A phase sequence scheme design method that satisfies the equalization constraint of each flow direction in the same phase

Abstract

The present invention discloses a method for designing a phase sequence scheme that satisfies the equalization constraint of each flow direction in the same phase, and relates to the field of intelligent traffic control technology, and includes the following steps: S1. Collecting at least one week of intersection peak hour traffic flow data, and taking the average flow rate of each phase; S2. Traversing each lane function of each lane; S3. Calculating the green interval matrix between each phase according to the conflict point of the vehicle flow trajectory; S4. Enumerating and searching all feasible basic signal stages; S5. Enumerating and combining a specified number of non-repeating basic signal stages; S6. Searching for the optimal phase scheme among all feasible phase schemes; S7. Enumerating and searching for the phase sequence scheme with the shortest total green interval time as the optimal phase sequence scheme. The present invention solves the optimal phase scheme with the minimum product of the sum of the key phase flow rate ratios of each signal stage and the number of signal stages as the objective function; enumerating and searching for the phase sequence scheme with the shortest total green interval time as the optimal phase sequence scheme.

Description

Technical Field

[0001] The invention relates to the technical field of intelligent traffic control, and in particular to a method for designing a phase sequence scheme that satisfies the equalization constraint of each flow direction in the same phase. Background Art

[0002] The rapid growth in the number of motor vehicles has made urban traffic congestion, especially traffic congestion at intersections, more and more serious. The phase sequence scheme of intersections has become increasingly important to the traffic efficiency of intersections, and the design of phase sequence schemes has become a focus of intersection management and control.

[0003] The current phase sequence design method takes into account the principles that the vehicle flow trajectory of the released phases in the same signal stage does not conflict, each phase is released at least once, and the number of entrance lanes and exit lanes is balanced. The traffic balance at the intersection mainly involves two levels of evaluation: on the one hand, it refers to the balance between the signal stages. By adjusting the time allocation between the signal stages, the saturation of the key phases of each signal stage is balanced; on the other hand, it refers to the balance of each phase within the signal stage. If the traffic flow of each phase in the signal stage is very different, no matter how the signal timing is adjusted, it cannot change the imbalance of each phase in the signal stage. However, the current phase sequence design method mostly aims to minimize the sum of the flow rate ratios of the key phases in each signal stage, and pays less attention to the evergreen phase, the overlapping phase, and the balance of each phase in the signal stage. As a result, the generated phase sequence scheme is prone to the situation of empty green lights or oversaturation of some entrance lanes, and has poor adaptability to complex phase schemes.

[0004] Therefore, the present invention proposes a phase sequence scheme design method that satisfies the equalization constraint of each flow direction in the same phase. Summary of the invention

[0005] The present invention provides a phase sequence scheme design method that satisfies the equalization constraint of each flow direction in the same phase, which promotes solving the problems mentioned in the above background technology.

[0006] The present application provides a phase sequence scheme design method that satisfies the equalization constraint of each flow direction in the same phase, and adopts the following technical scheme: A phase sequence scheme design method that satisfies the equalization constraint of each flow direction in the same phase, comprising the following steps: S1. Collect at least one week of intersection peak hour traffic flow data and take the average flow rate of each phase; The phase refers to the period in which one or more traffic flows obtain exactly the same signal light color display at any time within a signal cycle, and the continuous time sequence in which they obtain different light colors is called a signal phase; S2. traverse the lane functions of each lane, generate a Bezier curve from the end point of the entrance lane to the starting point of the exit lane to represent the corresponding vehicle flow trajectory, and find the conflict points between all vehicle flow trajectories; S3. Calculate the green interval matrix between each phase according to the conflict point of the traffic trajectory; S4. Enumerate and search for all feasible basic signal stages, where a feasible basic signal stage means that the vehicle flow trajectories of any two phases in each basic signal stage do not conflict; The signal phase refers to the change of the right of way in the intersection affected by the signal control, and each change is called a signal phase; S5. enumerate and combine a specified number of non-repeating basic signal phases, and if the basic signal phase combination includes all phases of the intersection, define it as a feasible phase solution; S6. With the constraints of balanced flow rate ratios between phases in the same signal stage, not too small flow rate ratios of overlapping phases in each signal stage, and balanced number of entrance and exit lanes in the signal stage, and the objective function of minimizing the product of the sum of flow rate ratios of key phases in each signal stage and the number of signal stages, find the optimal phase plan from all feasible phase plans; S7. Take the full arrangement of each signal phase in the optimal phase scheme as all feasible phase sequence schemes, and enumerate and search for the phase sequence scheme with the shortest total green interval time as the optimal phase sequence scheme.

[0007] By adopting the above technical solution, Bezier curves are used to generate the traffic trajectories of each lane and each turn at the intersection, the conflict points between the traffic trajectories are found, and the green interval matrix between each phase is calculated accordingly; all feasible basic signal stages are enumerated and found, and a feasible phase plan is generated by combination; the number of releases of overlapping phases and evergreen phases is considered, and the flow rate ratio between each phase in the same signal stage is balanced, the flow rate ratio of the overlapping phase in each signal stage should not be too small, and the number of entrance and exit lanes released in the signal stage is balanced. The objective function is to minimize the product of the sum of the flow rate ratios of the key phases in each signal stage and the number of signal stages, and solve the optimal phase plan; the phase sequence plan with the shortest total green interval time is enumerated and found as the optimal phase sequence plan.

