CN109166323A - A kind of crossing self-adapting control method and system that reverse changeable driveway is set - Google Patents
A kind of crossing self-adapting control method and system that reverse changeable driveway is set Download PDFInfo
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- CN109166323A CN109166323A CN201811091557.5A CN201811091557A CN109166323A CN 109166323 A CN109166323 A CN 109166323A CN 201811091557 A CN201811091557 A CN 201811091557A CN 109166323 A CN109166323 A CN 109166323A
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- G—PHYSICS
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
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Abstract
The invention belongs to Controlling Traffic Signals in Urban Roads fields, are related to a kind of crossing self-adapting control method and system that reverse changeable driveway is arranged；The present invention is on the basis of conventional cross mouth control system, install 4 groups of video flow detector composition crossing self-adapting control systems additional, median opening and reverse changeable driveway length are set, the length of median opening and reverse changeable driveway is reasonably calculated using traffic flow theory, using the video detector detection real-time queue length of entrance driveway to adaptive generation signal time distributing conception, Adaptive Signal Control is carried out to intersection.The present invention improves the traffic capacity under the premise of guaranteeing safety to the maximum extent；The Adaptive Signal Control of more accurately reverse changeable driveway intersection is realized by adaptive timing.
Description
Technical field
The invention belongs to Controlling Traffic Signals in Urban Roads fields, and in particular to a kind of intersection that reverse changeable driveway is arranged
Mouth self-adaptation control method and system.
Background technique
In recent years, there is a kind of reverse changeable driveway technology for utilizing " piggybacking waits for row turning to left " in Some Domestic city, leads to
The opening one outlet at median strip is crossed, so that piggybacking turns left when left turning vehicle can use side exit ramp without vehicle
Or turn around in advance, intersection capacity is further improved under the premise that security is guaranteed, and reverse changeable driveway technology makes
Traffic organization technology is a a progressive step in terms of fining.
Chinese patent (CN104064036A) discloses one kind and borrows reverse changeable driveway signal control method, uses tradition
Robert Webster formula calculate intersection master, pre-signal timing scheme；Chinese patent (CN105185131A) discloses one kind
Reverse changeable driveway whistle control system, system are to use traditional changing of traffic lights composition system to carry out signal control
System；Chinese patent (CN107170257A) discloses a kind of intelligent control method of reverse changeable driveway, and system utilizes earth magnetism, micro-
Wave technology controls the duration of signal lamp by the arrival of detection vehicle.These patents were undoubtedly solving reverse can be changed at that time
The problem of this emerging traffic organization form of lane lacks scientific timing method and system, but become increasingly popular in intelligent transportation
Today, traditional fixed cycle timing method described in above-mentioned patent can not solve the traffic problems of increasingly congestion, adaptively
Signal control technology has gradually replaced traditional timing method；Old-fashioned earth magnetism and microwave technology is also by emerging video
Replaced detection technique；The length of reverse changeable driveway and median opening is only rule of thumb set in above-mentioned patent:
Reverse changeable driveway is consistent with canalization lane length, and central strip strip length is also empirically value, shortage reasonability.In reality
In situation, when left turning vehicle queue length reaches the half of canalization lane length, driver is more likely in reverse changeable driveway
Opening waits for parking pre-signal green light, causes the space waste between left turn lane and opening；And due to median strip
Opening length is big, and vehicle can occupy half of Through Lane from adjacent columns lane to central separating belt opening place later for part
It forms two-way to be lined up, forms congestion in central separating belt opening place at this time, the clearance of direct interference adjacent lane through vehicles causes
Keep opening traffic conflict and security risk very big, therefore proposes the setting of reverse changeable driveway and median opening length
Model, reverse changeable driveway, which can rationally be arranged, to the intersection of different scales has directive significance, and Adaptive Signal Control
System can promote to greatest extent the traffic capacity of intersection in control field, reduce traffic congestion.
