String super-mode control method for traffic signals

Abstract

The invention discloses a super signal mode control method of a traffic signal. The super signal mode control method comprises the following steps of: 1) obtaining a string super mode type mode instruction; 2) setting basic parameters of the string super mode: partitioning network nodes, reconfiguring periods and the like; 3) configuring a string supermode structure of the two-dimensional green wave in the related area; 4) calculating a time difference of the two-dimensional green wave, configuring a transition period and the like; and (5) the switching transition period is operated before the new period is executed. Traffic flow can go to all positions of the string super-mode wormhole type control area from any direction with the average consumption of less than 3.5 times of red light waiting, no matter how many intersections exist, various variants based on the intersections can rapidly suck, spit and dredge the traffic flow into the area in all directions, the traffic flow out of the area is dredged, and the traffic flow of the string super-mode wormhole type control area is dredged in all directions, so that the traffic flow of the string super-mode wormhole type control area is dredged. According to the invention, the system is simple in structure and convenient to operate, assists the trunk road in shunting in the same flow direction and performs rapid far-away diversion in the cross direction at the same time, also provides a pulsar type in which one green wave passes through one red light in the whole area in all directions to reach any position, determines about 20 parameters of the supermode, is rapid in switching without redundancy, and provides a surface type traffic control, basic analysis and control module for urban traffic control.

Description

Technical Field

[0001] The present invention relates to the technical field of traffic signal control, and more particularly to a traffic signal chord super mode control method. Background Art

[0002] At present, urban traffic signal control, including regional control, is mainly based on arterial coordinated control technology, giving priority to optimizing arterial roads while taking into account the balance of non-arterial roads. It is the result of the interaction between the development and evolution of urban and traffic control technologies. The linear green wave of the arterial road allows "the traffic to follow it to the infinite end of the wave", which really solves the problem that the original ratio mode can only make the traffic flow travel the distance of the green light duration multiplied by the legal speed at one time, which is suitable for cities with small and medium-sized vehicles. Modern cities are huge and the number of vehicles is also huge, including all the non-arterial roads that are full of traffic. Only the arterial roads are far from meeting the actual needs, which leads to the problem: high-speed / green wave arterial roads are fast =》traffic rushing to arterial roads =》arterial congestion, which cannot be solved for a long time. Traffic optimization research based on the linear green wave system requires a large number of coordinated factors and a complex process. It often loses sight of one thing while focusing on another, and all the solutions obtained are those with no obvious effect. Even in the context of the emergence of many intelligent methods since the 1970s, traffic signal control is still in an embarrassing dilemma of stagnation. The basic control module "Linear Green Wave Technology for Main Roads" does not provide efficient traffic control in the intersection direction, and forces the surface traffic to gather on the main road, causing "technical inherent congestion". It is not suitable for the needs of rapid flat traffic in large-volume areas, nor is it conducive to intelligence. A new general signal module is needed in reality. Recently, a two-dimensional guided green wave mode has been proposed, which extends the "traffic flow follows it to the infinite end of the wave" function of the linear green wave to two groups of green wave channel groups in the regional intersection direction, and also invented the green wave for relieving congestion. The problem of fast and smooth switching between green waves has also been solved by the real-time mode method. A balanced, efficient, and multi-purpose general signal mode has become an important practical need for traffic signal control. Summary of the invention

[0003] The purpose of the present invention is to design an advanced signal mode that is balanced, efficient, universal, and convenient for intelligence.

[0004] The present invention proposes a solution to achieve the above-mentioned purpose. The main idea is to construct a super signal module and supermode with a certain method and a certain number of newly invented two-dimensional green waves as basic modules. The method and number are determined as follows: the infinite transmission function of the two-dimensional green wave is exerted and slightly constrained, and the balance, versatility and universality of the supermode in all directions are improved with the minimum energy consumption of the system itself and the minimum efficiency loss as the cost; because the green wave generated by the red and green changes of the signal completely constructed therein is like the wave generated by the string that constitutes the ubiquitous vibration of all things in the universe, it is called the string supermode, as follows: A chord supermode control method for a road traffic signal network: characterized by the steps of: S1 Start: Configure the original ratio mode and the lengths and traffic times of each section of the road network; S2 Calculate and configure a new chord supermode according to the chord supermode instruction: 1) Configure the basic parameters of the chord supermode: 1.1) Divide the road network intersection nodes into several sub-areas, specifically into 4 sub-areas, or 2 sub-areas, or no sub-area setting. 1.2) Or reconfigure the cycle and speed limit according to the road section characteristics. 1.3) Or send reference prompts such as speed limit, signal timing, speed change, etc. to the vehicle, including to the signboard, in-vehicle navigation, on-vehicle mobile communication device, or autonomous driving system, etc.; 2) Configure the chord supermode structure of the two-dimensional green wave for relevant sub-areas. The two-dimensional green wave includes modes such as two-dimensional guidance, two-dimensional congestion alleviation, and two-dimensional mixing, etc.: The combination of the origin position of each sub-area and its main flow direction determines the type of the chord supermode, and vice versa; Each combination of the above parameter settings constitutes a chord supermode pattern; In the area without sub-areas, only reconfigure the cycle according to the road section characteristics, and configure to form a two-dimensional two-way convective guidance green wave (interactive coordination); The specific composition details of the two-dimensional green wave mode parameters for sub-areas are as follows. 2.1) Determine the origin position of the two-dimensional green wave for each sub-area: At a corner intersection of the sub-area, ① Determine the main and secondary wave flow directions, that is, independently select one of the two wave flow directions in the two-dimensional green wave as the main wave flow direction and the other as the secondary wave flow direction. ② Determine the guidance and congestion alleviation green waves, that is, independently select and set the function of the green wave flow direction - congestion alleviation or guidance. The guidance green wave flow direction is the same as the controlled traffic flow direction, and the congestion alleviation green wave flow direction is opposite to the controlled traffic flow direction. ③ Obtain the origin position and the configuration channels of the time differences (i.e., phase differences) of each time at the main and secondary wave flow channels of the two-dimensional green wave and the starting point intersection position of the channels: The origin of the two-dimensional guidance green wave is at the intersection point at the starting end (i.e., the most upstream end) of the main and secondary wave flow directions. The starting point intersection of the main time difference of each intersection on the main wave flow channel is the most upstream intersection of its respective channel. The secondary time difference configuration channel of the secondary wave flow direction is composed of the starting point intersections of each main channel. The most upstream end of this secondary time difference configuration channel is the starting point of the secondary time difference, that is, its two-dimensional origin; The origin of the two-dimensional congestion alleviation is at the intersection point at the front end (i.e., the most downstream end) of the main and secondary traffic flows, which is the most upstream intersection point at the starting end of the main and secondary wave flow directions of the green wave. The starting point intersection of the main time difference of each intersection on the main wave flow channel is the most upstream intersection of the channel. The secondary time difference configuration channel of the secondary wave flow direction is composed of the starting point intersections of each main channel. The most upstream end of this secondary time difference configuration channel is the starting point of the secondary time difference, that is, its two-dimensional origin; The origin of the two-dimensional congestion alleviation, guidance, and mixing is at the intersection point at the starting end (i.e., the most upstream end) of the guidance flow direction and the front end (i.e., the most downstream end) of the congestion alleviation traffic flow. When the guidance flow direction is used as the main wave flow direction, the starting point intersection of the main time difference of each intersection on its respective channel is the most upstream intersection of the channel. The secondary time difference configuration channel of the secondary wave flow direction is composed of the starting point intersections of each main channel. The most upstream end of this secondary time difference configuration channel is the starting point of the secondary time difference, that is, its two-dimensional origin. It is also possible to exchange and mix the guidance and congestion alleviation flow directions: Congestion alleviation as the main and guidance as the secondary; 2.2) Calculate the two-dimensional green wave time difference t and the transition period configuration for each intersection in each sub-area: ① Determine the traffic time of the time difference. The travel time of the guiding green wave is the sum of the travel times, and the start-up time of the congested vehicle fleet is used for the traffic jam green wave. ② Calculate the time difference t1 of each intersection on the main flow direction channel with respect to the starting point intersection of the channel. ③ Calculate the time difference t2 of each intersection on the secondary flow time difference configuration channel with respect to the two-dimensional green wave origin intersection. ④ Add the main time difference t1 of each intersection to the secondary time difference t2 of the starting point intersection of its channel to obtain the two-dimensional green wave time difference t. ⑤ Take the period remainder of the two-dimensional green wave time difference. This period remainder is the two-dimensional green wave signal period remainder, which is equal to the remainder value obtained by dividing the integer of the above two-dimensional green wave time difference by the integer of the green wave signal period. ⑥ Make this period remainder difference into a signal transition period: make its duration = north-south signal duration + east-west signal duration;. S3 execution: Complete the transition period of each sub-area mode before the new cycle, and then run the ratio mode;

[0005] According to the chord supermodel control method of the present invention: It is characterized in that 1.1) of S2 further includes: S21 divides the road network intersection nodes into different numbers of sub-areas by straight lines to obtain the following types: the cross-shaped four-sub-area field type and various variations based on it, type division, type division and type division, the one-character / two-character division type day / eye type, etc. of two sub-areas / three sub-areas. Its division generally corresponds to the distribution of physical road network intersection nodes, and can also be a pure software configuration according to the traffic flow control needs of the road network. The cross-shaped four-sub-area field division of the field type is the standard chord supermodel division and is the basic optimization structure, and does not need to be symmetrical;

