[0371] Step 3-10: Calculate the shortest path

[0372] In the road network without the marked sections in steps 1-6, use the Dijkstra algorithm to calculate the obtained in steps 3-5 Each link is to the result of steps 3-9 The shortest path of each link in k ), path distance (D k ) and path capacity (C k ). The calculated shortest path set can be expressed as:

[0373]

[0374] Among them, the path Path k is a series of road segments {e k1 ,e k2 ,…,e kn}, K is the index set of the path.

[0375] Step 3-11: Eliminate the selected path

[0376] To avoid the supplementary basic green wave path being directly connected to the basic green wave path obtained in step 2 If there is a duplication, you need to get the result from steps 3-10 Filter out Path k Any section of e ki Not obtained in step 2 The elements in . The filtered path set is expressed as:

[0377]

[0378] Step 3-12: Add link direction sequence

[0379] By using the results of step 1-2, determine the path after step 3-11 k The link direction sequence L of two adjacent sections in k .L k is a set of link directions, represented by {l k1 ,l k2 ,…,l kn}, where l ki Represents Path k In (e ki ,e k(i+1) ) The path set with the link direction sequence added is represented as:

[0380]

[0381] Step 3-13: Filter link direction

[0382] The path set obtained from steps 3-12 Prioritize the link direction sequence L kcontains at most one path with non-direct link direction (i.e. non-s). The filtered path set can be expressed as:

[0383]

[0384] Step 3-14: Filter road names

[0385] In the urban road network, although the link direction of the road segment is directly connected (l i ='s'), but some roads may have bends due to terrain or buildings. This may cause the selected paths to have multiple direction changes, which in turn affects the coordination of subsequent green waves. In order to prioritize the paths with the fewest turns, the path Path k Each section ki The number of elements in the set R consisting of the road names r is determined. For example, the paths with a number less than or equal to 2 are selected. The filtered path set can be expressed as:

[0386]

[0387] Step 3-15: Handle paths with duplicate start links

[0388] Paths with repeated starting links are screened to avoid the problem that the sum of the capacity of each path does not meet the OD requirement due to the shared starting section of the subsequently selected paths.

[0389] Step 3-15-1: Path grouping

[0390] For the path set obtained in step 3-14 According to each path Path k The first section of k1 Grouping, integrating paths with repeated starting links together to facilitate subsequent processing and screening. The result of path grouping is expressed as:

[0391]

[0392] in, Indicates that all starting segments are e k1 A collection of paths.

[0393] Step 3-15-2: Sorting within the group

[0394] For each group obtained in step 3-15-1 Path within k According to the path distance D k Sort from small to large. After sorting, each path set is expressed as:

[0395]

[0396] in, Indicates that all starting sections are e k1 The set of sorted paths is Indicated by e k1 is the i-th path in the path group of the starting segment, Indicates the i-th path in the group after sorting Path distance.

[0397] Step 3-15-3: Sorting between groups

[0398] Group the paths obtained in step 3-15-2 According to the path distance of the first path of each group Sort from small to large. The sorted path set is expressed as:

[0399]

[0400] in, represents the set of shortest paths that complete the sorting within and between groups, Indicates that the starting section is e (k+1)1 A collection of paths The path distance of the first path in .

[0401] Step 3-15-4: Find each set of repeated sections

[0402] For each path in the group obtained in step 3-15-3 Find consecutive repeated road segments from the start link to the end link

[0403]

[0404] Step 3-15-5: Calculate the capacity of each set of repeated sections

[0405] Using the results of step 1-2, calculate the capacity of each repeated section obtained in step 3-15-4

[0406]

[0407] Among them, c i Indicates repeated segments The two adjacent sections (e i ,e i+1 ) traffic capacity.

[0408] Step 3-15-6: Add up the capacity of each set of repeated paths

[0409] For each group of paths obtained in step 3-15-4 The capacity of each path is accumulated in sequence according to the group. The result after accumulation is (Initial value is 0):

[0410]

[0411] Each time a path is accumulated, the judgment of step 3-15-7 is performed once.

[0412] Step 3-15-7: Determine the cumulative value of each group

[0413] Determine the cumulative path capacity Is it greater than the result of step 3-15-5?

[0414] (1) This means that the capacity of the initial repeated path (trunk) can ensure that the path with accumulated capacity (end diversion) can divert traffic at the maximum capacity, and branch paths can be added for diversion. Therefore, continue to execute step 3-15-6 and add this path to the preliminary candidate basic green wave path set.