Summary of the invention
In view of the above problems, the present invention proposes a kind of crossing self-adapting controlling party that reverse changeable driveway is arranged
Method and system, larger for Dual Left Turn flow and only one left turn lane intersection, are arranged reverse changeable driveway, pass through
Adaptive Signal Control promotes the traffic capacity of intersection, reduces traffic congestion.
To achieve the above object, specific technical solution of the present invention is as follows: a kind of intersection that reverse changeable driveway is set from
Adaptive control method, comprising the following steps:
1) median opening is set, wherein median opening length D2Minimum value D2minCalculation method is such as
Under:
In formula, B is vehicle width (m), w1For left-hand rotation entrance driveway width, w2For central strip bandwidth, w3For exit ramp
The width (m) of (reverse changeable driveway), rc1To force the critical turning radius after parking, rc2It is critical turn of not parking turning
Curved radius；
2) reverse changeable driveway is set, wherein the minimum value D of reverse changeable driveway design length1minThan Guide vehicle road length
Spend short 10m, reverse changeable driveway design length D1Maximum value D1maxIt calculates as follows:
3) adaptive generation signal time distributing conception, according to the sequence of phase variation the following steps are included:
3.1) start first phase, i.e. unlatching East and West direction main signal straight trip phase；
3.2) start second phase, i.e. unlatching north-south main signal left turn phase；
3.3) start third phase, i.e. unlatching north-south main signal straight trip phase；
3.4) start the 4th phase, i.e. unlatching East and West direction main signal left turn phase.
Further, above-mentioned steps 3.1) in, start first phase and includes the following steps:
3.1.1 thing straight trip phase) is opened；
3.1.2) judge whether that reaching pre-signal postpones minimum opening time td, 3.1.2 is gone to step if not reaching), it is no
Then go to step 3.1.3)；Wherein, pre-signal postpones minimum opening time tdIt calculates as follows:
In formula, DsFor north orientation Through Lane stop line to the distance of conflict point B, DlFor conflict point B to the camber line distance of point C,For vehicle launch acceleration, νlFor left turning vehicle negotiation of bends speed；
3.1.3) judge whether there is vehicle process on the reverse changeable driveway in north and south by detector, if passing through without vehicle
North-south pre-signal green light is opened, 3.1.4 is gone to step), otherwise go to step 3.1.3)；
3.1.4) judge whether thing straight trip long green light time has arrived setting minimum value tsIf arrival goes to step 3.1.5), it is no
Then, 3.1.4 is gone to step)；
3.1.5) judge whether thing straight trip green light reaches main signal straight trip green extension tex1If then closing east
3.2) west straight trip green light, goes to step, otherwise, goes to step 3.1.5)；Wherein, main signal straight trip green extension tex1Calculating side
Method is as follows:
In formula, D is the length of left-hand rotation entrance driveway and Through Lane, and n is Through Lane number, lsiExist for i-th Through Lane
Queue length after minimum of keeping straight on green time.
Further, above-mentioned steps 3.2) in, start second phase and includes the following steps:
3.2.1 north and south left turn phase) is opened；
3.2.2) judge whether left-hand rotation long green light time in north and south has arrived setting minimum value tl, according to the south detected if reaching
The queue length of northern left turn lane and reverse changeable driveway calculates north and south main signal left-hand rotation green extension tex2, go to step
3.2.3), otherwise, 3.2.2 is gone to step)；Wherein, main signal left-hand rotation green extension tex2Calculation method is as follows:
In formula, D is the length of left-hand rotation entrance driveway and Through Lane, l1It is reverse changeable driveway in the minimum green time that turns left
Later queue length；
3.2.3) according to tex2Judge whether pre-signal long green light time has arrived minimum shut-in time t in advancea, closed if reaching
North and south pre-signal green light is closed, 3.2.4 is gone to step), otherwise, go to step 3.2.3)；Wherein, minimum to shift to an earlier date shut-in time taCalculating side
Method is as follows:
In formula, D1For the length of reverse changeable driveway；νl' it is travel speed of the vehicle in reverse changeable driveway；
3.2.4) judge whether left-hand rotation green light in north and south reaches and extend time tex2If then closing north and south left-hand rotation green light, turn step
It is rapid 3.3), otherwise, go to step 3.2.4).
