A method for coordinating control of arterial road signals considering vehicle flow conflicts at non-signalized intersections

Abstract

The application discloses a kind of arterial signal coordination control methods considering no signal control intersection traffic conflict, comprising the following steps S1.The offset green signal ratio of adjacent signal control intersection is calculated, and the relative phase difference optimization interval is determined;S2.The projection interval of the phase of different entering traffic flow at upstream intersection in road section no signal control intersection is calculated;S3.Construction of the constraint condition of traffic projection interval, calculate offset green signal ratio and relative phase difference evaluation index;S4.According to the sum of the absolute value of two-way offset green signal ratio, determine the optimal signal timing design scheme.The application can ensure that arterial two-way straight traffic flow is not affected by opposite conflict traffic flow at no signal control intersection, and also can obtain relatively ideal green wave bandwidth at downstream signal control intersection.

Description

Technical Field

[0001] This invention relates to the field of road traffic signal coordination and control research, and in particular to a method for arterial road signal coordination and control that considers traffic flow conflicts at intersections without signal control. Background Technology

[0002] The main unsignaled traffic control methods available at intersections include stop-and-yield control and deceleration-and-yield control. These are typically suitable for intersections with low traffic volume and significant differences in traffic volume between intersecting roads. They can also be applied to intersections where conflicting traffic flows arrive at different times and the yield rules are clear. In situations with mild traffic conflict, unsignaled control can reduce vehicle waiting time and improve road efficiency, but it is essential to ensure a clear priority level between conflicting vehicles.

[0003] Current research on signalless intersections mostly focuses on the performance index analysis and evaluation of intersections. There is very little research on how to improve the traffic order of signalless intersections, and even less research on optimization methods for traffic order of signalless intersections in non-intelligent connected environments. In particular, when such intersections exist in green wave coordinated arterial roads, existing technical methods cannot guarantee that coordinated vehicles on the arterial road are not affected by the conflict of oncoming traffic flows, making it difficult to pass through such intersections without stopping.

[0004] Therefore, when there are unsignalized intersections between adjacent signalized intersections on a coordinated arterial road, it is worthwhile to analyze and explore how to coordinate the timing of adjacent signalized intersections so that the two-way through traffic flow is not disturbed or affected by the oncoming traffic flow at the unsignalized intersection, so as to balance the green wave coordination of adjacent signalized intersections and the safety and efficiency of unsignalized intersections. Summary of the Invention

[0005] The main objective of this invention is to overcome the shortcomings and deficiencies of the prior art and provide a method for coordinated control of arterial traffic signals that takes into account traffic flow conflicts at unsignalized intersections, so as to balance green wave passage for through traffic on arterial roads with safe passage at unsignalized intersections, thereby improving the safety and efficiency of urban road traffic operations.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] This invention provides a method for coordinated control of arterial traffic signals considering traffic flow conflicts at signalless intersections, comprising the following steps:

[0008] S1. Calculate the offset green ratio of adjacent signalized intersections to determine the relative phase difference optimization range;

[0009] S2. Calculate the projection interval of the phases of different incoming traffic flows at the upstream intersection in the road segment without signalized intersections;

[0010] S3. Construct constraints for the vehicle flow projection zone and calculate the offset green ratio and relative phase difference evaluation index;

[0011] S4. Determine the optimal signal timing design scheme based on the sum of the absolute values ​​of the bidirectional offset green signal ratio.

[0012] As a preferred technical solution, in step S1, the offset green ratio of adjacent signalized intersections is calculated, specifically as follows:

[0013] Assume that intersections I1 and I2 are adjacent signalized intersections. The travel speed from intersection I1 to intersection I2 is in the upbound direction, with an average speed of v. The travel speed from intersection I2 to intersection I1 is in the downbound direction, with an average speed of v. For each combination of common signal period and phase sequence, the ideal distance 'a' between intersection I1 and intersection I2 is calculated as follows:

[0014]

[0015] In the formula, Δt1 and Δt2 are the times when the coordinate phase center time of the up direction of intersection I1 and intersection I2 leads the coordinate phase center time of the down direction, respectively; C is the common signal period; and n is any integer.