[0415]

[0416] (2) This means that after accumulating the capacity of the current branch path, the capacity of the initial repeated path (trunk) can no longer guarantee that each branch can divert traffic at its maximum capacity (i.e., the actual capacity of each branch will be less than its maximum capacity). Therefore, it is necessary to end the screening of this group of paths and start screening the next group of paths from step 3-15-4 until all groups of repeated path screening are completed.

[0417] Step 3-16: Handle the path where the link is duplicated

[0418] The duplication of the terminating links is handled to avoid the problem that the subsequent selected paths do not meet the capacity and OD requirements of each path due to sharing the ending part of the road section.

[0419] Step 3-16-1: Path grouping

[0420] For the path set obtained in step 3-15 According to each path Path k The last section of kn Grouping, integrating the paths with repeated terminal links together, making it easier to filter out the paths with repeated endings. The result of path grouping is expressed as:

[0421]

[0422] in, Indicates that all ending sections are e kn A collection of paths.

[0423] Step 3-16-2: Sorting within the group

[0424] For each group obtained in step 3-16-1 Path within k , according to the path distance D k Sort from small to large. After sorting, each path set is expressed as:

[0425]

[0426] in, Indicates that all terminating sections are e kn The set of sorted paths is Indicated by e kn is the i-th path in the path group of the terminating segment, Indicates the i-th path in the group after sorting Path distance.

[0427] Step 3-16-3: Sorting between groups

[0428] Group the data from step 3-16-2 According to the path distance of the first path of each group Sort from small to large. The sorted path set is expressed as:

[0429]

[0430] in, represents the set of shortest paths that complete the sorting within and between groups, Indicates that the end sections are all e (k+1)n A collection of paths The path distance of the first path in .

[0431] Step 3-16-4: Find each set of repeated sections

[0432] For the path in each group obtained in step 3-16-3 Find consecutive repeated sections from the end link to the start link

[0433]

[0434] Step 3-16-5: Calculate the capacity of each set of repeated sections

[0435] Using the results of steps 1-2, calculate the road capacity of each set of repeated parts

[0436]

[0437] Among them, c i Indicates repeated segments The two adjacent sections (e i-1 ,e i ) traffic capacity.

[0438] Step 3-16-6: Add up the capacity of each set of repeated paths

[0439] For each group of paths obtained in step 3-16-4 Accumulate the capacity of each path in the order of the group The result after accumulation is (Initial value is 0):

[0440]

[0441] Each time a path is accumulated, the judgment of step 3-16-7 is performed once.

[0442] Step 3-16-7: Determine the cumulative value of each group

[0443] Determine the cumulative path capacity Is it greater than the result of step 3-16-5?

[0444] (1) This means that the capacity of the terminated repeated path (merging section) can support the path with accumulated capacity to merge at the maximum capacity, and can also increase the merge of the upstream branch path. Therefore, continue to execute step 3-16-6 and add this path to the final alternative basic green wave path.

[0445]

[0446] (2) This means that after the current branch path capacity is accumulated, the capacity of the terminated repeated path (river section) can no longer support the inflow of each branch with the maximum capacity. Therefore, it is necessary to end the screening of this group of paths and start screening the next group of paths from step 3-16-4 until all groups of repeated path screening are completed.

[0447] Step 3-17: Sort the alternative paths

[0448] Extract the final candidate basic green wave path of OD obtained in step 3-16 And according to the path distance D k Sort from small to large. The resulting candidate path set is expressed as:

[0449]

[0450] Step 3-18: Accumulate the capacity of alternative paths

[0451] For the alternative basic green wave path obtained in step 3-17 According to the order of priority, the capacity C of each path k , added to the link capacity obtained in step 2-11 The cumulative calculation formula is as follows:

[0452]

[0453] After each accumulation, the judgment of step 3-19 is performed once.

[0454] Step 3-19: Determine demand

[0455] Determine the accumulated value Is it less than the OD demand v in steps 1-4? od .

[0456] (1) If Then return to step 3-18 and accumulate the capacity of the next path;

[0457] (2) If This means that the direct and supplementary basic green wave paths currently found can already meet the traffic demand of OD for the next hour. Therefore, the accumulation process ends and the path is added to the supplementary basic green wave path set between OD. At the same time, the next OD pair that needs to be supplemented with the basic green wave path begins to be processed until the processing of all OD pairs that need to be supplemented is completed.