Further, in above-mentioned steps step 3.3), start third phase and include the following steps:
3.3.1 north and south straight trip phase) is opened；
3.3.2) judge whether to reach and postpone minimum opening time td, 3.3.2 is gone to step if not reaching), otherwise turn to walk
Rapid 3.3.3)；
3.3.3) judge whether there is vehicle process on the reverse changeable driveway of thing by detector, if passing through without vehicle
East and West direction pre-signal green light is opened, 3.3.4 is gone to step), otherwise go to step 3.3.3)；
3.3.4) judge whether north and south straight trip long green light time has arrived setting minimum value tsIf arrival goes to step 3.3.5), it is no
Then go to step 3.3.4)；
3.3.5) judge whether north and south straight trip green light reaches and extend time tex1If then closing north and south straight trip green light, turn step
It is rapid 3.4), otherwise go to step 3.3.5).
Further, above-mentioned steps 3.4) in, start the 4th phase and includes the following steps:
3.4.1 thing left turn phase) is opened；
3.4.2) judge whether thing left-hand rotation long green light time has arrived setting minimum value tl, according to the east detected if reaching
The queue length of western left turn lane and reverse changeable driveway calculates thing main signal left-hand rotation green extension tex2, go to step
3.4.3), otherwise, 3.4.2 is gone to step)；
3.4.3) according to tex2Judge whether pre-signal long green light time has arrived minimum shut-in time t in advancea, closed if reaching
Thing pre-signal green light is closed, 3.4.4 is gone to step), otherwise, go to step 3.4.3)；
3.4.4) judge whether thing left-hand rotation green light reaches and extend time tex2, if then closing thing left-hand rotation green light, turn step
It is rapid 3.1), otherwise go to step 3.4.4).
The present invention also provides a kind of crossing self-adapting control systems that reverse changeable driveway is arranged, it is characterised in that packet
It includes: 4 groups of electronic police rod pieces, 4 video flow detectors, 4 groups of intersection main signal lamp group rod pieces, 4 groups of reverse changeable driveways
Opening pre-signal lamp stand part and intersection normalized signal, convergence cabinet, wherein the electronic police rod piece is for installing
Electronic police equipment and video flow detector, each crossing configure an electronic police rod piece, be mounted on intersection respectively into
After mouth road stop line at 25m, it is placed on side point band or pavement；The video flow detector is for launching virtual video
Detection coil detects the queue length in import lane, is mounted on electronic police rod piece, and 1 group of electronic police rod piece installs 1 view
Frequency flow detector is connected by surpassing five class cables with the pole cabinet of electronic police rod piece, and by network cable transmission to convergence
Cabinet；The intersection main signal lamp group rod piece, for installing main signal light, whether the vehicle of the corresponding flow direction in control intersection leads to
Row is mounted on the side beside intersection exit road point band or pavement, and the exit ramp at each crossing configures one group of intersection
Main signal lamp group rod piece；The reverse changeable driveway opening pre-signal lamp stand part is controlled for installing pre-signal lamp in center
Can the vehicle that dividing strip opening waits drive into reverse changeable driveway, be mounted on median opening before wagon flow direction
End, each central separating belt opening place configure one group of reverse changeable driveway opening pre-signal lamp stand part；The intersection mark
Standardization signal, convergence cabinet generate main, pre-signal lamp timing scheme for receiving the detection data of video flow detector,
Control master, pre-signal lamp, are mounted on other than the pavement in a corner of intersection, by optical fiber and surpass five class cables and 4 groups
Main, pre-signal lamp is connected with the pole cabinet of electronic police rod piece.
Compared with prior art, the present invention passes through the length of reasonable computation reverse changeable driveway and median strip, is protecting
The traffic capacity is improved to the maximum extent under the premise of card safety；It is realized by adaptive timing more accurately reverse variable
The Adaptive Signal Control of lane intersection.
Detailed description of the invention
The reverse changeable driveway crossing self-adapting whistle control system composition schematic diagram of Fig. 1.
