Coordinated transition calculation method of optimal transition sequence

Abstract

The invention discloses a coordinated transition calculation method for an optimal transition sequence. The method comprises the following steps: calculating forward relative phase differences and reverse relative phase differences between all adjacent intersections before and after transition; traversing a forward relative phase difference or a reverse relative phase difference selected from the relative phase differences between all intersections before and after transition, and generating a relative phase difference sequence between the intersections before and after transition; traversing all relative phase difference sequences between intersections before and after transition, and calculating a transition strategy and transition duration of each sequence; and generating an optimal transition sequence. According to the method, all the reference relative phase difference sequences before and after transition are traversed to obtain the optimal transition scheme, and compared with a traditional transition method, the method is shorter in transition duration and faster.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent control of traffic signals, and particularly relates to a method for calculating coordinated transition of an optimal transition sequence. Background Art

[0002] For coordinated linkage of multiple intersections, control methods such as cable-free and system coordination are often adopted to achieve green wave passing of vehicles; different coordinated control schemes are often adopted according to different traffic demand characteristics. Coordinated transition is required when switching between different coordinated control schemes. The existing Chinese invention patent application number is CN202410922664.7, and the name is "A Dynamic Signal Optimization Method for Actively Reducing the Number of Coordinated Transition Adjustments", which provides a method for dynamically optimizing the green signal ratio and cycle without transition adjustment in the non-transition state, but the transition method in the transition state is not discussed; the Chinese invention patent application number is CN202210712569.5, and the name is "A Method for Making Decisions on and Allocating Coordinated Control Phase Differences during Transition", which calculates the maximum extendable seconds and the maximum reducible seconds by comparing the basic stage duration with the maximum green and minimum green, and then calculates the transition scheme based on the transition adjustment amount.

[0003] The existing coordinated transition methods have the following two problems:

[0004] On the one hand, the complexity of the simultaneous existence of forward and reverse coordination between adjacent intersections is not considered, and the obtained coordinated transition duration is too long and not the shortest coordinated transition duration;

[0005] On the other hand, the solution method is simple, directly subtracting the absolute phase differences before and after transition, ignoring the signal period information hidden in the absolute phase differences, which often causes unnecessary coordinated transition.

[0006] Therefore, there is an urgent need for a coordinated transition calculation method that can avoid unnecessary coordinated transition and has the shortest transition duration to ensure that the coordinated transition can be adjusted quickly and accurately. Summary of the Invention

[0007] Aiming at the deficiencies of the above-mentioned existing technologies, the purpose of the present invention is to provide a method for calculating coordinated transition of an optimal transition sequence to overcome the technical defects of non-optimal and too long transition duration and unnecessary coordinated transition in the existing technologies.

[0008] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0009] A method for calculating coordinated transition of an optimal transition sequence of the present invention comprises the following steps:

[0010] 1) Calculate the forward relative phase differences and reverse relative phase differences between all adjacent intersections before and after transition;

[0011] 2) Traverse the positive relative phase differences or negative relative phase differences among all the relative phase differences between intersections before and after the transition, and generate a sequence of relative phase differences between intersections before and after the transition;

[0012] 3) Traverse all the sequences of relative phase differences between intersections before and after the transition, and calculate the transition strategies and transition durations of each sequence;

[0013] 4) Generate an optimal transition sequence.

[0014] Further, step 1) specifically includes:

[0015] 11) Extract the coordination plans of all intersections before and after the transition, including: the coordination cycle length Cm, the absolute phase difference where i is the intersection number, i ∈ {1, 2,..., I}, I is the total number of intersections, m ∈ {1, 2}, m = 1 represents before the transition, and m = 2 represents after the transition;

[0016] 12) Calculate the positive relative phase differences negative relative phase differences between all adjacent intersections before and after the transition, where:

[0017]

[0018] Further, each sequence of relative phase differences between intersections before and after the transition generated in step 2) includes 2*(I - 1) elements, which are respectively and where n is the sequence number, is the reference relative phase difference between intersection i and intersection i + 1,