[0016] Assuming the actual distance between intersection I1 and intersection I2 is s, calculate the green light ratio Δλ for the upbound direction and the green light ratio for the downbound direction at intersection I2. They are respectively:

[0017]

[0018] As a preferred technical solution, in step S1, the relative phase difference optimization range is determined, specifically as follows:

[0019] Using the start time of the green light for the northbound direction at the intersection as the reference time point for setting the phase difference, the reference relative phase difference O between intersection I2 and intersection I1 is calculated as follows:

[0020]

[0021] In the formula, λ1 and λ2 are the up-direction coordinated phase green light ratios of intersection I1 and intersection I2, respectively;

[0022] Under the premise that the sum of the bidirectional green wave bandwidths is greater than the maximum unidirectional green wave bandwidth, the relative phase difference value space is allowed to be appropriately adjusted. The allowable adjustment amount of the phase difference corresponding to the uplink green wave offset ratio Δλ is defined as ΔO1, where ΔO1 = Δλ·C, and the downlink green wave offset ratio... The corresponding phase difference adjustment amount is The allowable adjustment amount for the phase difference corresponding to the coordinated phase time difference at the intersection in the upbound direction is ΔO2. The allowable adjustment amount of the phase difference corresponding to the coordinated phase time difference at the intersection in the down direction is The maximum green bandwidth in the uplink direction is ΔO3, where ΔO3 = min{λ1,λ2}·C. The maximum green bandwidth in the downlink direction is... The bidirectional initial loss green wave bandwidth ΔB0 corresponding to the reference relative phase difference O is:

[0023]

[0024] when At that time, it cannot be guaranteed that the sum of the bidirectional green wave bandwidths is greater than the maximum unidirectional green wave bandwidth, and the relative phase difference optimization interval is an empty set.

[0025] when At that time, the allowable adjustment amount for the positive direction of the relative phase difference is ΔO. + , The allowable adjustment amount for the negative relative phase difference is ΔO - , The relative phase difference optimization range is [O-ΔO] - ,O+ΔO + ].

[0026] As a preferred technical solution, in step S2, the projection interval of the phases of different incoming traffic flows at the upstream intersection onto the road segment without signalized intersections is calculated, specifically as follows:

[0027] For the k-th value O in the relative phase difference optimization interval k O k =O-ΔO - +k-1, k∈{1,2,……,ΔO + +ΔO - +1}, determine the start and end times of the phase (straight-in phase) of the straight-in traffic flow at the upstream intersection I1 in the uphill direction. and The start and end times of the phase in which left-turning traffic enters the flow are respectively: and Determine the start and end times of the phase (straight-in phase) of the straight-in traffic flow at the upstream intersection I2 in the down direction. and The start and end times of the phase in which left-turning traffic enters the flow are respectively: and

[0028] In the uphill direction, based on the travel time t of the straight-in traffic flow from upstream intersection I1 to the unsignalized intersection. SCalculate the starting time of the through phase projection of intersection I1 at the unsignalized intersection. and the end time They are respectively:

[0029]

[0030] In the uphill direction, based on the travel time t of the left-turning traffic from upstream intersection I1 to the unsignalized intersection... L Calculate the starting time of the left-turn phase projection of intersection I1 at the unsignalized intersection. and the end time They are respectively:

[0031]

[0032] In the downhill direction, the travel time of the straight-in traffic from the upstream intersection I2 to the signalless intersection is used as a reference. Calculate the start time of the I2 through phase projection at the unsignalized intersection. and the end time They are respectively:

[0033]

[0034] In the downhill direction, the travel time of left-turning traffic from upstream intersection I2 to the unsignalized intersection is considered. Calculate the starting time of the left turn phase projection of intersection I2 at the unsignalized intersection. and the end time They are respectively:

[0035]

[0036] by Using the reference time point, by adding or subtracting several common signal periods C, the... and Transform to time interval Inside;

[0037] For the upward straight-line phase, its projection interval for

[0038] For the left turn phase in the upward direction, if Its projection range for Conversely, its projection range for

[0039] For the downward-direction straight phase, if Its projection range for like Its projection range for

[0040] For the down-direction left turn phase, if Its projection range for like Its projection range for

[0041] As a preferred technical solution, in step S3, the constraints for constructing the vehicle flow projection area are specifically as follows:

[0042] To prevent collisions between two-way through traffic at unsignalized intersections, the projected section should satisfy the following:

[0043]