[0006] According to the chord supermodel control method of the present invention: It is characterized in that S2 further includes: S22 sends prompts such as green wave speed limit, signal timing, and speed change of the road section where the driving vehicle is located to the vehicle, including prompt signs, in-vehicle navigation, on-vehicle communication equipment, or autonomous driving systems, etc., including: setting / sending a deceleration reminder at / when the remaining signal time is about to be less than the safe braking distance of the green wave speed limit. The methods include text, voice, color patterns, etc., and the signals include red lights or green lights; if the signal countdown < 5, when the speed limit is 36 km / h, the natural braking time / distance is about 3 seconds / 15 meters, and a deceleration reminder is sent 20 meters away from the intersection. The methods include text, voice, color patterns, etc., and the signals include red lights or green lights;

[0007] According to the string supermode control method of the present invention: It is characterized in that S2 further includes: S23 calculates and configures a new string supermode type according to the mode instruction, called the wormhole type. 1) Use a straight line parallel to the road network channel to divide each side of the road network mother area respectively to obtain sub-areas sharing sides with the road network mother area; 2) Configure each of these sub-areas into a two-dimensional guiding green wave. The green wave source points of each sub-area are selected at a corner intersection of the sub-area, which is at the same time on the edge of the mother area but not a corner intersection of the mother area. Only one two-dimensional green wave source point of the sub-area is configured for each edge channel of the mother area, and let these sub-area source points uniformly set the green wave flow direction of the edge channel shared with the mother area flowing out of each of them as the main flow direction of this sub-area. If this setting results in each sub-area being on the right side of the shared edge channel in this main flow direction, then the main wave flow directions of each source point form a clockwise rotation, constituting a right-handed wormhole string supermode called; if it results in each sub-area being on the left side of the shared edge channel in this main flow direction, then a counterclockwise rotation is formed, constituting a left-handed wormhole string supermode called;

[0008] According to the string supermode control method of the present invention: It is characterized in that S2 further includes: S24 calculates and configures a new string supermode type according to the mode instruction, called the black hole type. 1) Use a straight line parallel to the road network channel to divide each side of the road network mother area respectively to obtain sub-areas sharing sides with the road network mother area; 2) Configure each of these sub-areas into a two-dimensional guiding green wave. The green wave source points of each sub-area are selected at a corner intersection of the sub-area, which is at the same time a corner intersection of the mother area, and let these sub-area source points uniformly set one of the green wave flow directions of the channels shared by the two edges of the mother area where they converge and flow out as the main flow direction of this sub-area, and set each sub-area on the right side of the shared channel in this main flow direction. Then the main wave flow directions of each source point form a clockwise rotation, constituting a right-handed black hole string supermode called; if each sub-area is set on the left side of the shared channel in this main flow direction, then a counterclockwise rotation is formed, constituting a left-handed black hole string supermode called;

[0009] According to the string supermode control method of the present invention: It is characterized in that S2 further includes: S25 calculates and configures a new string supermode type according to the mode instruction, called the white hole type. 1) Use a straight line parallel to the road network channel to divide each side of the road network mother area respectively to obtain sub-areas sharing sides with the road network mother area; 2) Configure each of these sub-areas into a two-dimensional guiding green wave. The green wave source points of each sub-area are selected at a corner intersection of the sub-area, which is neither on the edge of the mother area nor a corner intersection of the mother area at the same time, and let these sub-area source points uniformly set one of the green wave flow directions of the two edge channels of the sub-area where they converge and flow out as the main flow direction of this sub-area, and set each sub-area on the left side of the shared channel in this main flow direction. Then the main wave flow directions of each source point form a clockwise rotation, constituting a right-handed white hole string supermode called; if each sub-area is set on the right side of the edge channel in this main flow direction, then a counterclockwise rotation is formed, constituting a left-handed white hole string supermode called;

[0010] According to the chord supermode control method of the present invention: It is characterized in that S2 further includes: S26 calculates and configures a new chord supermode type according to the mode instruction, named red giant. 1) Use a straight line parallel to the road network channel to divide each side of the road network mother area respectively, and obtain sub-areas sharing sides with the road network mother area; 2) Configure each of these sub-areas into a two-dimensional traffic congestion relief green wave. The origin of the green wave of each sub-area is selected at a corner intersection of the sub-area, which is also a corner intersection of the mother area at the same time. And make the source points of these sub-areas uniformly set one of the green wave flows of the two edge common channels shared with the mother area where they converge and flow out as the main flow direction of this sub-area, and set this sub-area on the right side of the common channel of the main flow direction. Then the main wave flow directions of each source point form a clockwise rotation, constituting a right-handed red giant chord supermode; if this sub-area is set on the left side of the common channel of the main flow direction, then a counterclockwise rotation is formed, constituting a left-handed red giant chord supermode;

[0011] According to the chord supermode control method of the present invention: It is characterized in that S2 further includes: S27 calculates and configures a new chord supermode type according to the mode instruction, named white dwarf. 1) Use a straight line parallel to the road network channel to divide each side of the road network mother area respectively, and obtain sub-areas sharing sides with the road network mother area; 2) Configure each of these sub-areas into a two-dimensional traffic congestion relief green wave. The origin of the green wave of each sub-area is selected at a corner intersection of the sub-area, which is neither a corner intersection of the mother area nor on the edge of the mother area at the same time. And make the source points of these sub-areas uniformly set one of the green wave flows of the two edge channels of the sub-area where they converge and flow out as the main flow direction of this sub-area; if this sub-area is set on the left side of the edge channel of the main flow direction, then the main wave flow directions of each source point form a clockwise rotation, constituting a right-handed white dwarf chord supermode; if this sub-area is set on the right side of the edge channel of the main flow direction, then a counterclockwise rotation is formed, constituting a left-handed white dwarf chord supermode;

[0012] According to the chord supermodel control method of the present invention: The feature is that S2 further includes: S28 calculates and configures a new chord supermodel type according to the mode instruction, named the centipede type. 1) The road network mother area is divided by a straight line parallel to the road network channel respectively, obtaining 2 sub-areas; 2) Each sub-area is configured into a two-dimensional guiding green wave. Different settings of the source point position, main and secondary flow directions and functions determine the sub-type composition of the centipede supermodel characteristics of the 2 sub-areas. The following are the configuration of 6 centipede sub-type compositions: (1) If the source origin is selected at a corner intersection of the sub-area, and this corner intersection is at the edge of the mother area but not the corner intersection of the mother area. When the source points of the 2 sub-areas are adjacent, and the flow directions along the channels running through the mother area in the sub-areas flowing out from the 2 source points are set as the main flow directions, then their main flow directions are the same, forming a single main wave flow direction scattered centipede chord supermodel; (2) Or when the 2 source points are at the other ends of the main channels of the adjacent sub-areas relative to each other, and the flow directions along the channels running through the mother area in the sub-areas flowing out from the 2 source points are set as the main flow directions, then their main flow directions are opposite to each other, forming an opposite main wave flow direction scattered centipede chord supermodel; (3) If one of the main channels of the above adjacent 2 sub-areas is used as a common dividing arterial road, and one end of this arterial road is configured as the common source point of the green waves of the 2 sub-areas, and the flow direction along the channel running through the mother area along the dividing arterial road of the sub-area flowing out from this source point is set as the main flow direction, then a common source point and main arterial road type of single main wave flow direction scattered centipede is formed; (4) If the common arterial road is configured with two-dimensional source points with opposite flow directions at both ends of the 2 sub-areas with two-way coordinated green waves, then a common arterial road convection scattered centipede is obtained; (5) If the 2 corner intersections of the 2 sub-areas at the same corner intersection on the same side as the mother area are set as the two-dimensional guiding green wave source points of their respective sub-areas, and the flow directions along the channels running through the mother area in the sub-areas flowing out from the 2 source points are set as the main flow directions, then a single main wave flow direction aggregated centipede chord supermodel is formed; (6) Or if the 2 source points are set as two-dimensional source points at the corner intersections of the 2 sub-areas at the diagonal corners of the mother area, and the flow directions along the channels running through the mother area in the sub-areas flowing out from the 2 source points are set as the main flow directions, then an opposite main flow direction aggregated centipede chord supermodel is formed;

[0013] According to the chord supermodel control method of the present invention: It is characterized in that S2 further includes: S29 calculates and configures a new chord supermodel type according to the mode instruction, named the b-pulsar type. 1) Chord supermodel basic parameters: 1.1) The road network is not partitioned; 1.2) Configure a two-dimensional two-way green wave period. The two-dimensional two-way green wave refers to the two-way convective guiding green wave of two cross-flow directions, that is, two-dimensional: 1.2.1) Configure the maximum two-way green wave band loss rate λmax to be less than a certain percentage (1 - b%): λmax is the absolute value maximum of the difference between the driving time of the road section and the average driving time T of each road section divided by the average driving time of each road section. When λmax < (1 - b%), take the average driving time T, T = D / v, where v is the legal designed green wave driving speed in seconds, and D is the average length of each road section in meters; 1.2.2) According to the average driving time T that meets the error requirement of λmax < (1 - b%), determine the period C = 2*T; 2) Configure the signal period determined by the above method. Select a regional corner intersection as the starting point, that is, the source point. In the longitudinal and transverse channels, for adjacent intersections, according to the driving time of each road section at the above-designed driving speed v in seconds, take the integer multiple of the above half-period C / 2 that is closest to the driving time, or take the driving time that is closest to the integer multiple of the above half-period C / 2, as the time difference configuration between adjacent intersections, and thus form a two-way convective guiding green wave with an accuracy of b for two cross-flow directions. The source points of their two green waves can be considered to be respectively configured at the opposite corner intersections of the region; To make up for the λmax loss, corresponding vehicle speed limit / signal time prompt equipment can be configured for each road section according to the loss rate λmax.