[0019] Further, step 3) specifically includes:

[0020] 31) According to the elements in the sequence, calculate the reference relative phase differences of each intersection before and after the transition, and set the reference relative phase difference of intersection 1 The reference relative phase differences of other intersections are where i > 1 and n is the sequence number; extract the minimum value of the reference relative phase differences among all intersections before the transition in the current sequence as the common reference phase difference CRO n ,

[0021] 32) Calculate the phase difference change amount Extension adjustment amount ExtV n and shortening adjustment amount CutV n ;

[0022] 33) Calculate the phase difference extension adjustment value of each intersection and the shortening adjustment value

[0023] 34) According to the maximum allowable cycle C max and the minimum allowable cycle C min during the transition period, calculate the maximum adjustment amplitude C adj for a single cycle, where C adj = C max - C min ;

[0024] 35) Calculate the actual extended transition duration and the maximum extended transition length ExtMaxL n for each intersection;

[0025] 36) Calculate the actual shortened transition duration and the maximum shortened transition length CutMaxL n for each intersection;

[0026] 37) Determine the transition strategy and transition duration adopted for the current sequence.

[0027] Furthermore, step 32) specifically includes:

[0028] 321) Calculate the phase difference change amount

[0029] for each intersection n ;

[0030] 322) Calculate the extended adjustment amount ExtV n ;

[0031] Furthermore, step 33) specifically includes:

[0032] 331) Calculate the extended adjustment value of the phase difference

[0033] for each intersection

[0034] 332) Calculate the shortened adjustment value of the phase difference

[0035] Furthermore, step 35) specifically includes: 351) Calculate the number of cycles required for the extended transition n for each intersection, where ceiling(·) is the ceiling function and floor(·) is the floor function; take the maximum value of the number of cycles required for the extended transition among all intersections as the common extended transition cycle number ExtCN n ;

[0036] 352) Calculate the extended transition cycle duration for each intersection Calculate the actual extended transition duration for each intersection

[0037] 353) Calculate the maximum extended transition length ExtMaxL n ,

[0038] Furthermore, step 36) specifically includes:

[0039] 361) Calculate the number of cycles required for shortening the transition for each intersection where ceiling(·) is the ceiling function and floor(·) is the floor function; take the maximum value of the number of cycles required for shortening the transition among all intersections as the common cycle number for shortening the transition CutCN n ,

[0040] 362) Calculate the extended transition cycle duration for each intersection Calculate the actual extended transition duration for each intersection

[0041] 363) Calculate the maximum shortening transition length CutMaxL n ,

[0042] Furthermore, step 37) specifically includes:

[0043] When ExtMaxL n < CutMaxL n , the transition strategy adopts extended transition, and the transition duration is equal to ExtMaxL n ;

[0044] When ExtMaxL n = CutMaxL n , if the coordinated cycle length C 1 ≤ the coordinated cycle length C after transition 2 , the transition strategy adopts extended transition, if C 1 > C 2 , the transition strategy adopts shortening transition; the transition duration is equal to ExtMaxL n ;

[0045] When ExtMaxL n > CutMaxL n , the transition strategy adopts shortening transition, and the transition duration is equal to CutMaxL n .

[0046] Further, step 4) specifically includes:

[0047] 41) According to the transition duration of each sequence obtained in step 37), extract the sequence with the minimum transition duration as the optimal transition alternative sequence;

[0048] 42) Traverse to generate the length of each transition period at each intersection of the optimal transition alternative sequence;

[0049] 421) According to the optimal transition alternative sequence number n and the transition strategy and transition duration of each sequence obtained in step 3), obtain the total transition period duration of each intersection of the optimal transition alternative sequence Transition base period C base , transition adjustment factor F; when the transition strategy corresponding to the sequence is to extend the transition, then C base = C min , F = 1; when the transition strategy corresponding to the sequence is to shorten the transition, then C base = C max , F = -1;

[0050] 422) Traverse Calculate the allowable multi-period allocation factor during the transition period and the number of periods S 2 that can be adjusted in advance to the coordinated cycle length C i , where floor(·) is the floor function;