The reverse changeable driveway crossing self-adapting signal control flow chart of Fig. 2.
Fig. 3 reverse changeable driveway crossing inlet road vehicle lane change driving trace figure.
The intersection Fig. 4 phase transition process vehicle running state figure.
The reverse changeable driveway intersection master of Fig. 5, pre-signal phase diagram.
Specific embodiment
Present invention will be further explained with reference to the attached drawings and specific examples, it should be pointed out that below only
Technical solution of the present invention and design principle are described in detail with a kind of technical solution of optimization, but guarantor of the invention
Shield range is not limited to this.
The embodiment is a preferred embodiment of the present invention, but present invention is not limited to the embodiments described above, not
In the case where substantive content of the invention, any conspicuous improvement that those skilled in the art can make, replacement
Or modification all belongs to the scope of protection of the present invention.
A kind of crossing self-adapting control system that reverse changeable driveway is set, as shown in Fig. 1, comprising: 4 groups of electronics are alert
Examine rod piece, 4 video flow detectors, 4 groups of intersection main signal lamp group rod pieces, 4 groups of reverse changeable driveway opening pre-signals
Lamp stand part and intersection normalized signal, convergence cabinet, in which:
For electronic police rod piece for installing electronic police equipment and video flow detector, each crossing configures an electricity
Sub- police's rod piece is mounted on after each entrance driveway stop line in intersection at 25m, is placed on side point band or pavement.
Video flow detector, for launching virtual video detection line circle, (every is set for the queue length in detection import lane
The standby queue length that can detecte 4 import lanes), it is mounted on electronic police rod piece, 1 group of electronic police rod piece installs 1
Video flow detector is connected by surpassing five class cables with the pole cabinet of electronic police rod piece, and by network cable transmission to remittance
Poly- cabinet.
Intersection main signal lamp group rod piece (4 groups, main signal 1-4), for installing main signal light, control intersection is corresponding
Whether the vehicle of flow direction passes through, and is mounted on the side beside intersection exit road point band or pavement, the outlet at each crossing
Road configures one group of intersection main signal lamp group rod piece；
Reverse changeable driveway opening pre-signal lamp stand part (4 groups, pre-signal 1-4) is controlled for installing pre-signal lamp
Reverse changeable driveway can be driven into the vehicle that central separating belt opening place waits, is mounted on median opening along wagon flow side
To front end, each central separating belt opening place configure one group of reverse changeable driveway opening pre-signal lamp stand part；
Intersection normalized signal, convergence cabinet generate main, pre- for receiving the detection data of video flow detector
The timing scheme of signal lamp, control master, pre-signal lamp, is mounted on other than the pavement in a corner of intersection, passes through optical fiber
It is connected with five class cables are surpassed with the pole cabinet of 4 groups of masters, pre-signal lamp and electronic police rod piece.
Fig. 5 show a kind of flow chart of crossing self-adapting control method that reverse changeable driveway is arranged, including as follows
Step:
1) median opening is set
As shown in figure 3, vehicle by left-hand rotation entrance driveway with critical turning radius complete for the first time turning sail out of left turn lane to
Up to point T, second turning is then carried out with critical turning radius again and drives into reverse changeable driveway, but first time turning radius and
The distance of half of body width is differed between second of turning radius, therefore, median opening is easily obtained by geometrical principle
Length D2Minimum value D2minCalculation method is as follows:
In formula, B is vehicle width (m), w1For left-hand rotation entrance driveway width, w2For central strip bandwidth, w3For exit ramp
The width (m) of (reverse changeable driveway), can field survey acquirement；rc1And rc2For critical turning radius, value can be from critical turn
It is checked in curved radius table；rc1To force the critical turning radius after parking, rc2For the critical turning radius of not parking turning, tool
During body is implemented, rc1Take 8m；rc212m is taken, in median opening minimum length D when actual setting2On the basis of can take the circumstances into consideration increase
Add certain length.