[0044] To prevent straight-in traffic and reverse left-turning traffic from colliding at unsignalized intersections, the projected interval should satisfy the following:

[0045]

[0046] As a preferred technical solution, in step S3, the offset green light ratio and relative phase difference evaluation index are calculated, specifically as follows:

[0047] For relative phase difference O k Calculate the uplink green light ratio Δλ k Green ratio with downward direction offset for:

[0048]

[0049] Calculate the relative phase difference O k The sum of the absolute values ​​of the bidirectional offset green light ratio F:

[0050]

[0051] By traversing the relative phase difference optimization interval and taking the minimum F as the optimization objective, the optimal relative phase difference O under the current common signal period C and phase sequence combination scheme is determined. C With the optimal evaluation index F C .

[0052] As a preferred technical solution, in step S4, the optimal signal timing design scheme is determined based on the sum of the absolute values ​​of the bidirectional offset green light ratios, specifically as follows:

[0053] Based on the common signal period range and phase sequence combination scheme set of adjacent signalized intersections, all common signal period and phase sequence combination schemes are traversed according to S1-S3, with F C The optimal signal timing design scheme is selected with the minimum target.

[0054] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0055] (1) This invention takes into account both the effect of green wave coordination control on arterial roads and the safety requirements of conflicting traffic flows. It separates the time of straight traffic flow and oncoming traffic flow at intersections without signal control, reduces the interference of oncoming conflicting traffic flow on arterial roads, and improves the traffic efficiency and safety of urban roads.

[0056] (2) Based on ensuring the green wave coordination control effect of two-way straight traffic flow on the main road, this invention expands the feasible domain of traffic flow conflict constraints at intersections without signal control by increasing the phase difference optimization space, thereby improving the applicability and effectiveness of the signal coordination design method. Attached Figure Description

[0057] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0058] Figure 1 This is a flowchart of a method for coordinated control of arterial traffic signals considering traffic flow conflicts at intersections without signal control, according to an embodiment of the present invention.

[0059] Figure 2 This is an embodiment of the present invention. A schematic diagram of the green wave bandwidth under the following conditions;

[0060] Figure 3 This is an embodiment of the present invention. The green wave bandwidth change process when the relative phase difference increases under the following conditions;

[0061] Figure 4 This is an embodiment of the present invention. The green wave bandwidth change process when the relative phase difference decreases under the following conditions;

[0062] Figure 5 This is a schematic diagram of the bidirectional offset green signal ratio during relative phase difference adjustment according to an embodiment of the present invention;

[0063] Figure 6 This is the time interval diagram of the optimal signal timing design scheme in an embodiment of the present invention. Detailed Implementation

[0064] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of the present application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without creative effort are within the scope of protection of the present application.

[0065] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0066] This embodiment selects three intersections on an east-west arterial road. The two end intersections are signalized intersections, labeled I1 and I2 from west to east, respectively. The middle intersection is a non-signalized intersection, labeled I3. Assuming the west-to-east direction is the uphill direction, the distance between intersection I1 and intersection I3 is 440m, the distance between intersection I3 and intersection I2 is 360m, the average travel speed of the road segment is approximately 40km / h, and the common signal cycle range is [80,100]s. The coordinated direction (east-west) of intersection I1 and intersection I2 adopts an overlapping phase design, while the non-coordinated direction (north-south) adopts a single-phase design. The green light ratio allocation scheme for each phase is shown in Table 1.

[0067] Table 1 Green light ratio allocation scheme for each phase of signalized intersections.

[0068]

[0069] like Figure 1 As shown in the figure, this embodiment of a method for coordinated control of arterial traffic signals considering traffic flow conflicts at intersections without signal control includes the following steps:

[0070] S1. Calculate the offset green ratio of adjacent signalized intersections to determine the relative phase difference optimization range;

[0071] Furthermore, step S1 specifically includes:

[0072] S11. For each set of common signal period and phase sequence combination, calculate the ideal distance a between intersection I1 and intersection I2 as follows:

[0073]

[0074] Calculate the up-direction offset green ratio Δλ and the down-direction offset green ratio at intersection I2. They are respectively:

[0075]

[0076] S12. Using the start time of the green light for the northbound direction at the intersection as the reference time point for setting the phase difference, calculate the reference relative phase difference O between intersection I2 and intersection I1 as follows:

[0077]