[0051]

[0052] 423) Calculate the final transition length of each intersection and the length of each transition period as follows:

[0053]

[0054] When When

[0055] where is the x-th transition period of intersection i;

[0056] 43) Generate the optimal transition sequence;

[0057] When the number of optimal transition alternative sequences is 1, the optimal transition sequence is this optimal transition alternative sequence;

[0058] When the number of optimal transition alternative sequences is greater than 1, calculate the proportion of the number of pre-transition cycles and the proportion of the number of post-transition cycles respectively. The proportion of the number of pre-transition cycles is the proportion of the number of the second cycles in the number of the first cycles, and the proportion of the number of post-transition cycles is the proportion of the number of the third cycles in the number of the first cycles. The number of the first cycles is the number of all transition cycles during the transition period in the sequence. The number of the second cycles is the number of cycles whose cycle duration during the transition period in the sequence is equal to the pre-transition cycle duration. The number of the third cycles is the number of cycles whose cycle duration during the transition period in the sequence is equal to the post-transition cycle duration. The discriminant rule for the optimal transition sequence is as follows: The one with the higher sum of the proportion of the number of post-transition cycles and the proportion of the number of pre-transition cycles in the sequence is the first best. The one with the higher proportion of the number of post-transition cycles is the second best. The one with the higher proportion of the number of pre-transition cycles is the third best.

[0059] Advantages of the present invention:

[0060] (1) The present invention traverses all pre- and post-transition reference relative phase difference sequences to obtain the optimal transition scheme. Compared with the traditional transition method, the transition duration of the present invention is shorter and faster.

[0061] (2) The present invention uses the relative phase difference between intersections to solve, avoiding unnecessary coordinated transitions, and the transition method is more accurate. Description of the drawings

[0062] Figure 1 is the principle flow chart of the method of the present invention.

[0063] Figure 2 is the schematic diagram of the transition process of the optimal transition alternative sequence BFBFFFB·BBBBFBB.

[0064] Figure 3 is the schematic diagram of the transition process of the optimal transition alternative sequence FBFFFBF·BBBFBBB.

[0065] Figure 4 is the schematic diagram of the transition process of the optimal transition alternative sequence FFBFFFB·BBBBFBB.

[0066] Figure 5 is the schematic diagram of the transition process of the optimal transition alternative sequence FFFBFFF·FBBBBFB. Detailed implementation manners

[0067] For the convenience of those skilled in the art to understand, the present invention will be further described below in conjunction with the embodiments and the drawings. The content mentioned in the implementation manners does not limit the present invention.

[0068] Referring to Figure 1 as shown, a method for coordinated transition calculation of an optimal transition sequence of the present invention comprises the following steps:

[0069] 1) Calculate the forward relative phase difference and reverse relative phase difference between all adjacent intersections before and after the transition, specifically including:

[0070] 11) Extract the coordination schemes of all intersections before and after the transition, including: coordination cycle length C m , absolute phase difference where i is the intersection number, i ∈ {1, 2,..., I}, I is the total number of intersections, m ∈ {1, 2}, m = 1 represents before the transition, m = 2 represents after the transition; in this embodiment, I = 8;

[0071] Coordination scheme of all intersections before the transition, coordination cycle length C 1 = 80s, absolute phase difference Coordination scheme of all intersections after the transition, coordination cycle length C 2 = 100s, absolute phase difference

[0072] 12) Calculate the forward relative phase difference between all adjacent intersections before and after the transition Reverse relative phase difference Where:

[0073]

[0074] Forward relative phase difference between all adjacent intersections before the transition Reverse relative phase difference between all adjacent intersections before the transition

[0075] Forward relative phase difference between all adjacent intersections after the transition Reverse relative phase difference between all adjacent intersections after the transition

[0076] 2) Traverse the forward relative phase difference or reverse relative phase difference among the relative phase differences between all intersections before and after the transition, and generate a relative phase difference sequence between intersections before and after the transition;

[0077] Among them, each generated relative phase difference sequence between intersections before and after the transition includes 2*(I - 1) elements, which are respectively and where n is the sequence number, is the reference relative phase difference between intersection i and intersection i + 1,

[0078] Example sequence is:

[0079] , that is, {20, 20, 20, -60, 20, 20, 20, -20, 80, -20, -20, -20, 80, -20}, and the sequence number n = FFFBFFF·BFBBBFB.