[0014] According to the method of configuring the new chord supermodel pulsar type of the present invention's chord supermodel control: Its 1.2.1) features include: S210 configures the maximum two-way green wave band loss rate λmax to be less than a certain percentage (1 - b)%. ① Calculate λmax and T: λmax = ΔTmax / T = ΔDmax / D, where ΔTmax is the driving time of the longest road section minus the average time, ΔDmax is the longest road section minus the average length, T is the average driving time of each road section in seconds, T = D / v, D is the average length of each road section in meters = (∑dk) / n, dk is the length of the kth road section, v is the legal designed green wave driving speed, and n is the total number of road sections in the longitudinal and transverse channels. For the road network {M, N}, n = M*(M - 1) + N*(N - 1). ② When λmax is greater than (1 - b)%, group the road sections according to the length similarity. If the average length of the group has an integer multiple relationship with the λmax formed by other groups with only a b% error, first fold the longer group into the average length according to ①: obtain λmax and its T. ③ If the average length of the group has no obvious integer multiple relationship with other groups, design a variable green wave speed scheme for the road section group: set different green wave speeds v for each group, and calculate and configure λmax and its T.

[0015] The traffic time refers to the driving time or the team leader start time: the driving time is equal to the driving time at the legal speed of the road section, and the team start time is equal to the team start coefficient * congestion coefficient * road section length * separation coefficient, where the congestion coefficient range is a number less than or equal to, and when it is equal to 1, it means severe congestion, and the separation coefficient range is a number greater than or equal to, and when it is equal to 1, it means separation according to the current situation;

[0016] The length of the congested vehicle group is further characterized by the length minus the product of the length of the empty intersection upstream of the vehicle flow and a number less than or equal to 1;

[0017] The congested convoy length is further characterized by the length plus the length of the full intersection upstream of the traffic flow;

[0018] The driving time is further characterized by the time minus the braking time at the legal speed;

[0019] The advantages of the present invention are as follows: 1) Balance: Its wormhole-shaped green wave inlet and outlet channel groups in all directions of east, west, south, and north inhale and exhale simultaneously; 2) High efficiency: When a vehicle enters the wormhole area from any entrance in the east, west, south, or north direction, it needs to encounter red lights an average of 4.5 times to reach any position in the farthest diagonal sub-area. When traveling along the rotating flow direction to any position within the area, it needs an average of (0.5 + 1.5 + 4.5 + 7.5) / 4 = 14 / 4 = 3.5 times. When traveling against the rotating flow direction, the number of intersections passed through each green light is usually not less than that in the non-controlled direction of the linear system. Regardless of the scale of the area and the number of intersections it contains, even for a span of 50 X 50 kilometers with 40,000 intersections, it is the same. Among the 8 entrance orientations of the linear optimization up and down sub-area control structure with the same distribution and the same number of nodes, the minimum average number of red lights for the best two is (0.5 + 2.5 + n / 4) / 2 = n / 8 + 1.5, which is a function of the total number of intersections within the area. That is, the wormhole type provides a net enhancement function for all-direction fast access, and the greater the value of n, the more obvious its advantage; 3) General: Due to its balance and high efficiency, it is applicable to intersection clusters of any scale, for use in the overall large and extra-large cities or as the basic signal mode analysis and operation unit for a certain industrial area / commercial area. The size of the green wave inlet and outlet channel groups in each direction can dynamically adjust the sub-area boundary to adapt to different traffic demands. In addition, its various different area segmentation methods derived from the cross-field type also make it applicable to intersection groups with different entity distributions; 4) Multi-purpose: Based on the fast, seamless, and versatile form of the wormhole type, it demonstrates excellent versatility. There is a black hole type dedicated to all-direction fast intake of vehicle flow, a white hole type dedicated to all-direction fast discharge of vehicle flow, a red giant type dedicated to all-direction dredging of traffic congestion in the outgoing vehicle flow from the area, a white dwarf type dedicated to all-direction dredging of traffic congestion in the incoming vehicle flow into the area, a centipede type dedicated to assisting the green wave diversion of the saturated vehicle flow in the same direction on the main road and driving the fast departure of the sub-flow channel groups on its two wings to improve the traffic efficiency of this type of road network. The pulsar type can enable vehicles coming from any direction to directly pass through the area in one green wave or encounter at least one red light on average to reach any position within the area. Compared with the corresponding value of n / 4 + 2.5 times of the two-way interactive type with the same distribution and the same number of nodes, it shows much better performance and is more suitable for planning new areas. In addition, not only that, but it also includes various combinations of two-dimensional green waves that are not directly listed, such as combinations with traffic congestion dredging and guiding green waves, etc.; 5) Facilitating the use of advanced intelligent methods: Its analysis, decision-making, configuration, and operation methods are simple and are described by about 20 independent parameters, which is the dimension of the variable space that can be regulated by the string. Description of the Drawings

[0020] Figure 1 Flowchart of the traffic signal string supermodel control method; Figure 2 A cross-field left-handed wormhole type string supermodel traffic control system; Figure 3 A Configuration diagram of the character right-handed black hole type string supermodel; Figure 4 Configuration diagram of the cross-field left-handed white hole type string supermodel; Figure 5 A configuration diagram of a T-shaped left-handed red giant string supermodel; Figure 6 A configuration diagram of a T-shaped right-handed white dwarf string supermodel; Figure 7 A configuration diagram of a sun / eye-shaped scattered centipede string supermodel; Figure 8 A configuration diagram of an 85-pulsar string supermodel;

[0021] Index of numbers in the attached drawings: Figure 2 : The left-handed wormhole string supermodel operates in the 4 sub-regions in the periphery divided by a cross. Its 4 two-dimensional guiding green wave origin points are Q1(0, 5), Q2(5, 0), Q3(9, 5), and Q4(4, 9); 1 - The network intersection node coding identification starting point (0, 0) is the lower left corner intersection of the road network. 2 - The road network notation {(0, 0), (9, 9)} represents that the origin is (0, 0), and the maximum coordinate increments in the vertical and horizontal directions (9, 9) are both 9. 3 - Intersection. 4 - Traffic signal. 5 - Moving vehicle fleet. 6 - Intersection signal control machine. 7 - Internet. 8 - Central control system. 9 - Sub-region notation 2{(5, 0), (4, 4)} represents the No. 2 sub-region. The starting point of the sub-region coordinates is (5, 0), and the maximum coordinate increments in the vertical and horizontal directions (4, 4) are both 4. 10 - Solid-line hollow arrows represent the main flow direction and its channel green wave pointing east - right, and the dotted arrows represent the secondary flow direction and its channel green wave. 11 - Two-dimensional origin notation Q and small octagon node and its coordinates (5, 0). 12 - The intersection spacing - the starting time of the congested vehicle fleet / the driving time is recorded as # - # / #: Unit: meter - second / second; The numbers in this figure are generally used for annotation in the following figures.

[0022] Figure 3 : The right-handed black hole string supermodel operates in the -shaped periphery 4 sub-regions. Its 4 two-dimensional guiding green wave origin points are Q1(0, 0), Q2(9, 0), Q3(9, 9), and Q4(0, 9). The central sub-region scenic area / pedestrian street / commercial area / non-green wave {(4, 4), (2, 2)} independent signal area is surrounded in the middle;

[0023] Figure 4 : The 4 two-dimensional guiding green wave origin points of the T-shaped left-handed white hole string supermodel are Q1(4, 4), Q2(5, 4), Q3(5, 5), and Q4(4, 5);

[0024] Figure 5 : The 4 two-dimensional congestion-dispelling green wave origin points of the T-shaped right-handed red giant string supermodel are Q1(0, 0), Q2(9, 0), Q3(9, 9), and Q4(0, 9); The opposite directions of the solid / dotted arrows represent the main / secondary congestion-dispelling green wave directions respectively;

[0025] Figure 6 : The four two-dimensional congestion-relieving and blocking green wave origin points Q1(4, 4), Q2(5, 4), Q3(5, 5), and Q4(4, 5) of the field-type left-handed white dwarf string supermodel; among them, the opposite directions of the hollow solid lines and dotted arrows represent the main and secondary congestion-relieving and blocking green wave directions;

[0026] Figure 7 : The two two-dimensional guiding green wave origin points Q1(4, 9) and Q2(5, 0) of the sun / eye-type scattered centipede string supermodel, 1--the main flow direction is the main road, 2--the two-dimensional origin point Q2 in the right sub-region, its main flow direction is southward downward and is opposite to the main flow direction northward upward in the adjacent left sub-region, 3--the dotted arrow secondary flow spreads eastward and westward, and the solid arrow single main flow is southward downward and northward upward; the dotted octagon Q3 below indicates that if the origin point in the left sub-region is configured here and merged with Q2, the same main flow direction main road can be formed;

[0027] Figure 8 : The two-dimensional guiding green wave origin point Q1(0, 0) of the 85-wave pulsar string supermodel, 1--the small double circle represents the additional green wave speed limit and speed change reminder, 2--the double-headed arrow represents the two-dimensional counteracting green wave, the solid line is the main flow direction, and the dotted line is the secondary flow direction; Specific implementation manners