[0078] Define the allowable adjustment amount of phase difference corresponding to the upward direction offset green ratio Δλ as ΔO1, where ΔO1 = Δλ·C, and the downward direction offset green ratio... The corresponding phase difference adjustment amount is The allowable adjustment amount for the phase difference corresponding to the coordinated phase time difference at the intersection in the upbound direction is ΔO2. The allowable adjustment amount of the phase difference corresponding to the coordinated phase time difference at the intersection in the down direction is The maximum green bandwidth in the uplink direction is ΔO3, where ΔO3 = min{λ1,λ2}·C. The maximum green bandwidth in the downlink direction is... Bidirectional initial loss green wave bandwidth corresponding to the reference relative phase difference O

[0079] when At times, such as Figure 2 As shown, it cannot be guaranteed that the sum of the bidirectional green wave bandwidths is greater than the maximum unidirectional green wave bandwidth, and the relative phase difference optimization interval is an empty set.

[0080] when At that time, the allowable adjustment amount for the positive direction of the relative phase difference is ΔO. + , The green wave bandwidth change process when the relative phase difference increases is as follows: Figure 3 As shown, the allowable adjustment amount for the negative relative phase difference is ΔO. - , The green wave bandwidth change process when the relative phase difference decreases is as follows: Figure 4 As shown, the relative phase difference optimization range is [O-ΔO]. - ,O+ΔO + ].

[0081] Taking a common signal period of 100s as an example, and the phase sequences of intersections I1 and I2 as "West Straight Left - East-West Straight - East Straight Left - South Straight Left - North Straight Left" and "East Straight Left - East-West Straight - West Straight Left - North Straight Left - South Straight Left", respectively, Δt1 and Δt2 are calculated to be 25s and -21s, respectively. The ideal spacing a is calculated as follows:

[0082]

[0083] Calculate the up-direction offset green ratio Δλ and the down-direction offset green ratio at intersection I2. They are respectively:

[0084]

[0085] The reference relative phase difference O between intersection I2 and intersection I1 is calculated as follows:

[0086]

[0087] We can calculate ΔO1 = -1s. ΔO2=2s, ΔO3 = 36s, ΔB0 = 0s.

[0088] Because when hour, The relative phase difference optimization range is [52, 90] s.

[0089] S2. Calculate the projection interval of the phases of different incoming traffic flows at the upstream intersection onto the road segment without signalized intersections; specifically:

[0090] For the k-th value O in the relative phase difference optimization interval k O k =O-ΔO - +k-1, k∈{1,2,……,ΔO + +ΔO - +1}, determine the start and end times of the straight-ahead and left-turning traffic flows in the uphill and downhill directions at the upstream intersection, respectively. Calculate the start and end times of straight-through and left-turning traffic flows in both directions at the unsignalized intersection based on travel time. by Using the reference time point, by adding or subtracting several common signal periods C, the... and Transform to time interval Within, find the corresponding projection interval.

[0091] Taking a common signal period of 100s, and the phase sequences of intersections I1 and I2 as "West Straight Left - East-West Straight - East Straight Left - South Straight Left - North Straight Left" and "East Straight Left - East-West Straight - West Straight Left - North Straight Left - South Straight Left" respectively, with a relative phase difference of 70s (k=19, 19th cycle), we can calculate... Based on travel time t S =40s,t L =40s Find the corresponding projection intervals respectively

[0092] S3. Construct constraints for the vehicle flow projection zone and calculate the offset green ratio and relative phase difference evaluation index;

[0093] Furthermore, step S3 specifically includes:

[0094] S31. To avoid conflicts with through traffic at intersections without signal control, determine whether the projected section meets the constraints.

[0095] S32, Regarding the relative phase difference O k Bidirectional offset green signal during relative phase difference adjustment, for example Figure 5 As shown, the green light ratio Δλ in the uplink and downlink directions is calculated. k and for:

[0096]

[0097] Calculate the relative phase difference O k The sum of the absolute values ​​of the bidirectional offset green light ratio F:

[0098]

[0099] By traversing the relative phase difference optimization interval and taking the minimum F as the optimization objective, the optimal relative phase difference O under the current common signal period C and phase sequence combination scheme is determined. C With the optimal evaluation index F C .