[0080] 3) Traverse all the relative phase difference sequences between the intersections before and after the transition, and calculate the transition strategies and transition durations of each sequence; specifically including:

[0081] 31) According to the elements in the sequence, calculate the reference relative phase differences of each intersection before and after the transition, and set the reference relative phase difference of intersection 1 The reference relative phase differences of other intersections are where i > 1 and n is the sequence number; extract the minimum value of the reference relative phase differences among all intersections before the transition of the current sequence as the common reference phase difference CRO n ,

[0082] The sequence number n = FFFBFFF·BFBBBFB, and the reference relative phase differences of each intersection before the transition The reference relative phase differences of each intersection after the transition The common reference phase difference CRO n = 0;

[0083] 32) Calculate the phase difference change amount of each intersection The extension adjustment amount ExtV n and the shortening adjustment amount CutV n ; specifically including:

[0084] 321) Calculate the phase difference change amount of each intersection

[0085] The phase difference change amount of each intersection

[0086] 322) Calculate the extension adjustment amount ExtV n , The extension adjustment amount ExtV n = -40;

[0087] 323) Calculate the shortening adjustment amount CutV n , The shortening adjustment amount CutV n = 40;

[0088] 33) Calculate the phase difference extension adjustment value of each intersection and the shortening adjustment value Specifically include:

[0089] 331) Calculate the extended adjustment value of the phase difference at each intersection

[0090] Calculate the extended adjustment value of the phase difference at each intersection

[0091] 332) Calculate the shortened adjustment value of the phase difference at each intersection

[0092] Calculate the shortened adjustment value of the phase difference at each intersection

[0093] 34) According to the maximum allowable cycle C max and the minimum allowable cycle C min during the transition period, calculate the maximum adjustment amplitude C adj of a single cycle, C adj = C max - C min ;

[0094] In the example, C max = 110s, C min = 80s, C adj = 30s;

[0095] 35) Calculate the actual extended transition duration at each intersection and the maximum extended transition length ExtMaxL n ; Specifically include:

[0096] 351) Calculate the number of cycles required for the extended transition at each intersection where ceiling(·) is the ceiling function and floor(·) is the floor function; take the maximum value of the number of cycles required for the extended transition among all intersections as the common number of extended transition cycles ExtCN n ,

[0097] The number of cycles required for the extended transition at each intersection The common number of extended transition cycles ExtCN n = 2;

[0098] 352) Calculate the extended transition cycle duration at each intersection Calculate the actual extended transition duration at each intersection

[0099] The extended transition cycle duration at each intersection Actual extended transition duration at each intersection

[0101] 353) Calculate the maximum extended transition length ExtMaxL n , Maximum extended transition length ExtMaxL n = 280.

[0102] 36) Calculate the actual shortened transition duration at each intersection and the maximum shortened transition length CutMaxL n ; Specifically include:

[0103] 361) Calculate the number of cycles required for shortened transition at each intersection where ceiling(·) is the ceiling function and floor(·) is the floor function; Take the maximum value of the number of cycles required for shortened transition among all intersections as the common number of shortened transition cycles CutCN n ,

[0104] Number of cycles required for shortened transition at each intersection Common number of shortened transition cycles CutCN n = 3;

[0105] 362) Calculate the shortened transition cycle duration at each intersection Calculate the actual shortened transition duration at each intersection

[0106] Shortened transition cycle duration at each intersection Actual extended transition duration at each intersection

[0107] 363) Calculate the maximum shortened transition length CutMaxL n , Maximum shortened transition length CutMaxL n = 370;

[0108] 37) Determine the transition strategy and transition duration adopted by the current sequence; Specifically include:

[0109] When ExtMaxL n < CutMaxL n the transition strategy adopts extended transition, and the transition duration is equal to ExtMaxL n ;

[0110] When ExtMaxL n= CutMaxL n When C 1 ≤ C 2 , the transition strategy adopts extended transition. If C 1 > C 2 , the transition strategy adopts shortened transition; the transition duration is equal to ExtMaxL n ;

[0111] When ExtMaxL n > CutMaxL n , the transition strategy adopts shortened transition, and the transition duration is equal to CutMaxL n ;

[0112] Since 280 = ExtMaxL n < CutMaxL n = 370, the sequence number n = FFFBFFF·BFBBBFB, and the transition strategy adopts extended transition with a transition duration of 280.

[0113] 4) Generate the optimal transition sequence, specifically including:

[0114] 41) According to the transition durations of each sequence obtained in step 37), extract the sequence with the minimum transition duration as the optimal transition alternative sequence;

[0115] There are 4 sequences with the minimum transition duration of 260, and the sequence numbers are BFBFFFB·BBBBFBB, FBFFFBF·BBBFBBB, FFBFFFB·BBBBFBB, FFFBFFF·FBBBBFB respectively;

[0116] 42) Traverse to generate the lengths of each transition period at each intersection of the optimal transition alternative sequence;

[0117] 421) According to the optimal transition alternative sequence number b and the transition strategies and transition durations of each sequence obtained in step 3), obtain the total transition period duration of the basic transition period C base , the transition adjustment factor F; when the transition strategy corresponding to the sequence is extended transition, C base = C min , F = 1; when the transition strategy corresponding to the sequence is shortened transition, C base = C max , F = -1;

[0118] For the sequence number BFBFFFB·BBBBFBB, the transition strategy is extended transition, C base = 80, F = 1;

[0119] Sequence number FBFFFBF·BBBFBBB, transition strategy is extended transition, C base = 80, F = 1;

[0120] Sequence number FFBFFFB·BBBBFBB, transition strategy is extended transition, C base = 80, F = 1.

[0121] Sequence number FFFBFFF·FBBBBFB, transition strategy is extended transition, C base = 80, F = 1;

[0122] 422) Traverse Calculate the allowable multi - cycle allocation factor during the transition period and the number of cycles S that can be adjusted in advance to C 2 where floor(·) is the floor function; i

[0123]

[0124] 423) Calculate the final transition length of each intersection and the length of each transition cycle as follows:

[0125]

[0126] When When

[0127] Among them, is the x - th transition cycle of intersection i;

[0128] Sequence number BFBFFFB·BBBBFBB, the length of each transition cycle of each intersection

[0129] Sequence number FBFFFBF·BBBFBBB, the length of each transition cycle of each intersection

[0130] Sequence number FFBFFFB·BBBBFBB, the length of each transition cycle of each intersection​

[0131] Sequence number FFFBFFF·FBBBBFB, the length of each transition period at each intersection

[0132] 43) Generate the optimal transition sequence;

[0133] When the number of optimal transition alternative sequences is 1, the optimal transition sequence is this optimal transition alternative sequence;

[0134] When the number of optimal transition alternative sequences is greater than 1, calculate the proportion of the number of pre-transition periods and the proportion of the number of post-transition periods respectively. Among them, the proportion of the number of pre-transition periods is the proportion of the number of the second period in the number of the first period; the proportion of the number of post-transition periods is the proportion of the number of the third period in the number of the first period. The number of the first period is the number of all transition periods during the transition in the sequence. The number of the second period is the number of periods in the sequence during the transition whose period duration is equal to the pre-transition period duration. The number of the third period is the number of periods in the sequence during the transition whose period duration is equal to the post-transition period duration. The discrimination rule for the optimal transition sequence is as follows: The one with the higher sum of the proportion of the number of post-transition periods and the proportion of the number of pre-transition periods in the sequence is the first best, the one with the higher proportion of the number of post-transition periods is the second best, and the one with the higher proportion of the number of pre-transition periods is the third best;