[0028] Three embodiments of the string supermodel control method of the present invention are described in detail in conjunction with the accompanying drawings: Such as Figure 1 , the traffic signal string supermodel control method is expanded into the control software in the traffic center control system such as Figure 2 in the mark 8, execute S1 start configuration 1) for the road network such as Figure 2 in the mark 2, each intersection such as Figure 2 in the mark 3, the signal machine such as Figure 2 in the mark 6 is configured with the default ratio mode signal: the cycle is 60 seconds, the north-south flow direction and the east-west flow direction are each 30 seconds, the straight-through phase is 20 seconds, the left-turn phase is 10 seconds, and then, 2) obtain the area characteristics of the controlled road network area such as Figure 2 the data such as the length of each road section and the traffic time in the marked ones; S2 calculates and configures a new string supermodel according to the string supermodel instruction: 1) configure the basic parameters of the string supermodel: 1.1) divide the road network intersection nodes into several sub-regions, 1.2) or reconfigure the cycle and speed limit according to the road section characteristics, 1.3) or send speed limit, signal timing, speed change and other reference prompts to the vehicle, including for the sign, vehicle navigation, mobile phone, etc.; 2) configure the two-dimensional green wave mode of the relevant sub-regions, and the two-dimensional green wave includes two-dimensional guiding, two-dimensional congestion-relieving and blocking, two-dimensional mixing and other modes, etc.: 2.1) determine the positions of the two-dimensional green wave origin points of each sub-region: determine the main and secondary flow directions, congestion-relieving and guiding functions, the time difference between the main and secondary channels, configure the channels and their starting point intersections; 2.2) calculate the two-dimensional green wave time difference and transition period configuration of each intersection in each sub-region; S3 execute: after completing the transition period first, run the ratio mode. For specific details, see the following for the string supermodel wormhole type such as Figure 2, Centipede type such as Figure 7 , Pulsar type such as Figure 8 and other 3 embodiments describe the corresponding respective special steps S2.

[0029] Such as Figure 2 , The general road network features are as follows. It includes the starting coordinates of the node intersection in the lower left corner, such as (0, 0) indicated by label 1, the range, such as {(0, 0), (9, 9)} or the road network {7, 5} indicated by label 2. There are a total of 35 intersections, 7 north-south channels, and 5 east-west channels. The set of travel times for the straight road segments in the columns is {7, 4}{==}, 28 north-south segments, the set of travel times for the straight road segments in the rows is {5, 6}{==}, 30 east-west segments. The #-# / # of label 12 is the length of each road segment - the starting time of the congested vehicle fleet / the travel time, unit: meter - second / second. The starting time of the congested vehicle fleet = the vehicle fleet starting coefficient * the congestion coefficient * the road segment length * the separation coefficient. Among them, the range of the congestion coefficient is a number less than or equal to. When it is equal to 1, it indicates severe congestion. The range of the separation coefficient is a number greater than or equal to 1. When it is equal to 1, it means the current situation of traffic congestion alleviation. The vehicle fleet starting coefficient is obtained from the calculated experimental value in the range of 0.14 to 0.22, and the middle value is 0.18. Calculated according to the congestion coefficient = 1 (severe congestion), the length of the vehicle fleet is equal to the road segment length, and the separation coefficient is set to 1 for the current situation of separation, ignoring the influence of the intersection width. Therefore, the starting time of the congested vehicle fleet for each road segment = the length of each road segment x 0.18. The travel time is calculated according to the assumed legal speed of 45 kilometers per hour. For example, the distance between the intersection (3, 0) and (4, 0) is 150 meters, the starting time of the congested vehicle fleet is 27 seconds / the travel time is 12 seconds, and the distance between the intersection (4, 2) and (4, 3) is 300 meters, the time used is 54 seconds / 24 seconds. The set of travel times for each road segment in each row channel includes: from row 1{==} to row 10{==} the values are {54 / 24, 27 / 12, 54 / 24, 27 / 12, 54 / 24, 27 / 12, 54 / 24, 54 / 24, 27 / 12}. The set of travel times for each road segment in each column channel includes: from column 1{==} to column 10{==} the values are {54 / 24, 27 / 12, 54 / 24, 27 / 12, 54 / 24, 54 / 24, 27 / 12, 54 / 24, 27 / 12, 54 / 24, 27 / 12};

[0030] Embodiment detail description 1: Configure and run the left-handed wormhole type string supermodel: Such as Figure 2 , The running steps S2 of the string supermodel control software are as Figure 1in 1): 1.1) Divide according to the pattern instruction in a field shape. Specifically, as shown by label 9, 2{(5, 0), (4, 4)} represents the second sub-region, whose range starts from the starting intersection (5, 0) and goes up 4 rows and right 4 columns, and the other three sub-regions 1{(0, 0), (4, 4)}, 4{(0, 5), (4, 4)}, 3{(5, 5), (4, 4)}, a total of 4 equally distributed sub-regions. 1.2) Do not select for reconfiguration cycle and speed limit for the time being. 1.3) Do not select speed limit, signal timing, and speed change reminder for the time being; 2) Configure into a left-handed wormhole-shaped string supermodel according to the pattern instruction: 2.1) Determine the origin positions of the left-handed double-guided green waves in the 4 sub-regions: For sub-region 1: ① The main flow direction - south, the secondary flow direction - east; ② Guided green wave; ③ The two-dimensional origin is at the Q1 coordinate (0, 4), For sub-region 2: ① The main flow direction - east, the secondary flow direction - north; ② Guided green wave; ③ The two-dimensional origin is at the Q2 coordinate (5, 0), For sub-region 3: ① The main flow direction - north, the secondary flow direction - west; ② Guided green wave; ③ The two-dimensional origin is at the Q3 coordinate (9, 5), For sub-region 4: ① The main flow direction - west, the secondary flow direction - south; ② Guided green wave; ③ The two-dimensional origin is at the Q4 coordinate (4, 9), The main and secondary flow directions of the 4 sub-regions are as shown in the figure, 2.2) Calculate and configure the two-dimensional guided green wave time difference and start wave transition period of each sub-region intersection with respect to its origin. The configuration results are as follows: For sub-region 1: ① Determine the time difference usage time: guiding - driving time, ② The set of green wave time differences at the corresponding intersections of each through-road in the main flow direction from south 1 to south 5 is {72, 48, 36, 12, 0}, ③ The set of corresponding intersections of the configured channel east 5 in the secondary flow direction is {(0, 4), (1, 4), (2, 4), (3, 4), (4, 4)}, and its set of green wave time differences is {0, 24, 36, 60, 72}, ④ Green wave time difference; ⑤ Remainder difference and its set of start wave transition periods: South 5{*} = {72 + 72, 48 + 72, 36 + 72, 12 + 72, 0 + 72} mod(60) = {24, 0, 48, 24, 12}, South 4{*} = {72 + 60, 48 + 60, 36 + 60, 12 + 60, 0 + 60} mod(60) = {12, 48, 36, 12, 0}, South 3{*} = {72 + 36, 48 + 36, 36 + 36, 12 + 36, 0 + 36} mod(60) = {48, 24, 12, 48, 36}, South 2{*} = {72 + 24, 48 + 24, 36 + 24, 12 + 24, 0 + 24} mod(60) = {36, 12, 0, 36, 24}, South 1{*} = {72 + 0, 48 + 0, 36 + 0, 12 + 0, 0 + 0} mod(60) = {12, 48, 36, 12, 0}; Specific to the intersection, for example, the following intersection coordinates (i, j) are relative to the starting point (0, 0) of this sub - area, The 4th intersection of the South 3 channel is intersection (2, 3), time difference and remainder difference = (

[12] +

[36] ) mod(60) = 48, The 1st intersection of the South 5 channel is intersection (4, 4) in the upper - right corner of the sub - area, time difference and remainder difference = ([0] +

[72] ) mod(60) = 12; ⑥ Starting - wave transition period: For intersections (0, 0), (0, 3), (1, 1), (2, 2), (3, 0), (3, 3), (4, 4), the cycle remainder differences of 12 are too small to form a red - light - prohibited cycle. For the rest of the intersections, directly use the cycle remainder difference as the time - length division to construct the signal cycle, east - west passing time + north - south passing time, denoted as # + #, to obtain the starting - wave transition period of each intersection: South 5{*} = {12 + 12, 0, 24 + 24, 12 + 12, 12}, South 4{*} = {12, 24 + 24, 18 + 18, 12, 0}, South 3{*} = {24 + 24, 12 + 12, 12, 24 + 24, 18 + 18}, South 2{*} = {18 + 18, 12, 0, 18 + 18, 12 + 12}, South 1{*} = {12, 12 + 12, 18 + 18, 12, 0}; Sub - area 2: Main flow direction - east, secondary flow direction - north, the channel numbers and intersection coordinates are all relative to the starting point (5, 0) of the sub - area coordinates, ① Determine the time used for the time difference: guiding - driving time, ② The green - wave time - difference set of each channel intersection in the main flow direction, values of the corresponding intersections from East 1 to East 5 are {0, 12, 36, 60, 72}, ③ Configure the channel for the secondary flow direction, the corresponding intersection set of North 5 is {(5, 0), (5, 1), (5, 2), (5, 3), (5, 4)}, and its green - wave time - difference set is {0, 24, 36, 60, 72}, ④ Green - wave time difference, ⑤ Remainder difference and their starting - wave transition - period sets: East 5{*} = {0 + 72, 12 + 72, 36 + 72, 60 + 72, 72 + 72} mod(60) = {12, 24, 48, 12, 24}, East 4{*} = {0 + 60, 12 + 60, 36 + 60, 60 + 60, 72 + 60} mod(60) = {0, 12, 36, 0, 12}, East 3{*} = {0 + 36, 12 + 36, 36 + 36, 60 + 36, 72 + 36} mod(60) = {36, 48, 12, 36, 48}, East 2{*} = {0 + 24, 12 + 24, 36 + 24, 60 + 24, 72 + 24} mod(60) = {24, 36, 0, 24, 36}, East 1{*} = {0 + 0, 12 + 0, 36 + 0, 60 + 0, 72 + 0} mod(60) = {0, 12, 36, 0, 12}; Specifically for intersections, for example, the following intersection coordinates (i, j) are relative to the starting point (5, 0) of this sub - area, The 2nd intersection of the East 3 passage is intersection (1, 2), and the time difference and remainder difference = (