[0008] Furthermore, in step S2, traversing the lane functions of each lane, generating a Bezier curve from the end point of the entrance lane to the start point of the exit lane to represent the corresponding vehicle flow trajectory, and finding the conflict points between all vehicle flow trajectories specifically includes the following steps: S21. Note the entrance The end point coordinates are , the first The coordinates of the starting point of the exit road corresponding to the turn are ; S22. If If the turn is straight ahead, then and Linear interpolation is performed between the two values ​​to generate the trajectory of straight traffic flow; S23. If If the turn is left or right, the entrance lane The coordinates of the intersection point with the straight line corresponding to the exit road are taken as the intermediate reference point; if the If the turn is a U-turn, the center point of the intersection is taken as the middle reference point; the middle reference point is recorded as ; S24. Get the number of interpolation points of the Bezier curve , take the control points of the Bezier curve as , ; S25. No. The coordinates of the interpolation points are as follows. The coordinates of each interpolation point are calculated to generate the vehicle flow trajectory; ; S26. Calculate all traffic trajectories of each lane and find conflicting points of the traffic trajectories.

[0009] Furthermore, the step S3 of calculating the green interval matrix between each phase according to the conflict point of the vehicle flow trajectory specifically includes the following steps: S31. Remember the phase The set of controlled lanes is ; S32. If the phase Middle Lane No. Traffic trajectories With phase Middle Lane No. Traffic trajectories If there is no conflict point, the vehicle flow trajectory With traffic trajectory The green interval time is ; S33. If and There is a conflict point, record the conflict point to the lane The distance is the clearing distance , record the conflict point to the lane The distance is the driving distance , then the traffic trajectory With traffic trajectory The green interval time is ; S34. Calculate phase The trajectories and phases of each vehicle flow The green interval time of each vehicle flow trajectory in the phase With phase Green interval time .

[0010] Furthermore, the enumeration and searching of all feasible basic signal stages in step S4 to ensure that the vehicle flow trajectories of any two phases in each basic signal stage do not conflict specifically includes the following steps: S41. The number of phases allowed to be released in the basic signal stage is ,make Start from 1 and increment until all phases of the intersection are reached. , loop through steps S42 to S44; S42. Take out all phases from the intersection non-repeating phases, if this If a phase does not include all evergreen phases, or does not include any non-evergreen phase, it cannot constitute a feasible basic signal phase; S43. If this If there are two phases in the phases whose vehicle flow trajectories conflict, they cannot form a feasible basic signal phase; S44. Enumeration traversal All combinations of non-repeating phases are calculated and the feasible basis signal phases are extracted from them.

[0011] Furthermore, in step S5, a specified number of non-repeating basic signal phases are enumerated and combined. If the basic signal phase combination includes all phases of the intersection, it is defined as a feasible phase scheme, which specifically includes the following steps: S51. The number of signal stages in the phase scheme is ,make From the minimum number of signal stages Increment the value until the maximum number of signal stages , loop through step S52 to step S53; S52. Remove from all base signal stages non-repeating basic signal phase, if this The non-repeating basic signal phase includes all the phases of the intersection and is considered to be a feasible phase scheme; S53. Traversal enumeration All combinations of non-repeating basic signal phases are selected and feasible phase solutions are extracted.

[0012] Furthermore, the step S6 specifically includes the following steps: S61. Count the number of times each phase is allowed to be released in the phase scheme, recorded as ; S62. Phase The flow rate ratio is ,in Indicates phase The total flow of each lane, Indicates phase The total capacity of each lane; S63. If the phase The number of allowed releases And phase The flow rate ratio is , then the phase The flow rate ratio is less than the minimum setting threshold of the overlap phase, but is still set to the overlap phase; Signal recording stage The maximum and minimum flow rate ratios of each phase are and ,like and , and the signal phase The number of times the phase with the largest flow rate ratio is allowed to release , then the signal phase There is an imbalance in the flow rate ratio between phases; S64. Signal recording stage The number of entry lanes allowed to be released and the corresponding number of exit lanes are and ,like , then the signal phase There are too many lanes in the system; S65. If the phenomenon of step S63 occurs in any phase of the phase scheme, or the phenomenon of step S64 occurs in any signal stage, the score of the phase scheme is infinite; S66. The sum of the key phase flow rate ratios of each signal stage in the phase scheme is , the score of this phase scheme is ; S67. Traverse all feasible phase solutions, calculate the score of each phase solution, and select the phase solution with the smallest score as the optimal phase solution.

[0013] Furthermore, the enumeration and search for the phase sequence scheme with the shortest total green interval time as the optimal phase sequence scheme in step S7 specifically includes the following steps: S71. The signal phase set included in the optimal phase solution is , the total number of its permutations is Phase sequence scheme; S72.Remember a phase sequence scheme as , where the signal phase include phase, that is ; Signal Phase include phase, that is , signal acquisition stage Each phase to signal stage The maximum value of the green interval time of each phase is taken as the green interval time of two adjacent signal stages: ; S73. The total green interval time of the phase sequence scheme is ; S74. Calculate the total green interval time of all phase sequence schemes, and select the phase sequence scheme with the smallest total green interval time as the optimal phase sequence scheme.

[0014] By adopting the above technical scheme, the influence of evergreen phase, overlapping phase, etc. is taken into account, which is more suitable for the generation and evaluation of complex phase schemes; phase balance constraints are added in the calculation process to ensure that the generated phase scheme is not prone to imbalance among phases in the same signal stage; the objective function is to minimize the product of the sum of the key phase flow rate ratios of each signal stage and the number of signal stages, thereby realizing the coordinated optimization of the phase scheme and the number of signal stages.