[0135] The number of optimal transition alternative sequences is 4. Sequence number BFBFFFB·BBBBFBB, the transition process is as Figure 2 shown. The proportion of the number of post-transition periods is 5 / 16 = 31.25%, and the proportion of the number of pre-transition periods is 7 / 16 = 43.75%. FBFFFBF·BBBFBBB, the transition process is as Figure 3 shown. The proportion of the number of post-transition periods is 6 / 16 = 37.5%, and the proportion of the number of pre-transition periods is 6 / 16 = 37.5%. FFBFFFB·BBBBFBB, the transition process is as Figure 4 shown. The proportion of the number of post-transition periods is 5 / 17 = 29.41%, and the proportion of the number of pre-transition periods is 8 / 17 = 47.06%. FFFBFFF·FBBBBFB, the transition process is as Figure 5 shown. The proportion of the number of post-transition periods is 6 / 17 = 35.29%, and the proportion of the number of pre-transition periods is 9 / 17 = 52.94%.

[0136] The optimal transition sequence number is FFFBFFF·FBBBBFB.

[0137] The specific application ways of the present invention are numerous. The above description is only the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art of this technology, several improvements can be made without departing from the principle of the present invention, and these improvements should also be regarded as the protection scope of the present invention.

Claims

1. A coordinated transition calculation method for an optimal transition sequence, characterized in that: Here are the steps: 1) Calculate the forward relative phase difference and reverse relative phase difference between all adjacent intersections before and after the transition; 2) traversing all the relative phase differences between the intersections before and after the transition, selecting a forward relative phase difference or a reverse relative phase difference, and generating a relative phase difference sequence between the intersections before and after the transition; 3) Traverse all relative phase difference sequences between intersections before and after the transition, and calculate the transition strategy and transition duration of each sequence; 4) Generate the optimal transition sequence.

2. The coordinated transition calculation method of the optimal transition sequence according to claim 1 is characterized in that: The step 1) specifically includes: 11) Extract the coordination schemes for all intersections before and after the transition, including: coordination cycle length C m , absolute phase difference Where i is the intersection number, i∈{1,2,...,I}, I is the total number of intersections, m∈{1,2}, m=1 means before transition, m=2 means after transition; 12) Calculate the forward relative phase difference between all adjacent intersections before and after the transition Reverse relative phase difference in:

3. The coordinated transition calculation method of the optimal transition sequence according to claim 2 is characterized in that: The relative phase difference sequence between each intersection before and after the transition generated in step 2) includes 2*(I-1) elements, which are respectively and Where n is the sequence number, is the reference relative phase difference between intersection i and intersection i+1, 4. The coordinated transition calculation method of the optimal transition sequence according to claim 3 is characterized in that: The step 3) specifically includes: 31) According to the elements in the sequence, calculate the reference relative phase difference of each intersection before and after the transition, and set the reference relative phase difference of intersection 1 The reference relative phase difference of other intersections is Where i>1, n is the sequence number; extract the minimum reference relative phase difference of all intersections before the current sequence transition as the common reference phase difference CRO n , 32) Calculate the phase difference change at each intersection Extension adjustment ExtV n And shortening adjustment amount CutV n ; 33) Calculate the phase difference extension adjustment value of each intersection and shorten adjustment value 34) According to the maximum allowed period C during the transition period max , minimum allowed period C min , calculate the maximum adjustment range C of a single cycle adj , C adj =C max -C min ; 35) Calculate the actual duration of the extended transition at each intersection and extended transition maximum length ExtMaxL n ; 36) Calculate the actual time required to shorten the transition at each intersection and shorten the transition maximum length CutMaxL n ; 37) Determine the transition strategy and transition duration adopted by the current sequence.