[0458] Step 4: Extension of OD-based green wave path

[0459] The OD basic green wave path obtained in step 2 and step 3 can only realize the green wave passage between the edge exit section of zone O and the edge entrance of zone D, that is, the green wave passage at the junction of the two zones of OD. In order to serve more areas, it is necessary to extend the OD basic green wave path to both ends (that is, from the end of the path to zone D, and from the starting point of the path to zone O). The schematic diagram of the extended OD green wave path is as follows: Figure 4 shown.

[0460] Step 4-1: Basic Green Wave Path Summary

[0461] According to the OD pair sequence obtained in steps 1-4, summarize the direct basic green wave path obtained in step 2 And the supplemented basic green wave path obtained in step 3 The aggregated OD basic green wave path set is expressed as:

[0462]

[0463] Among them, the basic green wave path Path k It is composed of a series of road segment IDs, which are specifically expressed as follows:

[0464] Path k =(e1,e2,…,e n )

[0465] Among them, e1 is the starting point of the basic green wave path, and e1 belongs to the O zone (e1∈z o );e n is the end point of the basic green wave path, and e n Belongs to Zone D (e n ∈z d ).

[0466] Step 4-2: End Directional Path Extension

[0467] For any path Path in the basic green wave path set obtained in step 4-1 k , with the help of the terminal segment e n The path is extended to area D so that the green wave path serves more sections of area D.

[0468] Step 4-2-1: Find the downstream section of the destination

[0469] Using the link data of the road network obtained in step 1-2, find the path obtained in step 4-1 k Middle and end section e n All downstream link IDs and link directions of the link. If no downstream link is found, the extension of the path to the end direction is terminated; if there is a downstream link, execute step 4-2-2. Downstream link collection It is expressed as:

[0470]

[0471] Step 4-2-2: Check the downstream section of the destination

[0472] Determine whether there is a downstream segment with a link direction of straight (s). If not, end the extension of the path to the end direction. If there is a straight link direction, extract the downstream segment of the straight And execute step 4-2-3. Downstream section It is expressed as:

[0473]

[0474] Step 4-2-3: Determine the downstream section of the destination

[0475] Continue to determine whether all downstream sections with a straight link direction belong to area D. If none of them do, end the extension of the path to the end direction. If there are downstream sections belonging to area D, extract all downstream section IDs belonging to area D and execute step 4-2-4. It is expressed as:

[0476]

[0477] Step 4-2-4: Eliminate closed or congested sections

[0478] To ensure the smoothness of the extended green wave path, all downstream sections obtained in step 4-2-3 need to be collected Eliminate the closed or congested sections in steps 1-6. The downstream sections after elimination It is expressed as:

[0479]

[0480] Step 4-2-5: Generate a new destination segment

[0481] Using the results of steps 1-2, calculate the end segment e of the basic green wave path n The result obtained in step 4-2-4 Then, the downstream segment with the largest link capacity is selected as the new end segment of the path, and step 4-2-1 is continued until all basic green wave paths are extended to the end direction.

[0482] Step 4-3: Path expansion along the starting direction

[0483] For any path Path in the basic green wave path set obtained in step 4-2 k , the path is extended to area O with the help of the starting section e1, so that the green wave path serves more sections in area O.

[0484] Step 4-3-1: Find the upstream section of the starting point

[0485] With the help of the link data of the road network obtained in step 1-2, find all the upstream road segment IDs and link directions that are linked to the starting road segment e1. If no upstream road segment is found, the extension of the path to the starting direction is terminated; if there is an upstream road segment, execute step 4-3-2. Upstream road segment set It is expressed as:

[0486]

[0487] Step 4-3-2: Check the upstream section of the starting point

[0488] Determine whether there is an upstream segment with a link direction of straight (s). If not, end the extension of the path to the starting point. If there is a straight link direction, extract the upstream segment of the straight And execute step 4-3-3. Upstream section It is expressed as:

[0489]

[0490] Step 4-3-3: Determine the upstream section of the starting point

[0491] Continue to determine whether all upstream sections with a straight link direction belong to zone O. If none of them do, end the extension of the path to the end direction. If there are upstream sections belonging to zone O, extract all upstream section IDs belonging to zone O and execute step 4-3-4. Extracted upstream sections It is expressed as:

[0492]

[0493] Step 4-3-4: Eliminate closed or congested sections

[0494] To ensure the smoothness of the extended green wave path, the upstream section obtained in step 4-3-3 Eliminate the closed or congested sections in steps 1-6. The upstream sections after elimination It is expressed as:

[0495]

[0496] Step 4-3-5: Generate a new starting point segment

[0497] Using the result of step 1-2, calculate the result of step 4-3-4 Each road segment and the starting road segment e n Then, the upstream section with the largest link capacity is selected as the new starting section of the path, and step 4-3-1 is returned to continue until all basic green wave paths are extended to the starting direction.