[0015] The present invention has the following beneficial effects: 1. The present invention generates the traffic trajectory of each lane and each turn of the intersection by using Bezier curves, finds the conflict points between the traffic trajectories, and calculates the green interval matrix between each phase accordingly; enumerates and finds all feasible basic signal stages, and combines them to generate feasible phase plans; considers the release times of overlapping phases and evergreen phases, takes the flow rate ratio between each phase in the same signal stage as balanced, the flow rate ratio of the overlapping phase in each signal stage should not be too small, and the number of released entrance lanes and exit lanes in the signal stage as balanced constraints, takes the product of the sum of the flow rate ratios of the key phases in each signal stage and the number of signal stages as the minimum as the objective function, and solves the optimal phase plan; enumerates and finds the phase sequence plan with the shortest total green interval time as the optimal phase sequence plan.

[0016] 2. The present invention takes into account the influence of evergreen phase, overlapping phase, etc., and is more suitable for the generation and evaluation of complex phase schemes; phase balance constraints are added in the calculation process to ensure that the generated phase scheme is not prone to imbalance among phases in the same signal stage; the objective function is to minimize the product of the sum of the key phase flow rate ratios of each signal stage and the number of signal stages, thereby realizing the coordinated optimization of the phase scheme and the number of signal stages. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the process of the present invention; Figure 2 This is a schematic diagram of the channelization of the intersection of G106 National Highway and Yidong Road; Figure 3 This is a schematic diagram of the traffic trajectory and conflict points on G106 National Highway-Yidong Road. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] Example 1 Reference Figure 1 A phase sequence scheme design method that satisfies the equalization constraint of each flow direction in the same phase includes the following steps: S1. Collect at least one week of intersection peak hour traffic flow data and take the average flow rate of each phase; Phase refers to the period in which one or more traffic flows receive exactly the same signal light color display at any time within a signal cycle. The continuous sequence of different light colors is called a signal phase. S2. traverse the lane functions of each lane, generate a Bezier curve from the end point of the entrance lane to the starting point of the exit lane to represent the corresponding vehicle flow trajectory, and find the conflict points between all vehicle flow trajectories; S3. Calculate the green interval matrix between each phase according to the conflict point of the traffic trajectory; S4. Enumerate and search for all feasible basic signal stages, where a feasible basic signal stage means that the vehicle flow trajectories of any two phases in each basic signal stage do not conflict; Signal phase refers to the change of right of way in the intersection affected by signal control. Each change is called a signal phase. S5. enumerate and combine a specified number of non-repeating basic signal phases, and if the basic signal phase combination includes all phases of the intersection, define it as a feasible phase solution; S6. With the constraints of balanced flow rate ratios between phases in the same signal stage, not too small flow rate ratios of overlapping phases in each signal stage, and balanced number of entrance and exit lanes in the signal stage, and the objective function of minimizing the product of the sum of flow rate ratios of key phases in each signal stage and the number of signal stages, find the optimal phase plan from all feasible phase plans; S7. Take the full arrangement of each signal phase in the optimal phase scheme as all feasible phase sequence schemes, and enumerate and search for the phase sequence scheme with the shortest total green interval time as the optimal phase sequence scheme.

[0020] Bezier curves are used to generate the traffic trajectories of each lane and each turn at the intersection, and the conflict points between the traffic trajectories are found. Based on this, the green interval matrix between each phase is calculated. All feasible basic signal stages are enumerated and found, and a feasible phase plan is generated by combining them. The number of releases of overlapping phases and evergreen phases is considered. The flow rate ratio between each phase in the same signal stage is balanced, the flow rate ratio of the overlapping phase in each signal stage should not be too small, and the number of entrance and exit lanes released in the signal stage is balanced. The objective function is to minimize the product of the sum of the flow rate ratios of the key phases in each signal stage and the number of signal stages, and solve the optimal phase plan. The phase sequence plan with the shortest total green interval time is enumerated and found as the optimal phase sequence plan.

[0021] In step S2, the lane functions of each lane are traversed, a Bezier curve from the end point of the entrance lane to the start point of the exit lane is generated to represent the corresponding vehicle flow trajectory, and the conflict points between all vehicle flow trajectories are found. Specifically, the following steps are included: S21. Note the entrance The end point coordinates are , the first The coordinates of the starting point of the exit road corresponding to the turn are ; S22. If If the turn is straight ahead, then and Linear interpolation is performed to generate the trajectory of straight traffic flow; S23. If If the turn is left or right, the entrance lane The coordinates of the intersection point with the straight line corresponding to the exit road are taken as the intermediate reference point; if the If the turn is a U-turn, the center point of the intersection is taken as the middle reference point; the middle reference point is recorded as ; S24. Get the number of interpolation points of the Bezier curve , take the control points of the Bezier curve as , ; S25. No. The coordinates of the interpolation points are as follows. The coordinates of each interpolation point are calculated to generate the vehicle flow trajectory; ; S26. Calculate all traffic trajectories of each lane and find conflicting points of the traffic trajectories.

[0022] Calculating the green interval matrix between each phase according to the conflict point of the vehicle flow trajectory in step S3 specifically includes the following steps: S31. Remember the phase The set of controlled lanes is ; S32. If the phase Middle Lane No. Traffic trajectories With phase Middle Lane No. Traffic trajectories If there is no conflict point, the vehicle flow trajectory With traffic trajectory The green interval time is ; S33. If and There is a conflict point, record the conflict point to the lane The distance is the clearing distance , record the conflict point to the lane The distance is the driving distance , then the traffic trajectory With traffic trajectory The green interval time is ; S34. Calculate phase The trajectories and phases of each vehicle flow The green interval time of each vehicle flow trajectory in the phase With phase Green interval time .

[0023] In step S4, all feasible basic signal stages are enumerated and searched to ensure that the vehicle flow trajectories of any two phases in each basic signal stage do not conflict, which specifically includes the following steps: S41. The number of phases allowed to be released in the basic signal stage is ,make Start from 1 and increment until all phases of the intersection are reached. , loop through steps S42 to S44; S42. Take out all phases from the intersection non-repeating phases, if this If a phase does not include all evergreen phases, or does not include any non-evergreen phase, it cannot constitute a feasible basic signal phase; S43. If this If there are two phases in the phases whose vehicle flow trajectories conflict, they cannot form a feasible basic signal phase; S44. Enumeration traversal All combinations of non-repeating phases are calculated and the feasible basis signal phases are extracted from them.