5. The coordinated transition calculation method of the optimal transition sequence according to claim 4 is characterized in that: The step 32) specifically includes: 321) Calculate the phase difference change at each intersection 322) Calculate the extension adjustment ExtV n , 323) Calculate the shortening adjustment amount CutV n , 6. The coordinated transition calculation method of the optimal transition sequence according to claim 5, characterized in that: The step 33) specifically includes: 331) Calculate the phase difference extension adjustment value of each intersection 332) Calculate the phase difference shortening adjustment value at each intersection 7. The coordinated transition calculation method of the optimal transition sequence according to claim 6 is characterized in that: The step 35) specifically includes: 351) Calculate the number of cycles required to extend the transition at each intersection Where ceiling(·) is an upward rounding function, and floor(·) is a downward rounding function; the maximum number of cycles required for extending the transition at all intersections is taken as the number of extended transition common cycles ExtCN n , 352) Calculate the duration of the transition period at each intersection Calculate the actual duration of the extended transition at each intersection 353) Calculate the maximum length of the extended transition ExtMaxL n , 8. The coordinated transition calculation method of the optimal transition sequence according to claim 7, characterized in that: The step 36) specifically includes: 361) Calculate the number of cycles required to shorten the transition at each intersection Where ceiling(·) is an upward rounding function, and floor(·) is a downward rounding function; the maximum number of cycles required for shortening transitions among all intersections is taken as the number of common cycles for shortening transitions CutCn n , 362) Calculate the shortened transition period at each intersection Calculate the actual time required to shorten the transition at each intersection 363) Calculate the maximum length of the shortened transition CutMaxL n , 9. The coordinated transition calculation method of the optimal transition sequence according to claim 8, characterized in that: The step 37) specifically includes: When ExtMaxL n <CutMaxL n When the transition strategy is extended, the transition duration is equal to ExtMaxL n ; When ExtMaxL n =CutMaxL n If the length of the coordination period before transition is C 1 ≤ Length of coordination period after transition C 2 , the transition strategy adopts extended transition, if C 1 >C 2 , the transition strategy adopts shortened transition; the transition duration is equal to ExtMaxL n ; When ExtMaxL n >CutMaxL n When , the transition strategy adopts shortened transition, and the transition duration is equal to CutMaxL n .

10. The coordinated transition calculation method of the optimal transition sequence according to claim 9, characterized in that: The step 4) specifically includes: 41) According to the transition durations of the sequences obtained in step 37), extracting the sequence with the shortest transition duration as the optimal transition candidate sequence; 42) traverse and generate the length of each transition period of each intersection of the optimal transition candidate sequence; 421) According to the optimal transition candidate sequence number n and the transition strategy and transition duration of each sequence obtained in step 3), the total transition cycle duration of each intersection of the optimal transition candidate sequence is obtained. Transition Base Cycle C base , transition adjustment factor F; when the transition strategy corresponding to the sequence is extended transition, then C base =C min , F = 1; when the transition strategy corresponding to the sequence is to shorten the transition, then C base =C max , F = -1; 422) Traversal Calculate the transition period to allow for multiple period allocation factors and can be adjusted in advance to the length of the post-transition coordination period C 2 The number of cycles S i , where floor(·) is the floor rounding function; 423) Calculate the final transition length of each intersection and the length of each transition period as follows: hour, hour, in, is the xth transition period of intersection i; 43) Generate an optimal transition sequence; When the number of optimal transition candidate sequences is 1, the optimal transition sequence is the optimal transition candidate sequence; When the number of optimal transition candidate sequences is greater than 1, the proportion of the number of cycles before the transition and the proportion of the number of cycles after the transition are calculated respectively, where the proportion of the number of cycles before the transition is the proportion of the number of the second cycle in the number of the first cycle, and the proportion of the number of cycles after the transition is the proportion of the number of the third cycle in the number of the first cycle; the number of the first cycle is the number of all transition cycles in the transition period of the sequence, the number of the second cycle is the number of cycles in the transition period of the sequence whose cycle duration is equal to the length of the period before the transition, and the number of the third cycle is the number of cycles in the transition period of the sequence whose cycle duration is equal to the length of the period after the transition; the optimal transition sequence judgment rule is as follows: the sequence with a higher sum of the proportion of the number of cycles after the transition and the proportion of the number of cycles before the transition is the first optimal, the sequence with a higher proportion of the number of cycles after the transition is the second optimal, and the sequence with a higher proportion of the number of cycles before the transition is the third optimal.

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