[0498] The above contents of the present invention are only preferred embodiments of the present invention and are not intended to limit the implementation scheme of the present invention. A person skilled in the art can easily make corresponding changes or modifications based on the main concept and spirit of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope required by the claims.

Claims

1. A method for autonomous planning of urban dynamic green belts, characterized in that: include: Step 1: Prepare and preprocess data; Step 2: Calculate the dynamic direct basic green wave path; Step 3, calculating the dynamic supplementary basic green wave path; Step 4: Extend the two dynamic basic green wave paths to obtain the autonomous planning results of the urban dynamic green wave belt.

2. The method for autonomous planning of urban dynamic green belts according to claim 1, characterized in that: The step 1 comprises the following steps: Step 1-1: Data preparation and preprocessing of road network partitions Get the partition and geographic information of each road segment from the city map, record the ID, type, geometry and partition ID of each road segment; the road segment set E is expressed as: E={(e1,t1,z1,g1),(e2,t2,z2,g2),…,(e n ,t n ,z n ,g n )} Among them, each element (e i ,t i ,z i ,g i ) represents the data of the i-th road segment: e i is the road segment ID, t i is the road segment type, z i is the partition ID, g i is the road segment geometry; Step 1-2: Data preparation and preprocessing of road segment links Calculate the link capacity of all upstream and downstream sections in the road network: sum the capacity of all lanes in the upstream section leading to the downstream section as the link capacity; where the capacity of each lane c lane Calculated by the following formula: c lane =c base ×f w ×f hv ×f l ×f s Among them, f w 、f hv 、f l and f s are the adjustment factors for lane width, heavy vehicles, parking, lateral friction and traffic lights (determined by the actual traffic environment). base It represents the basic traffic capacity of the lane, and the calculation formula is: Among them, max_speed, d response d barking d safe and l veh They represent the maximum lane speed (m / s), driver reaction distance (m), vehicle braking distance (m), minimum vehicle safety distance (m) and average vehicle length (m); Generate link information: aggregate the link capacity, heading angle and link direction into a link set according to the link; Step 1-3: Centroid data preparation and preprocessing Calculate the centroid coordinates of each road network partition to prepare for steps 1-5; Determine the road section in the road network that is closest to the center of gravity to prepare for steps 1-7 and 1-8; Steps 1-4: Data preparation and preprocessing of OD demand matrix The shortest path traffic allocation is performed on the predicted OD demand matrix, and the frequency of the travel path passing through each partition is counted, so as to split the cross-district demand into the non-cross-district demand matrix; the OD pairs are reordered in order of frequency from large to small. Step 1-5: Calculation of OD centroid azimuth Calculate the azimuth of the center of gravity of zone D relative to the center of gravity of zone O in the OD obtained in step 1-4, in preparation for step 2-1-4; given the starting point partition z i The barycentric coordinates p i =(x i ,y i ) and the end point partition z j The barycentric coordinates p j =(x j ,y j ), the formula for calculating the azimuth is as follows: Where θ∈[0,360); the function arctan2(y,x) returns the polar angle of the point (x,y) in the plane rectangular coordinate system in degrees; "mod 360" is a modular operation, which limits the angle to between 0 and 360 degrees; Δλ is the longitude difference, calculated as follows: The starting point is the partition centroid p i The radian value of latitude is calculated as follows: The centroid p of the end partition j The radian value of latitude is calculated as follows: Step 1-6: Data preparation and preprocessing of green wave avoidance sections Summarize the IDs of road sections that are inaccessible due to major events, traffic accidents or regular congestion in the future period, and set their travel events to infinity to ensure that they are removed in subsequent steps; the set expression is: THE delete }{e1,e2,…,e n } Step 1-7: Data preparation and preprocessing of edge exit segment links Use Dijkstra's shortest path algorithm to find the edge exit road section and its downstream road section that can be reached from the center of gravity in each partition on the road network of the current partition, so as to ensure that the green wave path generated based on this link can effectively guide the traffic from the vicinity of the center of gravity of zone O to other locations, and expand the service range of the green wave path in zone O; the link information of the edge exit road section in the partition should include: edge exit road section ID Partition number (z i ), Road name and type Downstream segment ID Partition number (z k ), Road name and type The link capacity (c j ), heading angle (h j ) and direction (l j ); This information is collected using Link out The specific description is as follows: Step 1-8: Data preparation and preprocessing of edge entry segment links Use the Dijkstra shortest path algorithm to find the edge entrance road section and its upstream road section that can reach the center of gravity in each partition, so as to ensure that the green wave path generated based on this link can effectively guide the traffic from the edge of the D area to the vicinity of the center of gravity, and expand the service range of the green wave path in the D area. Among them, the link information of the edge entrance road section in the partition should include: the upstream road section ID Partition number (z k ), Road name and type Edge entry segment ID Partition number (z i ), Road name and type Link capacity (c j ), heading angle (h j ) and direction (l j ); This information is collected using Link in The specific description is as follows:

3. The method for autonomous planning of urban dynamic green belts according to claim 1, characterized in that: The step 2 includes the following steps: Step 2-1: Filter the road segments From the results of step 1-8, select all links whose upstream segments are in zone O and whose edge entry segments are in zone D, and remove the links containing the closed segments in step 1-6; Step 2-2: Handling Duplicate Segments Filter links with non-duplicate segments from the results obtained in step 2-1; the specific steps are: (1) Follow the upstream sections and edge entrance sections Grouping; (2) In the group, follow the link direction l i Sorting, the priority order is {s,r,l,t}; (3) If the direction l i If the link capacity c is the same, i Sort from largest to smallest; (4) Keep the first link in each group, that is, the link that is as straight as possible and has the largest link capacity; Step 2-3: Handling duplicate road names Filter out links with different road names from the results obtained in step 2-2; the specific steps are: (1) Follow the road names of the upstream sections and the road name of the edge entrance section Grouping; (2) Each group of links follows the link direction l i Sorting, the priority order is {s,r,l,t}; (3) If the direction l i If they are the same, they are sorted from largest to smallest according to link capacity; (4) Keep the first link in each group, that is, select the link that is as straight as possible and has the largest link capacity); Step 2-4: Filter link flow (1) Obtain the azimuth angle θ of the center of gravity of area D relative to the center of gravity of area O in step 1-5 ij ; (2) Assume the offset angle α, and select the paths whose heading angles are within the range of the azimuth angle plus or minus the offset angle from the results obtained in steps 2-3; Step 2-5: Sort links The links selected in steps 2-4 are sorted in multiple dimensions, taking into account the road segment type, traffic capacity and link direction; the specific sorting steps are as follows: (1) First, according to the edge entrance section type The priority order is from high to low: primary, secondary, motorway, trunk, motorway_link, trunk_link, primary_link, residential; (2) If the edge entry segment type If the same, then according to the upstream segment type Sort by the same priority; (3) For edge entry section type and upstream segment type The same links are connected according to the link capacity c j Sort from largest to smallest; (4) If the link capacity c j Same, then follow the link direction l j Sorting, the priority is {s,r,l,t}; The sorted link set is represented as: Step 2-6: Accumulate link capacity The capacity of each link in the link set obtained in step 2-5 is accumulated in sequence, and the judgment in step 2-7 is performed; Step 2-7: Determine the cumulative amount Determine whether the accumulated link capacity reaches the OD demand of steps 1-4; (1) If the link capacity is greater than or equal to the OD demand, it means that the current accumulated link capacity is sufficient to meet the demand of the OD pair; therefore, the accumulation of link capacity is terminated, and the accumulated link is added to the basic green wave path set of direct connections between the ODs; the basic green wave path set is expressed as: (2) Otherwise, continue to determine whether it is the last link: If it is not the last link, the accumulated link is added to the direct basic green wave path set; at the same time, return to continue to execute steps 2-6; If it is the last link, execute steps 2-8, that is, enter the replacement step; Step 2-8: Screening candidate links Extract unused links from the link set filtered in step 2-3, i.e., links that are not in the directly connected basic green wave path set; Step 2-9: Sort candidate links The candidate links obtained in step 2-8 are sorted according to the sorting method of step 2-5, and the capacity of each link is accumulated on the result of step 2-7 in order, and the judgment of step 2-10 is performed; the sorted candidate link set is expressed as follows: Step 2-10: Determine the cumulative amount Determine whether the accumulated link capacity meets the OD pair requirements of steps 1-4; (1) If yes, it means that the current accumulated link capacity is sufficient to meet the needs of the OD pair; therefore, the accumulation process ends and the accumulated links are added to the basic green wave path set directly connected between the ODs. middle; (2) If not, continue to determine whether it is the last link: If it is not the last link, add the accumulated links to the direct basic green wave path set At the same time, return to step 2-9 and continue to accumulate the capacity of the next link; If it is the last link, it means that after the replacement, no other feasible path can be found in the direct links between the existing ODs, and step 3 needs to be additionally performed to enter the calculation of the supplementary green wave path.