[0024] In step S5, a specified number of non-repeating basic signal phases are enumerated and combined. If the basic signal phase combination includes all phases of the intersection, it is defined as a feasible phase scheme, which specifically includes the following steps: S51. The number of signal stages in the phase scheme is ,make From the minimum number of signal stages Increment the value until the maximum number of signal stages , loop through step S52 to step S53; S52. Remove from all base signal stages non-repeating basic signal phase, if this The non-repeating basic signal phase includes all the phases of the intersection and is considered to be a feasible phase scheme; S53. Traversal enumeration All combinations of non-repeating basic signal phases are selected and feasible phase solutions are extracted.

[0025] Step S6 specifically includes the following steps: S61. Count the number of times each phase is allowed to be released in the phase scheme, recorded as ; S62. Phase The flow rate ratio is ,in Indicates phase The total flow of each lane, Indicates phase The total capacity of each lane; S63. If the phase The number of allowed releases And phase The flow rate ratio is , then the phase The flow rate ratio is less than the minimum setting threshold of the overlap phase, but is still set to the overlap phase; Signal recording stage The maximum and minimum flow rate ratios of each phase are and ,like and , and the signal phase The number of times the phase with the largest flow rate ratio is allowed to release , then the signal phase There is an imbalance in the flow rate ratio between phases; S64. Signal recording stage The number of entry lanes allowed to be released and the corresponding number of exit lanes are and ,like , then the signal phase There are too many lanes in the system; S65. If the phenomenon of step S63 occurs in any phase of the phase scheme, or the phenomenon of step S64 occurs in any signal stage, the score of the phase scheme is infinite; S66. The sum of the key phase flow rate ratios of each signal stage in the phase scheme is , the score of this phase scheme is ; S67. Traverse all feasible phase solutions, calculate the score of each phase solution, and select the phase solution with the smallest score as the optimal phase solution.

[0026] In step S7, enumerating and searching for the phase sequence scheme with the shortest total green interval time as the optimal phase sequence scheme specifically includes the following steps: S71. The signal phase set included in the optimal phase solution is , the total number of its permutations is Phase sequence scheme; S72.Remember a phase sequence scheme as , where the signal phase include phase, that is ; Signal Phase include phase, that is , signal acquisition stage Each phase to signal stage The maximum value of the green interval time of each phase is taken as the green interval time of two adjacent signal stages: ; S73. The total green interval time of the phase sequence scheme is ; S74. Calculate the total green interval time of all phase sequence schemes, and select the phase sequence scheme with the smallest total green interval time as the optimal phase sequence scheme.

[0027] Example 2 See also Figure 1-Figure 3 Specifically, the present invention relates to a phase sequence scheme design method that satisfies the equalization constraints of each flow direction in the same phase, including the following steps.

[0028] Step 1. Collect at least one week of intersection peak hour traffic flow data and take the average flow rate of each phase; In this example, we take the G106 National Highway-Yidong Road in Baiyun District, Guangzhou as an example, and collect peak traffic flow data with a granularity of 5 minutes for one week through the radar sensing equipment. The intersection channelization of G106 National Highway-Yidong Road and the phase number of the signal lights of each lane are shown in the attached figure. Figure 2shown.

[0029] The average flow rates of each phase are: Phase 1 (108 pcu / h), Phase 2 (852 pcu / h), Phase 3 (300 pcu / h), Phase 5 (408 pcu / h), Phase 6 (288 pcu / h), Phase 7 (348 pcu / h), Phase 10 (200 pcu / h), and Phase 14 (240 pcu / h).

[0030] Step 2. Traverse each lane function of each lane, generate a Bezier curve from the end point of the entrance lane to the starting point of the exit lane to represent the corresponding vehicle flow trajectory, and find the conflict points between all vehicle flow trajectories; The trajectories and conflict points of each lane of G106 National Highway-Yidong Road are as follows Figure 3 shown.

[0031] Step 3. Calculate the green interval matrix between each phase according to the conflict points of the traffic trajectory; The green interval matrix between each phase is shown in the following table: 1 2 3 5 6 7 10 14 1 5 5 8 5 2 6 4 5 3 6 4 5 5 4 4 4 7 6 5 4 4 7 5 5 4 10 4 7 7 7 4 4 14 7 4 3 4 8 8 Step 4. Enumerate and search for all feasible basic signal stages to ensure that the vehicle trajectories of any two phases in each basic signal stage do not conflict; All feasible basis signal stages are as follows: (1,), (2,), (3,), (5,), (6,), (7,), (10,),(14,), (1, 2), (1, 3), (1, 5), (2, 3), (2, 6), (2, 7), (3, 6), (3, 7), (5,6), (5, 7), (6, 7), (10, 14), (1, 2, 3), (2, 3, 6), (2, 3, 7), (2, 6, 7), (3,6, 7), (5, 6, 7), (2, 3, 6, 7).

[0032] Step 5. Enumerate and combine a specified number of non-repeating basic signal phases. If the basic signal phase combination includes all phases of the intersection, it is defined as a feasible phase solution.