[0100] Taking a common signal period of 100s as an example, the phase sequences of intersections I1 and I2 are "West Straight Left - East-West Straight - East Straight Left - South Straight Left - North Straight Left" and "East Straight Left - East-West Straight - West Straight Left - North Straight Left - South Straight Left", respectively, with a relative phase difference of 70s (k=19, 19th round). All relevant traffic flow projection intervals meet the constraints.

[0101] Calculate the green light ratio of the upward and downward directions. The sum of the absolute values ​​of the relative phase difference bidirectional offset green light ratio F = 0.02.

[0102] The relative phase difference optimization interval is traversed, and the evaluation index F for different relative phase differences is calculated as shown in Table 2. "-" indicates that the relevant traffic flow projection interval corresponding to the relative phase difference does not meet the constraint conditions.

[0103] Table 2 Evaluation Indicators for Different Relative Phase Differences

[0104]

[0105] As shown in Table 2, when the common signal period is 100s, the phase sequence of intersection I1 and intersection I2 is "West Straight Left - East-West Straight - East Straight Left - South Straight Left - North Straight Left" and "East Straight Left - East-West Straight - West Straight Left - North Straight Left - South Straight Left", respectively. When the relative phase difference is 70s, 71s, and 72s, the sum of the absolute values ​​of the bidirectional offset green light ratio F reaches its minimum. 100 ={70,71,72}s, F 100 =0.02.

[0106] S4. Determine the optimal signal timing design scheme based on the sum of the absolute values ​​of the bidirectional offset green light ratio; specifically:

[0107] Following steps S1-S3 above, all common signal period and phase sequence combination schemes are traversed, with F C With the minimum objective, the optimal signal timing design scheme is selected: 1) Evaluation index is 0.02; 2) Common signal period is 100s; 3) The phase sequence of intersection I1 and intersection I2 are "West Straight Left - East-West Straight - East Straight Left - South Straight Left - North Straight Left" and "East Straight Left - East-West Straight - West Straight Left - North Straight Left - South Straight Left" respectively; 4) Relative phase difference is 71s; 5) The time-distance diagram of the optimal signal timing design scheme is as follows: Figure 6 As shown.

[0108] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments described above. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0109] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0110] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A method for coordinated control of arterial road signals considering traffic flow conflicts at signalless intersections, characterized in that, Includes the following steps: S1. Calculate the offset green ratio of adjacent signalized intersections to determine the relative phase difference optimization range; S2. Calculate the projection interval of the phases of different incoming traffic flows at the upstream intersection in the road segment without signalized intersections; S3. Construct constraints for the vehicle flow projection zone and calculate the offset green ratio and relative phase difference evaluation index; S4. Determine the optimal signal timing design scheme based on the sum of the absolute values ​​of the bidirectional offset green signal ratio; In step S1, the offset green ratio of adjacent signalized intersections is calculated, specifically as follows: Assume that intersections I1 and I2 are adjacent signalized intersections. The travel speed from intersection I1 to intersection I2 is in the upbound direction, with an average speed of v. The travel speed from intersection I2 to intersection I1 is in the downbound direction, with an average speed of v. For each combination of common signal period and phase sequence, the ideal distance 'a' between intersection I1 and intersection I2 is calculated as follows: In the formula, and These represent the time intervals by which the coordinated phase center time in the upbound direction at intersection I1 and intersection I2 leads the coordinated phase center time in the downbound direction, respectively. C is the common signal period. It can be any integer; Assuming the actual distance between intersection I1 and intersection I2 is s, calculate the green light ratio of the upward direction offset of intersection I2. Green ratio with downward direction offset They are respectively: ， ； In step S2, the projection intervals of the phases of different incoming traffic flows at the upstream intersection onto the road segment without signalized intersections are calculated, specifically as follows: For the k-th value of the relative phase difference optimization interval , , Where O represents the reference relative phase difference between intersection I2 and intersection I1. This indicates the allowable positive adjustment amount for the relative phase difference; This indicates the allowable negative adjustment amount of the relative phase difference; the start and end times of the straight-in traffic flow at the upstream intersection I1 in the uphill direction are determined as follows: and The start and end times of the left-turn phase where the left-turning traffic enters the flow are respectively... and The start and end times of the straight-in traffic flow at the upstream intersection I2 in the downhill direction are determined as follows: and The start and end times of the left-turn phase where the left-turning traffic enters the flow are respectively... and ; In the upstream direction, the travel time of the straight-in traffic flow from upstream intersection I1 to the signalless intersection is considered. Calculate the starting time of the through phase projection of intersection I1 at the unsignalized intersection. and the end time They are respectively: ， In the uphill direction, the travel time of left-turning traffic from upstream intersection I1 to the unsignalized intersection is considered. Calculate the starting time of the left-turn phase projection of intersection I1 at the unsignalized intersection. and the end time They are respectively: ， In the downhill direction, the travel time of the straight-in traffic from the upstream intersection I2 to the signalless intersection is used as a reference. Calculate the starting time of the I2 through phase projection at the unsignalized intersection. and the end time They are respectively: ， In the downhill direction, the travel time of left-turning traffic from upstream intersection I2 to the unsignalized intersection is considered. Calculate the starting time of the left-turn phase projection of intersection I2 at the unsignalized intersection. and the end time They are respectively: ， by Using the reference time point, by adding or subtracting several common signal cycles ,Will , , , , , and Transform to time interval Inside; For the upward straight-line phase, its projection interval for ; For the left turn phase in the upward direction, if Its projection range for Conversely, its projection range for ; For the downward-direction straight phase, if Its projection range for ,like Its projection range for ; For the down-direction left turn phase, if Its projection range for ,like Its projection range for .