4. The method for autonomous planning of urban dynamic green belts according to claim 1, characterized in that: In step 3: when the basic green wave path directly connected between OD cannot meet the demand, it is necessary to generate a supplementary basic green wave path with the help of road sections in other partitions; in this process, it is necessary to extract the unused edge exit link of the O area and the unused edge entrance link of the D area in step 2, and find the shortest path of the two links in a many-to-many manner, and select the shortest path that can meet the OD demand as the supplementary basic green wave path: specifically, the following steps are included: Step 3-1: Select the OD pair Continue with step 2-10 and extract the O and D zone numbers z from the OD pairs that do not meet the OD requirements o and z d ; Step 3-2: Select the starting link Results from steps 1-7 Link out , filter the edge exit sections Located in Zone O and downstream All links located in non-D zones form the starting link set; Step 3-3: Handling duplicate segments Following the result of step 3-2, refer to the processing method of step 2-2 and only keep the edge exit segments in the starting link set. Or downstream section Same one link; Step 3-4: Handling duplicate road names Follow the result of step 3-3, refer to the processing method of step 2-3, and keep the exit or downstream section Road name A duplicate link; Step 3-5: Eliminate selected roads Eliminate the exit section from the results obtained in step 3-4 Downstream section and its road name The basic green wave path set with direct connection The links with duplicate corresponding elements in , and further delete the links containing the road sections that need to be removed in steps 1-6; the expression of the processed link set is as follows: Step 3-6: Screening for terminated links Results from steps 1-8 Link in Screening upstream sections Not belonging to the O zone and edge entrance section All links located in area D form a set of terminated links; Step 3-7: Handling Duplicate Segments Following the results of step 3-6, refer to the processing method of step 2-2 and only keep the upstream section in the termination link set Or edge entrance section Same one link; Step 3-8: Handling duplicate road names Following the results of steps 3-7, refer to the processing method of steps 2-3 and retain the road name of the edge entrance section and the road name of the upstream section A duplicate link; Step 3-9: Eliminate selected roads Remove the entry segment from the link from the results of steps 3-8 Upstream section The name of the road where it is located The basic green wave path set with direct connection The links with duplicated corresponding elements in ; then, further delete the links of the road sections that need to be eliminated in steps 1-6; the expression of the processed link set is as follows: Step 3-10: Calculate the shortest path In the road network without the marked sections in steps 1-6, use the Dijkstra algorithm to calculate the set obtained in steps 3-5 Each link is to the collection obtained in steps 3-9 The shortest path, path distance and path capacity of each link in the Step 3-11: Eliminate the selected path Filter out the basic path set where any segment is not directly connected from the shortest path set obtained in step 3-10 , thereby avoiding duplication of the supplemented basic green wave path and the OD directly connected basic green wave path obtained in step 2; Step 3-12: Add link direction sequence With the help of the results of step 1-2, determine the link direction sequence L of two adjacent segments in the path obtained in step 3-11 k ; Step 3-13: Filter link direction With the help of the link direction sequence obtained in step 3-12, preferentially select the paths containing at most one non-direct link direction l, i.e., non-s, from the path set obtained in step 3-11; Step 3-14: Filter road names Following the result of step 3-13, we continue to filter out the paths where the road name r of each road section is less than or equal to 2, so as to ensure that the path only has sequentially changing roads; the filtered path set can be expressed as: Among them, the path Path k is composed of a series of road segments {e k1 ,e k2 ,…,e kn }, K is the index set of the path, R k Represents the set of road names of all sections of path k; Step 3-15: Handle paths with duplicate start links Filter the paths with repeated starting links to avoid the problem that the sum of the capacity of each path does not meet the OD requirement due to the shared starting section of the paths selected later. Step 3-16: Handle the path where the link is duplicated The duplication of the termination link is handled to avoid the problem that the subsequent selected paths will not meet the capacity and OD requirements of each path due to the shared end section; Step 3-17: Sort the alternative paths The final candidate basic green wave paths of OD obtained in step 3-16 are sorted in ascending order according to the path distance; Step 3-18: Accumulate the capacity of alternative paths For the basic green wave path obtained in step 3-17, the capacity of each path is added to the link capacity obtained in step 2-11 in order, and the judgment of step 3-19 is performed once; Step 3-19: Determine demand Determine whether the accumulated value is less than the OD demand in steps 1-4; (1) If yes, return to step 3-18 and accumulate the capacity of the next path; (2) If not, it means that the currently found direct and supplementary basic green wave paths can already meet the OD's demand for the next hour; therefore, the accumulation process ends and the path is added to the supplementary basic green wave path set between the ODs. At the same time, start processing the next OD pair that needs to be supplemented with the basic green wave path until the processing of all OD pairs that need to be supplemented is completed.