[12] +

[36] ) mod(60) = 48, The 5th intersection of the East 5 passage is intersection (4, 4) in the upper - right corner of the sub - area, and the time difference and remainder difference = (

[72] +

[72] ) mod(60) = 24; ⑥ Starting - wave transition period: The cycle remainder differences of intersections (1, 0), (4, 0), (2, 2), (1, 3), (4, 3), (0, 4), (3, 4) are 12 and the like, which are too small to form a red - light prohibition cycle. For the rest of the intersections, directly use the cycle remainder difference as the time - length division to construct the signal cycle, east - west passing time + north - south passing time, denoted as # + #, to obtain the starting - wave transition period of each intersection; Sub - area 3: The main flow direction is north, the secondary flow direction is west, and the channel numbers and intersection coordinates are all relative to the starting point (5, 5) of the sub - area coordinates, ① Determine the time used for the time difference: Guidance - driving time, ② The green - wave time - difference set of each channel intersection in the main flow direction, the corresponding intersection values of North 1 to North 5 are {0, 24, 36, 60, 72}, ③ The secondary - flow direction configures the channel West 5 corresponding intersection set {(5, 5), (6, 5), (7, 5), (8, 5), (9, 5)}, and its green - wave time - difference set is {72, 60, 36, 24, 0}, ④ Green - wave time - difference, ⑤ Remainder difference, and their starting - wave transition - period sets: North 5{*} = {0 + 72, 24 + 72, 36 + 72, 60 + 72, 72 + 72} mod(60) = {12, 36, 48, 12, 24}, North 4{*} = {0 + 60, 24 + 60, 36 + 60, 60 + 60, 72 + 60} mod(60) = {0, 24, 36, 0, 12}, North 3{*} = {0 + 36, 24 + 36, 36 + 36, 60 + 36, 72 + 36} mod(60) = {36, 0, 12, 36, 48}, North 2{*} = {0 + 24, 24 + 24, 36 + 24, 60 + 24, 72 + 24} mod(60) = {24, 48, 0, 24, 36}, North 1{*} = {0 + 0, 24 + 0, 36 + 0, 60 + 0, 72 + 0} mod(60) = {0, 24, 36, 0, 12}; Specifically for intersections, for example, the following intersection coordinates (i, j) are relative to the starting point (5, 5) of this sub - area, The second intersection of the North 3 channel is intersection (2, 1), and the time difference and remainder difference = (

[24] +

[36] ) mod(60) = 0, The fifth intersection of the North 5 channel is intersection (4, 4) in the upper - right corner of the sub - area, and the time difference and remainder difference = (

[72] +

[72] ) mod(60) = 24; ⑥ Starting - wave transition period: For intersections (4, 0), (2, 2), (4, 3), (0, 4), (3, 4), the cycle remainder differences of 12 are too small to form a red - light - prohibited cycle. For the rest of the intersections, the cycle remainder differences are directly used as the time - length segmentation to construct the signal cycle, east - west passage time + north - south passage time, denoted as # + #, to obtain the starting - wave transition period of each intersection; Sub - area 4: The main flow is westward, and the secondary flow is southward. The channel numbers and intersection coordinates are all relative to the starting point (0, 5) of the sub - area coordinates, ① Determine the time used for the time difference: guiding - driving time, ② The green - wave time - difference set for each intersection of the main - flow direction for channels West 1 to West 5, corresponding intersection values {72, 48, 36, 12, 0}, ③ Configure the corresponding intersection set for the secondary - flow direction for channel South 5 {(4, 5), (4, 6), (4, 7), (4, 8), (4, 9)}, and its green - wave time - difference set {72, 48, 36, 12, 0}, ④ Green - wave time - difference, ⑤ Remainder difference, and their starting - wave transition - period sets: West 5{*} = {72 + 0, 48 + 0, 36 + 0, 12 + 0, 0 + 0} mod(60) = {12, 48, 36, 12, 0}, West 4{*} = {72 + 12, 48 + 12, 36 + 12, 12 + 12, 0 + 12} mod(60) = {24, 0, 48, 24, 12}, West 3{*} = {72 + 36, 48 + 36, 36 + 36, 12 + 36, 0 + 36} mod(60) = {48, 24, 12, 48, 36}, West 2{*} = {72 + 48, 48 + 48, 36 + 48, 12 + 48, 0 + 48} mod(60) = {0, 36, 24, 0, 48}, West 1{*} = {72 + 72, 48 + 72, 36 + 72, 12 + 72, 0 + 72} mod(60) = {24, 0, 48, 24, 12}; Specifically for intersections, for example, the following intersection coordinates (i, j) are relative to the starting point (0, 5) of this sub - area, The 2nd intersection of the West 3 channel is intersection (1, 2), and the time difference and remainder difference = (

[48] +

[36] ) mod(60) = 24, The 5th intersection of the West 5 channel is intersection (4, 4) in the upper - right corner of the sub - area, and the time difference and remainder difference = ([0] + [0]) mod(60) = 0; ⑥ Starting - wave transition period: The cycle remainder differences of intersections (4, 0), (2, 2), (2, 2), (4, 3), (0, 4), (3, 4) are too small, such as 12, to form a red - light - prohibited cycle. For the rest of the intersections, the cycle remainder difference is directly used as the time - length division to construct the signal cycle, that is, the east - west passing time + the north - south passing time, denoted as # + #, to obtain the starting - wave transition period of each intersection.

[0031] Detailed description of Example 2: Configure and run the counter - flow - scattered centipede - type string super - model: Such as Figure 7 , the running steps S2 of the string super - model control software are as Figure 1 in 1): According to the mode instruction, divide by the daily type. Specifically, the sub - area marker 2{(5, 0), (4, 9)} represents the 2nd sub - area, whose range starts from the starting intersection (5, 0) and extends 9 rows upward and 4 columns to the right, and the 1{(0, 0), (4, 9)} of the 1st sub - area, a total of 2 equally - divided sub - areas. 1.2) Do not re - configure the cycle and speed limit. 1.3) Do not perform speed limit, signal timing, and speed - change reminder; then proceed to 2): Configure the counter - flow - scattered centipede - type string super - model according to the mode instruction: 2.1) Determine the origin positions of the two - dimensional guiding green waves in the 2 sub - areas: Set the north - south direction as the main flow direction, ① Main flow direction of sub - area 1 - south, secondary flow direction - west. ② Guiding green wave. ③ The two - dimensional origin is at the Q1 coordinate (4, 9), In Sub-region 2, ① the main flow direction is north, and the secondary flow direction is east; ② a leading green wave is guided; ③ the two-dimensional origin is at the Q2 coordinate (5, 0). The main and secondary flow directions of the 2 sub-regions are as shown in the figure; 2.2) Calculate and configure the two-dimensional leading green wave time differences and starting wave transition periods for each intersection with respect to its origin. The results are as follows: In Sub-region 1, the main flow direction is south, and the secondary flow direction is west. The channel numbers and intersection coordinates are all relative to the starting point (0, 0) of the sub-region coordinates. ① Determine the time used for the time difference: the time from leading to driving. ② The set of green wave time differences for each intersection on the main flow direction channels The corresponding intersection values from South 1 to South 5 are {168, 144, 132, 108, 96, 72, 48, 36, 12, 0} mod(60) = {48, 24, 12, 48, 36, 12, 48, 36, 12, 0}, ③ The set of corresponding intersections on the secondary flow direction configuration channel West 9 is {(0, 9), (1, 9), (2, 9), (3, 9), (4, 9)}, and its set of green wave time differences is {72, 48, 36, 12, 0} mod(60) = {12, 48, 36, 12, 0}, ④ The set of green wave time differences, ⑤ the remaining differences, and their starting wave transition periods: South 5 {*} = {48 + 0, 24 + 0, 12 + 0, 48 + 0, 36 + 0, 12 + 0, 48 + 0, 36 + 0, 12 + 0, 0 + 0} mod(60) = {48, 24, 12, 48, 36, 12, 48, 36, 12, 0}, South 4 {*} = {48 + 12, 24 + 12, 12 + 12, 48 + 12, 36 + 12, 12 + 12, 48 + 12, 36 + 12, 12 + 12, 0 + 12} mod(60) = {0, 36, 24, 0, 48, 24, 0, 48, 24, 12}, South 3 {*} = {48 + 36, 24 + 36, 12 + 36, 48 + 36, 36 + 36, 12 + 36, 48 + 36, 36 + 36, 12 + 36, 0 + 36} mod(60) = {24, 0, 48, 24, 12, 48, 24, 12, 48, 36}, South 2 {*} = {48 + 48, 24 + 48, 12 + 48, 48 + 48, 36 + 48, 12 + 48, 48 + 48, 36 + 48, 12 + 48, 0 + 48} mod(60) = {36, 12, 0, 36, 24, 0, 36, 24, 0, 48}, South 1{*} = {48 + 12, 24 + 12, 12 + 12, 48 + 12, 36 + 12, 12 + 12, 48 + 12, 36 + 12, 12 + 12, 0 + 12} mod(60) = {0, 36, 24, 0, 48, 24, 0, 48, 24, 12}; Specific to the intersection, for example, the following intersection coordinates (i, j) are relative to the starting point (0, 0) of this sub - area. The second intersection of the South 3 channel is intersection (2, 1), and the time difference and remainder difference = (