[0033] Step 5-1) Take the minimum number of signal stages , maximum number of signal stages ; Step 5-3) There is no feasible phase solution with a signal phase number of 2; The feasible phase scheme for a signal stage number of 3 is as follows: ((1, 5), (10, 14), (2, 3, 6, 7)) ((10, 14), (1, 2, 3), (5, 6, 7)) The feasible phase scheme for a signal stage number of 4 is as follows: ((1,), (5,), (10, 14), (2, 3, 6, 7)) ((1,), (1, 5), (10, 14), (2, 3, 6, 7)) ((1,), (2, 3), (10, 14), (5, 6, 7)) ((1,), (5, 6), (10, 14), (2, 3, 7)) ((1,), (5, 6), (10, 14), (2, 3, 6, 7)) ((1,), (5, 7), (10, 14), (2, 3, 6)) ((1,), (5, 7), (10, 14), (2, 3, 6, 7)) ((1,), (10, 14), (1, 2, 3), (5, 6, 7)) ((1,), (10, 14), (2, 3, 6), (5, 6, 7)) ((1,), (10, 14), (2, 3, 7), (5, 6, 7)) ((1,), (10, 14), (5, 6, 7), (2, 3, 6, 7)) ((2,), (1, 3), (10, 14), (5, 6, 7)) ((2,), (1, 5), (10, 14), (3, 6, 7)) ((2,), (1, 5), (10, 14), (2, 3, 6, 7)) ((2,), (10, 14), (1, 2, 3), (5, 6, 7)) ((3,), (1, 2), (10, 14), (5, 6, 7)) ((3,), (1, 5), (10, 14), (2, 6, 7)) ((3,), (1, 5), (10, 14), (2, 3, 6, 7)) ((3,), (10, 14), (1, 2, 3), (5, 6, 7)) ((5,), (1, 2), (10, 14), (3, 6, 7)) ((5,), (1, 2), (10, 14), (2, 3, 6, 7)) ((5,), (1, 3), (10, 14), (2, 6, 7)) ((5,), (1, 3), (10, 14), (2, 3, 6, 7)) ((5,), (1, 5), (10, 14), (2, 3, 6, 7)) ((5,), (6, 7), (10, 14), (1, 2, 3)) ((5,), (10, 14), (1, 2, 3), (2, 6, 7)) ((5,), (10, 14), (1, 2, 3), (3, 6, 7)) ((5,), (10, 14), (1, 2, 3), (5, 6, 7)) ((5,), (10, 14), (1, 2, 3), (2, 3, 6, 7)) ((6,), (1, 5), (10, 14), (2, 3, 7)) ((6,), (1, 5), (10, 14), (2, 3, 6, 7)) ((6,), (5, 7), (10, 14), (1, 2, 3)) ((6,), (10, 14), (1, 2, 3), (5, 6, 7)) ((7,), (1, 5), (10, 14), (2, 3, 6)) ((7,), (1, 5), (10, 14), (2, 3, 6, 7)) ((7,), (5, 6), (10, 14), (1, 2, 3)) ((7,), (10, 14), (1, 2, 3), (5, 6, 7)) ((10,), (14,), (1, 5), (2, 3, 6, 7)) ((10,), (14,), (1, 2, 3), (5, 6, 7)) ((10,), (1, 5), (10, 14), (2, 3, 6, 7)) ((10,), (10, 14), (1, 2, 3), (5, 6, 7)) ((14,), (1, 5), (10, 14), (2, 3, 6, 7)) ((14,), (10, 14), (1, 2, 3), (5, 6, 7)) ((1, 2), (1, 3), (10, 14), (5, 6, 7)) ((1, 2), (1, 5), (10, 14), (3, 6, 7)) ((1, 2), (1, 5), (10, 14), (2, 3, 6, 7)) ((1, 2), (2, 3), (10, 14), (5, 6, 7)) ((1, 2), (3, 6), (5, 7), (10, 14)) ((1, 2), (3, 6), (10, 14), (5, 6, 7)) ((1, 2), (3, 7), (5, 6), (10, 14)) ((1, 2), (3, 7), (10, 14), (5, 6, 7)) ((1, 2), (5, 6), (10, 14), (2, 3, 7)) ((1, 2), (5, 6), (10, 14), (3, 6, 7)) ((1, 2), (5, 6), (10, 14), (2, 3, 6, 7)) ((1, 2), (5, 7), (10, 14), (2, 3, 6)) ((1, 2), (5, 7), (10, 14), (3, 6, 7)) ((1, 2), (5, 7), (10, 14), (2, 3, 6, 7)) ((1, 2), (10, 14), (1, 2, 3), (5, 6, 7)) ((1, 2), (10, 14), (2, 3, 6), (5, 6, 7)) ((1, 2), (10, 14), (2, 3, 7), (5, 6, 7)) ((1, 2), (10, 14), (3, 6, 7), (5, 6, 7)) ((1, 2), (10, 14), (5, 6, 7), (2, 3, 6, 7)) ((1, 3), (1, 5), (10, 14), (2, 6, 7)) ((1, 3), (1, 5), (10, 14), (2, 3, 6, 7)) ((1, 3), (2, 3), (10, 14), (5, 6, 7)) ((1, 3), (2, 6), (5, 7), (10, 14)) ((1, 3), (2, 6), (10, 14), (5, 6, 7)) ((1, 3), (2, 7), (5, 6), (10, 14)) ((1, 3), (2, 7), (10, 14), (5, 6, 7)) ((1, 3), (5, 6), (10, 14), (2, 3, 7)) ((1, 3), (5, 6), (10, 14), (2, 6, 7)) ((1, 3), (5, 6), (10, 14), (2, 3, 6, 7)) ((1, 3), (5, 7), (10, 14), (2, 3, 6)) ((1, 3), (5, 7), (10, 14), (2, 6, 7)) ((1, 3), (5, 7), (10, 14), (2, 3, 6, 7)) ((1, 3), (10, 14), (1, 2, 3), (5, 6, 7)) ((1, 3), (10, 14), (2, 3, 6), (5, 6, 7)) ((1, 3), (10, 14), (2, 3, 7), (5, 6, 7)) ((1, 3), (10, 14), (2, 6, 7), (5, 6, 7)) ((1, 3), (10, 14), (5, 6, 7), (2, 3, 6, 7)) ((1, 5), (2, 3), (6, 7), (10, 14)) ((1, 5), (2, 3), (10, 14), (2, 6, 7)) ((1, 5), (2, 3), (10, 14), (3, 6, 7)) ((1, 5), (2, 3), (10, 14), (5, 6, 7)) ((1, 