2. The arterial road signal coordination control method considering traffic flow conflicts at signalless intersections according to claim 1, characterized in that, In step S1, the relative phase difference optimization interval is determined, specifically as follows: Using the start time of the green light for the northbound direction at the intersection as the reference time point for setting the phase difference, the reference relative phase difference O between intersection I2 and intersection I1 is calculated as follows: In the formula, and These are the coordinated phase green light ratios for the upbound directions at intersections I1 and I2, respectively. Provided that the sum of the bidirectional green wave bandwidths is greater than the maximum unidirectional green wave bandwidth, the relative phase difference value space is allowed to be appropriately adjusted, and the uplink offset green signal ratio is defined. The corresponding phase difference adjustment amount is , Downward deviation from green signal ratio The corresponding phase difference adjustment amount is , The allowable adjustment amount for the phase difference corresponding to the coordinated phase time difference at the intersection in the upbound direction is: , The allowable adjustment amount of the phase difference corresponding to the coordinated phase time difference at the intersection in the down direction is: , The maximum green wave bandwidth in the uplink direction is , The maximum green wave bandwidth in the downlink direction is , The bidirectional initial loss green wave bandwidth corresponding to the reference relative phase difference O for: when At that time, it cannot be guaranteed that the sum of the bidirectional green wave bandwidths is greater than the maximum unidirectional green wave bandwidth, and the relative phase difference optimization interval is an empty set. ; when At that time, the allowable adjustment amount for the positive direction of the relative phase difference is , The relative phase difference negative adjustment amount is , The relative phase difference optimization range is .

3. The arterial road signal coordination control method considering traffic flow conflicts at signalless intersections according to claim 2, characterized in that, In step S3, the constraints for constructing the vehicle flow projection interval are as follows: To prevent collisions between two-way through traffic at unsignalized intersections, the projected section should satisfy the following: To prevent straight-in traffic and reverse left-turning traffic from colliding at unsignalized intersections, the projected interval should satisfy the following: ， 。 4. The arterial road signal coordination control method considering traffic flow conflicts at signalless intersections according to claim 3, characterized in that, In step S3, the offset green ratio and relative phase difference evaluation index are calculated, specifically as follows: For relative phase difference Calculate the uplink offset green ratio Green ratio with downward direction offset for: ， Calculate the relative phase difference The sum of the absolute values ​​of the bidirectional offset green signal ratio : Traverse the relative phase difference optimization interval, to Minimize the optimal relative phase difference under the current common signal period C and phase sequence combination scheme. With the optimal evaluation index .

5. The arterial road signal coordination control method considering traffic flow conflicts at signalless intersections according to claim 4, characterized in that, In step S4, the optimal signal timing design scheme is determined based on the sum of the absolute values ​​of the bidirectional offset green light ratios, specifically as follows: Based on the common signal period range and phase sequence combination scheme set of adjacent signalized intersections, all common signal period and phase sequence combination schemes are traversed according to S1-S3, with... The optimal signal timing design scheme is selected with the minimum target.

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