[24] +

[36] ) mod(60) = 0. The fifth intersection of the South 5 channel is intersection (4, 4) in the upper - right corner of the sub - area, and the time difference and remainder difference = (

[36] + [0]) mod(60) = 36; ⑥ Starting - wave transition period: The cycle remainder differences of intersections (1, 1), (2, 3), (2, 6), (3, 9), (4, 3), (4, 5), (4, 8) are too small, such as 12, to form a red - light - prohibited cycle. For the rest of the intersections, the cycle remainder difference is directly used as the time - length segmentation to construct the signal cycle, that is, the east - west passing time + the north - south passing time, denoted as # + #, to obtain the starting - wave transition period of each intersection: South 5{*} = {24 + 24, 12 + 12, 12, 24 + 24, 18 + 18, 12, 24 + 24, 18 + 18, 12, 0}, South 4{*} = {0, 18 + 18, 12 + 12, 0, 24 + 24, 12 + 12, 0, 24 + 24, 12 + 12, 12}, South 3{*} = {12 + 12, 0, 24 + 24, 12 + 12, 12, 24 + 24, 12 + 12, 12, 24 + 24, 18 + 18}, South 2{*} = {18 + 18, 12, 0, 18 + 18, 12 + 12, 0, 18 + 118, 12 + 12, 0, 24 + 24}, South 1{*} = {0, 18 + 18, 12 + 12, 0, 24 + 24, 12 + 12, 0, 24 + 24, 12 + 12, 12}; Sub - area 2: The main flow is northward, and the secondary flow is southward. The channel numbers and intersection coordinates are all relative to the starting point (5, 0) of the sub - area coordinates. ① Determine the time used for the time difference: guiding - driving time ② Green - wave time - difference set of each channel intersection in the main flow direction The corresponding intersection values from North 1 to North 5 are {0, 24, 36, 60, 72, 96, 120, 132, 156, 168} mod(60) = {0, 24, 36, 0, 12, 36, 0, 12, 36, 48}; ③ The set of corresponding intersections of the west 9 of the secondary flow configuration channel is {(5, 0), (6, 0), (7, 0), (8, 0), (9, 0)}, and the set of its green wave time differences is {0, 12, 36, 60, 72} mod(60) = {0, 12, 36, 0, 12}, ④ Green wave time difference, ⑤ Remainder difference and their starting wave transition period sets: North 5{*} = {0 + 12, 24 + 12, 36 + 12, 0 + 12, 12 + 12, 36 + 12, 0 + 12, 12 + 12, 36 + 12, 48 + 12} mod(60) = {12, 36, 48, 12, 24, 48, 12, 24, 48, 0}; North 4{*} = {0 + 0, 24 + 0, 36 + 0, 0 + 0, 12 + 0, 36 + 0, 0 + 0, 12 + 0, 36 + 0, 48 + 0} mod(60) = {0, 24, 36, 0, 12, 36, 0, 12, 36, 48}; North 3{*} = {0 + 36, 24 + 36, 36 + 36, 0 + 36, 12 + 36, 36 + 36, 0 + 36, 12 + 36, 36 + 36, 48 + 36} mod(60) = {36, 0, 12, 36, 48, 12, 36, 48, 12, 24}; North 2{*} = {0 + 12, 24 + 12, 36 + 12, 0 + 12, 12 + 12, 36 + 12, 0 + 12, 12 + 12, 36 + 12, 48 + 12} mod(60) = {12, 36, 48, 12, 24, 48, 12, 24, 48, 0}; North 1{*} = {0 + 0, 24 + 0, 36 + 0, 0 + 0, 12 + 0, 36 + 0, 0 + 0, 12 + 0, 36 + 0, 48 + 0} mod(60) = {0, 24, 36, 0, 12, 36, 0, 12, 36, 48}; Specifically for intersections, for example, the following intersection coordinates (i, j) are relative to the starting point (0, 0) of this sub - area, The second intersection of the North 3 channel is intersection (2, 1), and the time difference and remainder difference = (

[24] +

[36] ) mod(60) = 0, The fifth intersection of the North 5 channel is intersection (4, 4) in the upper - right corner of the sub - area, and the time difference and remainder difference = (

[12] +

[12] ) mod(60) = 24; ⑥ Wave-starting transition period: The intersections with too small cycle residual 12 are made into red light no-travel period, and the remaining intersections directly use the cycle residual as the duration to divide the signal cycle east-west traffic duration + north-south traffic duration, recorded as #+#, to obtain the wave-starting transition period of each intersection;

[0032] Detailed description of the embodiment 3 Configuration operation 85-wave-sharp string supermode: like Figure 8 , the string supermode control software runs step S2 as follows Figure 1 1.1) of 1) does not perform reconfiguration cycle and speed limit, 1.3) performs speed limit, signal timing, and speed change prompt. For vehicle navigation system and vehicle mobile communication equipment, such as Figure 8 Mark 1 in; 1.2) Reconfiguration period C is to achieve bidirectional green wave for the whole network: 1.2.1) Configure the maximum bidirectional green wave band loss rate λmax to be less than 15%: ① Calculate λmax and T: Group according to length: the longer group 2 segments are 10x570 meters and 10x580 meters, with an average length of D2, and the rest are shorter groups: their average length is calculated D1: For the road network {10, 10}, the total number of vertical and horizontal channel sections n = 10*9 + 10*9 = 180, D1=(∑dk) / (n-20)=51000 / 160=45000 / 160=281.5, D2=(10*570+10*580) / 20=575,575mod(282) / 282≈11 / 282=4%<15%meets the requirement, The first solution: set the green wave speed v1 = 36 kilometers (total speed v = 10 meters per second), the average time difference T1 = D1 / v1 = 28.2, the average time difference T21 = D2 / v1 = 57.5, and the maximum green wave band loss rate: λmax1=ΔTmax1 / T1=ΔDmax1 / v1 / T1=ΔDmax1 / D=32.5 / 281.5=11.5%<15%,add D2 group to calculate:D=(∑dk) / (n+20)=(45000+11500) / 200=565 / 2=282.5, λmax=ΔDmax / D=11.5%,max meets the error requirement, T=D / v1=283 / 10=28.3 seconds; Another solution: directly configure another vehicle speed v2 = 70 kilometers per hour for the long road segment group D2 to meet the λmax b% error requirement for T1: v2 = 70 (speed) = 19.4 (seconds), T2 = D2 / v2 = 29.6 seconds, and T = 28, because the number of road segments served by T is much more than T2; 1.2.2) According to the average driving time T when λmax satisfies a 15% error, determine the period C = 2*T = 2*28 = 56; 2) Configure this area into a two-dimensional two-way guided green wave: One direction can be arbitrarily selected as the main flow direction 2.1) Determine the origin position of the two-dimensional guided green wave: ① For the main flow direction of the area - east, the secondary flow direction - north, ② the guided green wave, ③ the two-dimensional origin is at the Q coordinate (0, 0), as shown in the figure; 2.2) Calculate the two-dimensional two-way guided green wave time difference and the starting wave transition period for each intersection with respect to its origin. The configuration results according to the same speed v1 = 10 m / s are as follows: ① Determine the time used for the time difference: the time used for guiding - driving, ② The set of two-way guided green wave time differences for each through-road intersection in the main flow direction The corresponding values for the intersections from East 1 to East 10 are {0, 30, 55, 85, 113, 171, 196, 226, 256, 284} mod(56) = {0, 30, 55, 29, 1, 3, 28, 2, 32, 4}, ③ The set of corresponding intersections for the secondary flow direction configuration channel North 1 {(0, 0), (0, 1), (0, 2), (0, 3), (0, 4), (0, 5), (0, 6), (O, 7), (0, 8), (0, 9)} and its set of two-way guided green wave time differences {0, 30, 55, 85, 113, 170, 200, 225, 255, 283} mod(56) = {0, 30, 55, 29, 1, 2, 32, 1, 31, 3}, ④ The set of total two-dimensional two-way guided green wave time differences, ⑤ the remainder difference and its starting wave transition period: (First take the remainder difference mod and then sum) For East 10 {*} = {0 + 3, 30 + 3, 55 + 3, 29 + 3, 1 + 3, 3 + 3, 28 + 3, 2 + 3, 32 + 3, 4 + 3} mod(56) = {3, 33, 2, 32, 4, 6, 31, 5, 35, 7}; For East 9 {*} = {0 + 31, 30 + 31, 55 + 31, 29 + 31, 1 + 31, 3 + 31, 28 + 31, 2 + 31, 32 + 31, 4 + 31} mod(56) = {31, 5, 30, 4, 32, 34, 3, 33, 7, 34}; For East 8 {*} = {0 + 1, 30 + 1, 55 + 1, 29 + 1, 1 + 1, 3 + 1, 28 + 1, 2 + 1, 32 + 1, 4 + 1} mod(56) = {1, 31, 0, 30, 2, 4, 30, 3, 33, 4}; East7{*} = {0 + 32, 30 + 32, 55 + 32, 29 + 32, 1 + 32, 3 + 32, 28 + 32, 2 + 32, 32 + 32, 4 + 32} mod(56) = {32, 6, 31, 5, 33, 35, 4, 34, 8, 36}; East6{*} = {0 + 2, 30 + 2, 55 + 2, 29 + 2, 1 + 2, 3 + 2, 28 + 2, 2 + 2, 32 + 2, 4 + 2} mod(56) = {2, 32, 1, 31, 3, 5, 30, 4, 34, 6}, East5{*} = {0 + 1, 30 + 1, 55 + 1, 29 + 1, 1 + 1, 3 + 1, 28 + 1, 2 + 1, 32 + 1, 4 + 1} mod(56) = {1, 31, 0, 30, 2, 4, 29, 3, 33, 5}, East4{*} = {0 + 29, 30 + 29, 55 + 29, 29 + 29, 1 + 29, 3 + 29, 28 + 29, 2 + 29, 32 + 29, 4 + 29} mod(56) = {29, 3, 28, 2, 30, 32, 1, 31, 5, 33}, East3{*} = {0 + 55, 30 + 55, 55 + 55, 29 + 55, 1 + 55, 3 + 55, 28 + 55, 2 + 55, 32 + 55, 4 + 55} mod(56) = {55, 29, 54, 28, 0, 2, 27, 1, 31, 3}, East2{*} = {0 + 30, 30 + 30, 55 + 30, 29 + 30, 1 + 30, 3 + 30, 28 + 30, 2 + 30, 32 + 30, 4 + 30} mod(56) = {30, 4, 29, 3, 31, 33, 2, 32, 6, 34}, East1{*} = {0 + 0, 30 + 0, 55 + 0, 29 + 0, 1 + 0, 3 + 0, 28 + 0, 2 + 0, 32 + 0, 4 + 0} mod(56) = {0, 30, 55, 29, 1, 3, 28, 2, 32, 4}; Specifically for intersections, for example, the following intersection coordinates (i, j) are relative to the starting point (0, 0) of this sub - area, The second intersection on the East3 passage is intersection (1, 2), time difference and remainder = (