5), (2, 3), (10, 14), (2, 3, 6, 7)) ((1, 5), (2, 6), (3, 7), (10, 14)) ((1, 5), (2, 6), (10, 14), (2, 3, 7)) ((1, 5), (2, 6), (10, 14), (3, 6, 7)) ((1, 5), (2, 6), (10, 14), (2, 3, 6, 7)) ((1, 5), (2, 7), (3, 6), (10, 14)) ((1, 5), (2, 7), (10, 14), (2, 3, 6)) ((1, 5), (2, 7), (10, 14), (3, 6, 7)) ((1, 5), (2, 7), (10, 14), (2, 3, 6, 7)) ((1, 5), (3, 6), (10, 14), (2, 3, 7)) ((1, 5), (3, 6), (10, 14), (2, 6, 7)) ((1, 5), (3, 6), (10, 14), (2, 3, 6, 7)) ((1, 5), (3, 7), (10, 14), (2, 3, 6)) ((1, 5), (3, 7), (10, 14), (2, 6, 7)) ((1, 5), (3, 7), (10, 14), (2, 3, 6, 7)) ((1, 5), (5, 6), (10, 14), (2, 3, 7)) ((1, 5), (5, 6), (10, 14), (2, 3, 6, 7)) ((1, 5), (5, 7), (10, 14), (2, 3, 6)) ((1, 5), (5, 7), (10, 14), (2, 3, 6, 7)) ((1, 5), (6, 7), (10, 14), (1, 2, 3)) ((1, 5), (6, 7), (10, 14), (2, 3, 6)) ((1, 5), (6, 7), (10, 14), (2, 3, 7)) ((1, 5), (6, 7), (10, 14), (2, 3, 6, 7)) ((1, 5), (10, 14), (1, 2, 3), (2, 6, 7)) ((1, 5), (10, 14), (1, 2, 3), (3, 6, 7)) ((1, 5), (10, 14), (1, 2, 3), (5, 6, 7)) ((1, 5), (10, 14), (1, 2, 3), (2, 3, 6, 7)) ((1, 5), (10, 14), (2, 3, 6), (2, 3, 7)) ((1, 5), (10, 14), (2, 3, 6), (2, 6, 7)) ((1, 5), (10, 14), (2, 3, 6), (3, 6, 7)) ((1, 5), (10, 14), (2, 3, 6), (5, 6, 7)) ((1, 5), (10, 14), (2, 3, 6), (2, 3, 6, 7)) ((1, 5), (10, 14), (2, 3, 7), (2, 6, 7)) ((1, 5), (10, 14), (2, 3, 7), (3, 6, 7)) ((1, 5), (10, 14), (2, 3, 7), (5, 6, 7)) ((1, 5), (10, 14), (2, 3, 7), (2, 3, 6, 7)) ((1, 5), (10, 14), (2, 6, 7), (3, 6, 7)) ((1, 5), (10, 14), (2, 6, 7), (2, 3, 6, 7)) ((1, 5), (10, 14), (3, 6, 7), (2, 3, 6, 7)) ((1, 5), (10, 14), (5, 6, 7), (2, 3, 6, 7)) ((2, 3), (10, 14), (1, 2, 3), (5, 6, 7)) ((2, 6), (5, 7), (10, 14), (1, 2, 3)) ((2, 6), (10, 14), (1, 2, 3), (5, 6, 7)) ((2, 7), (5, 6), (10, 14), (1, 2, 3)) ((2, 7), (10, 14), (1, 2, 3), (5, 6, 7)) ((3, 6), (5, 7), (10, 14), (1, 2, 3)) ((3, 6), (10, 14), (1, 2, 3), (5, 6, 7)) ((3, 7), (5, 6), (10, 14), (1, 2, 3)) ((3, 7), (10, 14), (1, 2, 3), (5, 6, 7)) ((5, 6), (5, 7), (10, 14), (1, 2, 3)) ((5, 6), (6, 7), (10, 14), (1, 2, 3)) ((5, 6), (10, 14), (1, 2, 3), (2, 3, 7)) ((5, 6), (10, 14), (1, 2, 3), (2, 6, 7)) ((5, 6), (10, 14), (1, 2, 3), (3, 6, 7)) ((5, 6), (10, 14), (1, 2, 3), (5, 6, 7)) ((5, 6), (10, 14), (1, 2, 3), (3, 6, 7)) ((5, 6), (10, 14), (1, 2, 3), (5, 6, 7)) ((5, 6), (10, 14), (1, 2, 3), (2, 3, 6, 7)) ((5, 7), (6, 7), (10, 14), (1, 2, 3)) ((5, 7), (10, 14), (1, 2, 3), (2, 3, 6)) ((5, 6), (10, 14), (1, 2, 3), (2, 3, 6, 7)) ((5, 7), (6, 7), (10, 14), (1, 2, 3)) ((5, 7), (10, 14), (1, 2, 3), (2, 3, 6)) ((5, 7), (10, 14), (1, 2, 3), (2, 6, 7)) ((5, 7), (10, 14), (1, 2, 3), (2, 6, 7)) ((5, 7), (10, 14), (1, 2, 3), (3, 6, 7)) ((5, 7), (10, 14), (1, 2, 3), (3, 6, 7)) ((5, 7), (10, 14), (1, 2, 3), (5, 6, 7)) ((5, 7), (10, 14), (1, 2, 3), (2, 3, 6, 7)) ((5, 7), (10, 14), (1, 2, 3), (5, 6, 7)) ((5, 7), (10, 14), (1, 2, 3), (2, 3, 6, 7)) ((6, 7), (10, 14), (1, 2, 3), (5, 6, 7)) ((6, 7), (10, 14), (1, 2, 3), (5, 6, 7)) ((10, 14), (1, 2, 3), (2, 3, 6), (5, 6, 7)) ((10, 14), (1, 2, 3), (2, 3, 7), (5, 6, 7)) ((10, 14), (1, 2, 3), (2, 6, 7), (5, 6, 7)) ((10, 14), (1, 2, 3), (3, 6, 7), (5, 6, 7)) ((10, 14), (1, 2, 3), (5, 6, 7), (2, 3, 6, 7)) Step 6. With the constraints of balanced flow rate ratios between phases in the same signal stage, not too small flow rate ratios of overlapping phases in each signal stage, and balanced number of entrance and exit lanes in the signal stage, and the objective function of minimizing the product of the sum of the flow rate ratios of the key phases in each signal stage and the number of signal stages, find the optimal phase plan from all feasible phase plans.