5. The method for autonomous planning of urban dynamic green belts as claimed in claim 4, characterized in that: The steps 3-15 include the following steps: Step 3-15-1: Path grouping For the path set obtained in step 3-14, according to the first segment e of each path k1 Grouping: integrating paths with repeated starting links together to facilitate subsequent processing and screening; Step 3-15-2: Sorting within the group For each group obtained in step 3-15-1, k According to the path distance D k Sort from smallest to largest; Step 3-15-3: Sorting between groups For the groups obtained in step 3-15-2, calculate the path distance of the first path in each group. Sort from small to large; the sorted path set is expressed as: Among them, e k1 Path k The first section, e (k+1)1 Path k+1 The first section of Indicated by e k1 is the path distance of the i-th path in the path group of the starting segment, Indicated by e k1 is the path distance of the i+1th path in the path group of the starting segment, Indicated by e k1 is the path distance of the first path in the path group of the starting segment; Step 3-15-4: Find each set of repeated sections For the path obtained in step 3-15-3, search for continuous and repeated sections along the direction from the starting link to the ending link; Step 3-15-5: Calculate the capacity of each set of repeated sections Using the results of step 1-2, calculate the road section capacity of each set of repeated parts obtained in step 3-15-4; Step 3-15-6: Add up the capacity of each set of repeated paths For each group of paths obtained in step 3-15-4, the capacity of each path is accumulated in the order within the group, and the judgment of step 3-15-7 is performed; Step 3-15-7: Determine the cumulative value of each group Determine whether the accumulated path capacity is greater than the result of step 3-15-5: (1) If not, it means that the capacity of the initial repeated section can ensure that the path with accumulated capacity can be diverted at the maximum capacity, and more branch paths can be added for diversion; therefore, continue to execute step 3-15-6 and add the path to the preliminary candidate basic green wave path set. (2) If yes, it means that after adding up the capacity of the current branch path, the capacity of the initial repeated section can no longer guarantee that each branch can divert traffic at its maximum capacity, that is, the actual capacity of each branch will be less than its maximum capacity; therefore, it is necessary to end the screening of this group of paths and start screening the next group of paths from step 3-15-4 until the screening of all groups of repeated paths is completed.

6. The method for autonomous planning of urban dynamic green belts according to claim 4, characterized in that: The steps 3-16 include the following steps: Step 3-16-1: Path grouping For the path set obtained in step 3-15 According to each path Path k The last section of kn Grouping: integrating paths with repeated termination links together to facilitate subsequent screening of paths with repeated termination links. Step 3-16-2: Sorting within the group For each path in the group obtained in step 3-16-1 k According to the path distance D k Sort from smallest to largest; Step 3-16-3: Sorting between groups For the groups obtained in step 3-16-2, the path distance of the first path in each group is Sort from small to large; the sorted path set is expressed as: Among them, e kn Path k The last section of the road, e (k+1)n Path k+1 The last section of Indicated by e kn is the path distance of the i-th path in the path group of the starting segment, Indicated by e kn is the path distance of the i+1th path in the path group of the starting segment, Indicated by e kn is the path distance of the first path in the path group of the starting segment; Step 3-16-4: Find each set of repeated sections For the path obtained in step 3-16-3, search for continuous and repeated sections along the direction from the end link to the start link; Step 3-16-5: Calculate the capacity of each set of repeated sections Using the results of steps 1-2, calculate the road capacity of each set of repeated parts; Step 3-16-6: Add up the capacity of each set of repeated paths For the paths obtained in step 3-16-4, the capacity of each path is accumulated in the order of precedence within the group, and the judgment in step 3-16-7 is performed; Step 3-16-7: Determine the cumulative value of each group Determine whether the accumulated path capacity is greater than the result of step 3-16-5: (1) If not, it means that the capacity of the terminated repeated section can support the path with accumulated capacity to merge with the maximum capacity, and can also increase the merge of the upstream branch path; therefore, continue to execute step 3-16-6 and add this path to the final alternative basic green wave path (2) If yes, it means that after accumulating the capacity of the current branch path, the capacity of the terminating repeated section can no longer support the influx of each branch with the maximum capacity; therefore, it is necessary to end the screening of this group of paths and start screening the next group of paths from step 3-16-4 until the screening of all groups of repeated paths is completed.