[30] +

[55] ) mod(56) = 29, The fifth intersection on the East5 passage is intersection (4, 4) at the upper - right corner of the sub - area, time difference and remainder = ([1] + [1]) mod(56) = 2; ⑥ Starting wave transition period: For intersections where the cycle residual difference 20 is too small, a red light prohibited driving cycle is created. For the remaining intersections, the cycle residual difference is directly used as the time duration division to construct the signal cycle, that is, the east-west passing time + the north-south passing time, denoted as # + #, to obtain the starting wave transition period of each intersection.

Claims

1. A chord supermodular control method for a road traffic signal network: The features include the steps: S1 Start: Configure the original ratio mode and the lengths of each section of the road network and the traffic time used. S2 Calculate and configure a new string supermode according to the string supermode instruction: 1) Configure the basic parameters of the string supermode: 1.1) Divide the road network intersection nodes into several sub-areas, specifically into 4 sub-areas, or 2 sub-areas, or no sub-area setting. 1.2) Or reconfigure the cycle and speed limit according to the road section characteristics. 1.3) Or send reference prompts such as speed limit, signal timing, and speed change to the vehicle, including to the signboard, in-vehicle navigation, on-vehicle communication equipment, or autonomous driving system, etc.; 2) Configure the string supermode structure of the two-dimensional green wave in the relevant sub-areas. The two-dimensional green wave includes modes such as two-dimensional guidance, two-dimensional congestion relief, and two-dimensional mixing, etc.: The combination of the origin position of each sub-area and its main flow direction determines the string supermode type, and vice versa; Each combination of the above parameter settings constitutes a string supermode pattern; The area without sub-areas only reconfigures the cycle according to the road section characteristics and configures a two-dimensional two-way convection guiding green wave (interactive coordination); The specific composition details of the two-dimensional green wave mode parameters in the sub-areas are as follows. 2.1) Determine the origin position of the two-dimensional green wave in each sub-area: At a corner intersection of the sub-area, ① Determine the main and secondary wave flow directions, that is, independently select one of the two wave flow directions in the two-dimensional green wave as the main wave flow direction and the other as the secondary wave flow direction. ② Determine the guiding and congestion relief green waves. ③ Obtain the source point position and the configuration channels of the phase differences, that is, the time differences, between the main and secondary wave flow channels of the two-dimensional green wave and the starting point intersection position of the channels: The origin of the two-dimensional guiding green wave is at the intersection point at the starting end, that is, the most upstream end, of the main and secondary wave flow directions. The starting point intersection of the main time difference of the green wave at each intersection on each channel of the main flow direction is the most upstream intersection of its respective channel. The secondary time difference configuration channel of the secondary wave flow direction is composed of the starting point intersections of each main channel. The most upstream end of this secondary time difference configuration channel is the starting point of the secondary time difference, that is, its two-dimensional origin; The origin of the two-dimensional congestion relief is at the intersection point at the front end, that is, the most downstream end, of the main and secondary traffic flow directions, which is the most upstream intersection point at the starting end of the main and secondary wave flow directions of the green wave. The starting point intersection of the main time difference of the green wave at each intersection on each channel of the main wave flow direction is the most upstream intersection of the channel. The secondary time difference configuration channel of the secondary wave flow direction is composed of the starting point intersections of each main channel. The most upstream end of this secondary time difference configuration channel is the starting point of the secondary time difference, that is, its two-dimensional origin; The origin of the two-dimensional congestion relief guiding mixture is at the intersection point at the starting end, that is, the most upstream end, of the guiding flow direction and the front end, that is, the most downstream end, of the congestion relief traffic flow direction. When the guiding flow direction is used as the main wave flow direction, the starting point intersection of the main time difference of the green wave at each intersection on each channel is the most upstream intersection of the channel. The secondary time difference configuration channel of the secondary flow direction is composed of the starting point intersections of each main channel. The most upstream end of this secondary time difference configuration channel is the starting point of the secondary time difference, that is, its two-dimensional origin. It is also possible to exchange and mix the guiding and congestion relief flow directions: Congestion relief as the main and guiding as the secondary; 2.2) Calculate the two-dimensional green wave time difference t and the transitional period configuration for each intersection in each sub-region: ① Determine the traffic time of the time difference. The guiding green wave time difference is the sum of the driving times, and the traffic congestion alleviation green wave uses the sum of the starting times of the congested vehicle queues. ② Calculate the time difference t1 of each intersection on the main flow direction channel with respect to its starting point intersection. ③ Calculate the time difference t2 of each intersection on the secondary flow direction time difference configuration channel with respect to the two-dimensional green wave origin intersection. ④ Add the main time difference t1 of each intersection to the secondary time difference t2 of the starting point intersection of its channel to obtain the two-dimensional green wave time difference t. ⑤ Take the period remainder of the two-dimensional green wave time difference. This period remainder is the two-dimensional green wave signal period remainder, which is equal to the remainder value obtained by dividing the integer of the above two-dimensional green wave time difference by the integer of the green wave signal period. ⑥ Make this period remainder difference into a signal transitional period: make its duration = north-south signal duration + east-west signal duration. S3 Execute: Before the new cycle, complete the transition period of each sub-area mode, and then run the ratio mode.

2. The method according to claim 1, characterized in that 1.1) of S2 further includes: S21 divides the road network intersection nodes into different numbers of sub - areas with straight lines, obtaining the following patterns: the cross - divided "field" pattern with four sub - areas and various mutations based on it, type of division, type of division and type of division, the "one - character" / "two - character" division type of "day" / "eye" pattern with two / three sub - areas, etc. Their division generally corresponds to the distribution of physical road network intersection nodes, and can also be configured purely by software according to the needs of road network traffic control. The cross - divided "field" pattern with four sub - areas is a standard chord super - modular division and is the basic optimization structure, without the need for symmetry.

3. According to the method described in claim 1, the feature is that S2 further includes: S22 Send prompts such as the green wave speed limit, signal timing, and speed change of the section where the vehicle is traveling to the vehicle during driving, including for prompt signs, in-vehicle navigation, on-vehicle communication devices, or autonomous driving systems, etc., including: Set / issue a deceleration reminder at / when the remaining signal time is about to be less than the safe braking distance of the green wave speed limit, and the methods include text, voice, color patterns, etc., and the signals include red lights or green lights.

4. According to the method described in claim 1, the feature is that S2 further includes: S23 Calculate and configure a new chord supermode type according to the mode instruction, called the wormhole type. 1) Divide each side of the road network mother area with a straight line parallel to the road network channel respectively, and obtain sub-areas sharing sides with the road network mother area; 2) Configure these sub-areas into two-dimensional guiding green waves, and select the green wave source points of each sub-area at a corner intersection of the sub-area. This corner intersection is also on the edge of the mother area but not the corner intersection of the mother area. Only one two-dimensional green wave source point of the sub-area is configured for each edge channel of the mother area, and let the origin points of these sub-areas uniformly set the green wave flow direction of the edge channel shared with the mother area flowing out of their respective areas as the main flow direction of this sub-area. If this setting results in the sub-area being on the right side of the shared edge channel in this main flow direction, then the main flow directions of each source point form a clockwise rotation, constituting a right-handed wormhole chord supermode called; if it results in the sub-area being on the left side of the shared edge channel in this main flow direction, then a counterclockwise rotation is formed, constituting a left-handed wormhole chord supermode called.