[0034] All feasible phase solutions with non-infinite scores and their scores are as follows: ((5,), (1, 2), (10, 14), (2, 3, 6, 7)) Rating: 4.62 ((5,), (10, 14), (1, 2, 3), (2, 6, 7)) Rating: 4.62 ((5,), (10, 14), (1, 2, 3), (2, 3, 6, 7)) Rating: 4.62 ((1, 2), (5, 7), (10, 14), (2, 3, 6)) Rating: 4.62 ((2, 6), (5, 7), (10, 14), (1, 2, 3)) Rating: 4.62 ((5, 7), (10, 14), (1, 2, 3), (2, 3, 6)) Rating: 4.62 The above six solutions have the same score and can all be used as the optimal phase solution. In this example, ((5,), (1, 2), (10, 14), (2, 3, 6, 7)) is selected as the optimal phase solution.

[0035] Step 7. Take the full arrangement of each signal phase in the optimal phase solution as all feasible phase sequence solutions, and enumerate and find the phase sequence solution with the shortest total green interval time as the optimal phase sequence solution.

[0036] Step 7-1) The total number of phase sequence schemes for the optimal phase scheme is Species, as follows: ((5,), (1, 2), (10, 14), (2, 3, 6, 7)) ((5,), (1, 2), (2, 3, 6, 7), (10, 14)) ((5,), (10, 14), (1, 2), (2, 3, 6, 7)) ((5,), (10, 14), (2, 3, 6, 7), (1, 2)) ((5,), (2, 3, 6, 7), (1, 2), (10, 14)) ((5,), (2, 3, 6, 7), (10, 14), (1, 2)) Step 7-3) The total green interval time of each phase sequence scheme is: ((5,), (1, 2), (10, 14), (2, 3, 6, 7)) Total green interval time: 26.0 ((5,), (1, 2), (2, 3, 6, 7), (10, 14)) Total green interval time: 21.0 ((5,), (10, 14), (1, 2), (2, 3, 6, 7)) Total green interval time: 25.0 ((5,), (10, 14), (2, 3, 6, 7), (1, 2)) Total green interval time: 26.0 ((5,), (2, 3, 6, 7), (1, 2), (10, 14)) Total green interval time: 24.0 ((5,), (2, 3, 6, 7), (10, 14), (1, 2)) Total green interval time: 22.0 Step 7-4) The total green interval time of the phase sequence scheme ((5,), (1, 2), (2, 3, 6, 7), (10, 14)) is the shortest, which is 21 seconds. This scheme is selected as the optimal phase sequence scheme, where phase 2 is the overlap phase of signal phase 2 and signal phase 3.

[0037] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0038] The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A phase sequence scheme design method that satisfies the equalization constraint of each flow direction in the same phase, characterized in that: The following steps are involved: S1. Collect at least one week of intersection peak hour traffic flow data and take the average flow rate of each phase; The phase refers to the period in which one or more traffic flows obtain exactly the same signal light color display at any time within a signal cycle, and the continuous time sequence in which they obtain different light colors is called a signal phase; S2. traverse the lane functions of each lane, generate a Bezier curve from the end point of the entrance lane to the starting point of the exit lane to represent the corresponding vehicle flow trajectory, and find the conflict points between all vehicle flow trajectories; S3. Calculate the green interval matrix between each phase according to the conflict point of the traffic trajectory; S4. Enumerate and search for all feasible basic signal stages, where a feasible basic signal stage means that the vehicle flow trajectories of any two phases in each basic signal stage do not conflict; The signal phase refers to the change of the right of way in the intersection affected by the signal control, and each change is called a signal phase; S5. enumerate and combine a specified number of non-repeating basic signal phases, and if the basic signal phase combination includes all phases of the intersection, define it as a feasible phase solution; S6. With the constraints of balanced flow rate ratios between phases in the same signal stage, not too small flow rate ratios of overlapping phases in each signal stage, and balanced number of entrance and exit lanes in the signal stage, and the objective function of minimizing the product of the sum of flow rate ratios of key phases in each signal stage and the number of signal stages, find the optimal phase plan from all feasible phase plans; S7. Take the full arrangement of each signal phase in the optimal phase scheme as all feasible phase sequence schemes, and enumerate and search for the phase sequence scheme with the shortest total green interval time as the optimal phase sequence scheme.