7. The method for autonomous planning of urban dynamic green belts according to claim 1, characterized in that: The step 4 comprises: Step 4-1: Basic Green Wave Path Summary According to the OD pair sequence obtained in steps 1-4, summarize the direct basic green wave path obtained in step 2 The basic green wave path obtained in step 3 is supplemented The aggregated OD basic green wave path set is expressed as: Among them, the basic green wave path Path k It is composed of a series of road segment IDs, which are specifically expressed as follows: Path k =(e1,e2,…,e n ) Among them, e1 is the starting point of the basic green wave path, and e1 belongs to the O zone (e1∈z o );e n is the end point of the basic green wave path, and e n Belongs to Zone D (e n ∈z d ); Step 4-2: End Directional Path Extension For any path in the basic green wave path set obtained in step 4-1, extend the path to area D with the help of the terminal segment, so that the green wave path serves more segments in area D; Step 4-3: Path expansion along the starting direction For any path in the basic green wave path set obtained in step 4-2, the path is extended to area O with the help of the starting section, so that the green wave path serves more sections in area O.

8. The method for autonomous planning of urban dynamic green belts according to claim 1, characterized in that: The step 4-2 comprises: Step 4-2-1: Find the downstream section of the destination With the help of the link data of the road network obtained in step 1-2, find all the downstream road segment IDs and link directions linked to the terminal road segment in the path obtained in step 4-1; if no downstream road segment is found, end the extension of the path to the terminal direction; if there is a downstream road segment, execute step 4-2-2; Step 4-2-2: Check the downstream section of the destination Determine whether there is a downstream section with a link direction of straight (s); if not, end the extension of the path to the termination direction; if there is a straight link direction, extract the downstream section of the straight, and execute step 4-2-3; Step 4-2-3: Determine the downstream section of the destination Continue to determine whether all downstream sections with a straight link direction belong to area D; if none of them do, end the extension of the path to the termination direction; if there are downstream sections belonging to area D, extract all downstream section IDs belonging to area D, and execute step 4-2-4; Step 4-2-4: Eliminate closed or congested sections For the set of downstream road sections of the destination obtained in step 4-2-3, remove the closed or congested road sections in steps 1-6; Step 4-2-5: Generate a new destination segment With the help of the results of step 1-2, calculate the connection capacity between the terminal section of the basic green wave path and each section obtained in step 4-2-4; then, select the downstream section with the largest connection capacity as the new terminal section of the path, and continue to execute step 4-2-1 until all basic green wave paths are extended in the termination direction.

9. The method for autonomous planning of urban dynamic green belts according to claim 1, characterized in that: The step 4-3 comprises: Step 4-3-1: Find the upstream section of the starting point With the help of the link data of the road network obtained in step 1-2, find all the upstream road segment IDs and link directions linked to the starting road segment; if no upstream road segment is found, end the extension of the path toward the starting direction; if there is an upstream road segment, execute step 4-3-2; Step 4-3-2: Check the upstream section of the starting point Determine whether there is an upstream section with a link direction of straight (s); if not, end the extension of the path toward the starting point; if there is a straight link direction, extract the upstream section of the straight, and execute step 4-3-3; Step 4-3-3: Determine the upstream section of the starting point Continue to determine whether all upstream sections with a straight link direction belong to zone O; if none of them do, end the extension of the path to the termination direction; if there are upstream sections belonging to zone O, extract all upstream section IDs belonging to zone O, and execute step 4-3-4; Step 4-3-4: Eliminate closed or congested sections For the set of downstream road sections of the destination obtained in step 4-3-3, remove the closed or congested road sections in steps 1-6; Step 4-3-5: Generate a new starting point segment With the help of the results of steps 1-2-3, calculate the connection capacity between each section obtained in step 4-3-4 and the starting section; then, select the upstream section with the largest connection capacity as the new starting section of the path, and return to continue executing step 4-3-1 until all basic green wave paths are extended toward the starting point.

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