5. According to the method described in claim 1, the feature is that S2 further includes: S24 Calculate and configure a new chord supermode type according to the mode instruction, called the black hole type. 1) Divide each side of the road network mother area with a straight line parallel to the road network channel respectively, and obtain sub-areas sharing sides with the road network mother area; 2) Configure these sub-areas into two-dimensional guiding green waves, and select the green wave source points of each sub-area at a corner intersection of the sub-area. This corner intersection is also a corner intersection of the mother area, and let the origin points of these sub-areas uniformly set one of the green wave flow directions of the two edge channels shared with the mother area where they converge and flow out as the main flow direction of this sub-area, and set the sub-area on the right side of the shared channel in this main flow direction. Then the main flow directions of each source point form a clockwise rotation, constituting a right-handed black hole chord supermode called; if the sub-area is set on the left side of the shared channel in this main flow direction, then a counterclockwise rotation is formed, constituting a left-handed black hole chord supermode called.

6. According to the method described in claim 1, the feature is that S2 further includes: S25 Calculate and configure a new string hypermode type according to the mode instruction, named the white hole type. 1) Divide each side of the road network parent area with a straight line parallel to the road network channel respectively to obtain sub-areas sharing sides with the road network parent area; 2) Configure each of these sub-areas into a two-dimensional guiding green wave. The origin of the green wave source of each sub-area is selected at a corner intersection of the sub-area, which is neither on the edge of the parent area nor a corner intersection of the parent area. And make the source points of these sub-areas uniformly set one of the green wave flow directions of the two edge channels where the sub-areas converge and flow out as the main flow direction of this sub-area, and set this sub-area on the left side of the common channel of this main flow direction. Then the main flow directions of each source point form a clockwise rotation, constituting a right-handed white hole string hypermode; if this sub-area is set on the right side of the edge channel of this main flow direction, then a counterclockwise rotation is formed, constituting a left-handed white hole string hypermode.

7. The method according to claim 1, wherein S2 further comprises: S26 Calculate and configure a new string hypermode type according to the mode instruction, named the red giant type. 1) Divide each side of the road network parent area with a straight line parallel to the road network channel respectively to obtain sub-areas sharing sides with the road network parent area; 2) Configure each of these sub-areas into a two-dimensional congestion-dispelling green wave. The origin of the green wave source of each sub-area is selected at a corner intersection of the sub-area, which is a corner intersection of the parent area. And make the source points of these sub-areas uniformly set one of the green wave flow directions of the two edge channels shared with the parent area where the sub-areas converge and flow out as the main flow direction of this sub-area, and set this sub-area on the right side of the common channel of this main flow direction. Then the main flow directions of each source point form a clockwise rotation, constituting a right-handed red giant string hypermode; if this sub-area is set on the left side of the common channel of this main flow direction, then a counterclockwise rotation is formed, constituting a left-handed red giant string hypermode.

8. The method according to claim 1, wherein S2 further comprises: S27 Calculate and configure a new string hypermode type according to the mode instruction, named the white dwarf type. 1) Divide each side of the road network parent area with a straight line parallel to the road network channel respectively to obtain sub-areas sharing sides with the road network parent area; 2) Configure each of these sub-areas into a two-dimensional congestion-dispelling green wave. The origin of the green wave source of each sub-area is selected at a corner intersection of the sub-area, which is neither a corner intersection of the parent area nor on its edge. And make the source points of these sub-areas uniformly set one of the green wave flow directions of the two edge channels where the sub-areas converge and flow out as the main flow direction of this sub-area; if this sub-area is set on the left side of the edge channel of this main flow direction, then the main flow directions of each source point form a clockwise rotation, constituting a right-handed white dwarf string hypermode; if this sub-area is set on the right side of the edge channel of this main flow direction, then a counterclockwise rotation is formed, constituting a left-handed white dwarf string hypermode.

9. The method according to claim 1, wherein S2 further comprises: S28 Calculate and configure a new string supermode pattern according to the mode instruction, named the centipede type. 1) Use a straight line parallel to the road network channel to divide the mother area of the road network respectively, and obtain 2 sub-areas; 2) Configure each sub-area into a two-dimensional guided green wave. The different settings of the source point position, main and secondary flow directions and functions determine the sub-type composition of the centipede supermode characteristics of the 2 sub-areas. The following are the configurations of 6 centipede sub-types: (1) If the source point is selected at a corner intersection of the sub-area, and this corner intersection is at the edge of the mother area but not the corner intersection of the mother area, When The source points of the 2 sub-areas are adjacent, and it is set that the flow directions along the channels passing through the mother area in the sub-areas flowing out of the 2 source points are the main flow directions. Then, their main flow directions are the same, forming a centipede string supermode with a single main wave flow direction and scattered form; (2) Or when the 2 source points are opposite to the other end of the main channel of the adjacent sub-areas, and it is set that the flow directions along the channels passing through the mother area in the sub-areas flowing out of the 2 source points are the main flow directions. Then, their main flow directions are opposite, forming a centipede string supermode with opposite main wave flow directions and scattered form; (3) If one of the main channels of the above adjacent 2 sub-areas is used as a common boundary arterial road, and one end of this arterial road is configured as the common source point of the green waves of the 2 sub-areas, and it is set that the flow direction along the boundary arterial road of the sub-area passing through the mother area flowing out of this source point is the main flow direction, then a centipede with a common source point and a main arterial road, named the centipede with a common source point and a single main flow direction type and scattered form, is formed; (4) If the common arterial road is configured into a two-way coordinated green wave and two-dimensional origin points with opposite flow directions are set at both ends, then a centipede with a common arterial road and convective scattering, named the centipede with a common arterial road and convective scattering, is obtained; (5) If the 2 corner intersections of the sub-areas at the same corner intersection on the same side as the mother area are set as the two-dimensional guided green wave source points of their respective sub-areas, and it is set that the flow directions along the channels passing through the mother area in the sub-areas flowing out of the 2 source points are the main flow directions, then a centipede string supermode with a single main wave flow direction and aggregated form, named the centipede with a single main wave flow direction and aggregated form, is formed; (6) Or if the 2 source points are set as two-dimensional source points at the corner intersections of the 2 sub-areas at the diagonal corners of the mother area, and it is set that the flow directions along the channels passing through the mother area in the sub-areas flowing out of the 2 source points are the main flow directions, then a centipede string supermode with opposite main wave flow directions and aggregated form, named the centipede with opposite main wave flow directions and aggregated form, is formed.

10. The method according to claim 1, wherein S2 further comprises: S29 Calculate and configure a new string hypermode type according to the mode instruction, named the b-pulsar type. 1.2) Configure a two-dimensional two-way green wave period. The two-dimensional two-way green wave refers to two cross-flow directions, that is, two-dimensional two-way convective guidance green waves: 1.2.1) Configure the maximum two-way green wave band loss rate λmax to be less than a certain percentage (1 - b)%. λmax is the maximum absolute value of the difference between the driving time of a road section and the average driving time D of each road section divided by the average driving time of each road section. When λmax < (1 - b)%, take the average driving time T, T = D / v, where V is the legally designed green wave driving speed in seconds, and D is the average length of each road section in meters; 1.2.2) According to the average driving time T that meets the λmax b% error requirement, determine the period C = 2*T; 2) Configure the signal period determined by the above method. Select a regional corner intersection as the starting point, that is, the source point. In the longitudinal and transverse channels, for adjacent intersections, according to the driving time of each road section itself at the above-designed driving speed v in seconds, take the integer multiple of the above half-period C / 2 that is closest to the driving time, or take the driving time that is closest to the integer multiple of the above half-period C / 2 as the time difference configuration between adjacent intersections, and form a two-way convective guidance green wave with an accuracy of b for two cross-flow directions. The source points of their two green waves can be considered to be respectively configured at the opposite corner intersections of the region; To make up for the λmax loss, corresponding vehicle speed limit / signal time prompt equipment can be configured for each road section according to the loss rate λmax.

11. The method according to claim 10, characterized in that 1.2.1) of S2 further includes: S210 Configure the maximum two-way green wave band loss rate λmax to be less than a certain percentage (1 - b)%. ① Calculate λmax and T: λmax = ΔTmax / T = ΔDmax / D, where ΔTmax is the driving time of the longest road section minus the average time, ΔDmax is the longest road section minus the average length, T is the average driving time of each road section in seconds, T = D / v, D is the average length of each road section in meters = (∑dk) / n, dk is the length of the kth road section d, v is the legally designed green wave driving speed, and n is the total number of road sections in the longitudinal and transverse channels. For the road network {M, N}, n = M*(M - 1) + N*(N - 1). ② When λmax is greater than (1 - b)%, group the road sections according to the length similarity. If the average length of the group has an integer multiple relationship with λmax formed by other groups with only (1 - b)% error, first fold the longer group into the average length according to ① to obtain λmax and its T. ③ If there is no obvious integer multiple relationship between the average length of the group and other groups, design a green wave speed scheme for the road section group: Set different green wave speeds v for each group and calculate and configure λmax and its T.

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