2. The phase sequence scheme design method satisfying the equalization constraint of each flow direction in the same phase according to claim 1 is characterized in that: In step S2, the lane functions of each lane are traversed, a Bezier curve from the end point of the entrance lane to the start point of the exit lane is generated to represent the corresponding vehicle flow trajectory, and the conflict points between all vehicle flow trajectories are found, which specifically include the following steps: S21. Note the entrance The end point coordinates are , the first The coordinates of the starting point of the exit road corresponding to the turn are ; S22. If If the turn is straight ahead, then and Linear interpolation is performed between the two values ​​to generate the trajectory of straight traffic flow; S23. If If the turn is left or right, the entrance lane The coordinates of the intersection point with the straight line corresponding to the exit road are taken as the intermediate reference point; if the If the turn is a U-turn, the center point of the intersection is taken as the middle reference point; the middle reference point is recorded as ; S24. Get the number of interpolation points of the Bezier curve , take the control points of the Bezier curve as , ; S25. No. The coordinates of the interpolation points are as follows. The coordinates of each interpolation point are calculated to generate the vehicle flow trajectory; ； S26. Calculate all traffic trajectories of each lane and find conflicting points of the traffic trajectories.

3. A phase sequence scheme design method that satisfies the equalization constraint of each flow direction in the same phase according to claim 2, characterized in that: The step S3 in which the green interval matrix between each phase is calculated according to the conflict point of the vehicle flow trajectory specifically includes the following steps: S31. Remember the phase The set of controlled lanes is ; S32. If the phase Middle Lane No. Traffic trajectories With phase Middle Lane No. Traffic trajectories If there is no conflict point, the vehicle flow trajectory With traffic trajectory The green interval time is ; S33. If and There is a conflict point, record the conflict point to the lane The distance is the clearing distance , record the conflict point to the lane The distance is the driving distance , then the traffic trajectory With traffic trajectory The green interval time is ; S34. Calculate phase The trajectories and phases of each vehicle flow The green interval time of each vehicle flow trajectory in the phase With phase Green interval time .

4. A phase sequence scheme design method that satisfies the equalization constraint of each flow direction in the same phase according to claim 3, characterized in that: The step S4 of enumerating and searching for all feasible basic signal stages to ensure that the vehicle flow trajectories of any two phases in each basic signal stage do not conflict specifically includes the following steps: S41. The number of phases allowed to be released in the basic signal stage is ,make Start from 1 and increment until all phases of the intersection are reached. , loop through steps S42 to S44; S42. Take out all phases from the intersection non-repeating phases, if this If a phase does not include all evergreen phases, or does not include any non-evergreen phase, it cannot constitute a feasible basic signal phase; S43. If this If there are two phases in the phases whose vehicle flow trajectories conflict, they cannot form a feasible basic signal phase; S44. Enumeration traversal All combinations of non-repeating phases are calculated and the feasible basis signal phases are extracted from them.

5. A phase sequence scheme design method satisfying the equalization constraint of each flow direction in the same phase according to claim 4, characterized in that: In step S5, a specified number of non-repeating basic signal phases are enumerated and combined. If the basic signal phase combination includes all phases of the intersection, it is defined as a feasible phase scheme, which specifically includes the following steps: S51. The number of signal stages in the phase scheme is ,make From the minimum number of signal stages Increment the value until the maximum number of signal stages , loop through step S52 to step S53; S52. Remove from all base signal stages non-repeating basic signal phase, if this The non-repeating basic signal phase includes all the phases of the intersection and is considered to be a feasible phase scheme; S53. Traversal enumeration All combinations of non-repeating basic signal phases are selected and feasible phase solutions are extracted.

6. A phase sequence scheme design method satisfying the equalization constraint of each flow direction in the same phase according to claim 5, characterized in that: The step S6 specifically comprises the following steps: S61. Count the number of times each phase is allowed to be released in the phase scheme, recorded as ; S62. Phase The flow rate ratio is ,in Indicates phase The total flow of each lane, Indicates phase The total capacity of each lane; S63. If the phase The number of allowed releases And phase The flow rate ratio is , then the phase The flow rate ratio is less than the minimum setting threshold of the overlap phase, but is still set to the overlap phase; Signal recording stage The maximum and minimum flow rate ratios of each phase are and ,like and , and the signal phase The number of times the phase with the largest flow rate ratio is allowed to release , then the signal phase There is an imbalance in the flow rate ratio between phases; S64. Signal recording stage The number of entry lanes allowed to be released and the corresponding number of exit lanes are and ,like , then the signal phase There are too many lanes in the system; S65. If the phenomenon of step S63 occurs in any phase of the phase scheme, or the phenomenon of step S64 occurs in any signal stage, the score of the phase scheme is infinite; S66. The sum of the key phase flow rate ratios of each signal stage in the phase scheme is , the score of this phase scheme is ; S67. Traverse all feasible phase solutions, calculate the score of each phase solution, and select the phase solution with the smallest score as the optimal phase solution.

7. A phase sequence scheme design method satisfying the equalization constraint of each flow direction in the same phase according to claim 6, characterized in that: The enumeration and search of the phase sequence scheme with the shortest total green interval time as the optimal phase sequence scheme in step S7 specifically includes the following steps: S71. The signal phase set included in the optimal phase solution is , the total number of its permutations is Phase sequence scheme; S72.Remember a phase sequence scheme as , where the signal phase include phase, that is ; Signal Phase include phase, that is , signal acquisition stage Each phase to the signal stage The maximum value of the green interval time of each phase is taken as the green interval time of two adjacent signal stages: ； S73. The total green interval time of the phase sequence scheme is ; S74. Calculate the total green interval time of all phase sequence schemes, and select the phase sequence scheme with the smallest total green interval time as the optimal phase sequence scheme.

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