2) reverse changeable driveway is set
The central strip band model according to step 1, reverse changeable driveway design length D1Maximum value D1maxIt calculates such as
Under:
According to urban intersection design specification, the minimum value D of reverse changeable driveway design length1minIt needs to compare guided vehicle road
The short 10m of length is lined up using Guide vehicle diatom constraint vehicle order, and in specific implementation, when actual setting, reverse changeable driveway was needed
In D1minAnd D1maxBetween value.
3) adaptive generation signal time distributing conception, according to the sequence of phase variation the following steps are included:
3.1) start first phase, i.e. unlatching East and West direction main signal straight trip phase, include the following steps:
3.1.1 thing straight trip phase) is opened, as shown in Figure 1, opening 1, No. 3 straight trip green light of main signal；
3.1.2) judge whether to reach and postpone minimum opening time td, 3.1.2 is gone to step if not reaching), otherwise turn to walk
Rapid 3.1.3)；
Because a upper phase for thing straight trip phase is that thing turns left, as shown in Figure 1, i.e. 1, No. 3 left-hand rotation green light of main signal
Phase, pre-signal postpone minimum opening time tdIt is to guarantee that north and south left turning vehicle can after the left-hand rotation green light of north and south
Completely by thing exit ramp, guarantees that exit ramp empties, East and West direction left turning vehicle could be allowed to drive into reverse changeable driveway.Such as Fig. 4
Shown, after north and south left-hand rotation green light, last left turning vehicle of southing mouth is driven at A, and the green light of north-south straight trip at this time is put
It goes, southern side left turning vehicle need to guarantee to run over B point before north orientation through vehicles reach conflict point B, and therefore, pre-signal delay is minimum
Opening time tdIt can calculate as follows:
In formula, DsFor north orientation Through Lane stop line to the distance (m) of conflict point B, DlFor conflict point B to point C camber line away from
From, can field survey obtain；For vehicle launch acceleration；νlFor left turning vehicle negotiation of bends speed, radar can be used to survey
Fast instrument measurement obtains；
3.1.3) judge whether there is vehicle process on the reverse changeable driveway in north and south by detector, if passing through without vehicle
North-south pre-signal green light is opened, as shown in Figure 1, opening pre-signal 2,4 signal lamps, goes to step 3.1.4), otherwise go to step
3.1.3)；
3.1.4) judge whether thing straight trip long green light time has arrived setting minimum value ts, according to the east detected if reaching
Western Through Lane queue length calculates thing main signal straight trip green extension tex1, go to step 3.1.5), otherwise, go to step
3.1.4)；
Main signal straight trip green light sets minimum value tsThe phase pedestrian that needs to guarantee to keep straight on can pass through intersection, by intersection
Size and pedestrian's average speed determine that pedestrian designs crossing speed and generally takes 1.2m/s, depending on the difference of pavement length, main signal
Green light of keeping straight on sets minimum value value generally within the scope of 10-20s；
3.1.5) judge whether thing straight trip green light reaches and extend time tex1, if then closing thing straight trip green light, turn step
It is rapid 3.2), otherwise, go to step 3.1.5)；
Main signal straight trip green extension tex1Minimum time t is reached for main signal straight trip green lightsAfterwards, depending on the volume of traffic
Size extends a part straight trip green time under the premise of guaranteeing the intersection entirety traffic capacity.Inversely changeable driveway is excellent
Point increases a left turn lane first is that passing through more, increases the left-hand rotation traffic capacity, can suitably reduce left-hand rotation long green light time, and increase
Add straight trip phase long green light time.Main signal straight trip green extension tex1Value range is generally set to 30-40s.The present invention is green
After lamp sets minimum value, it is straight that main signal is calculated as follows in the lane data queued obtained in real time by video flow detector
Row green extension tex1:
In formula: D is the length (m) of left-hand rotation entrance driveway and Through Lane, and n is Through Lane number, can field survey acquisition；
lsiFor queue length (m) of i-th Through Lane after minimum green time of keeping straight on；It is that video flow detector obtains in real time
It takes.
3.2) start second phase: i.e. unlatching north-south main signal left turn phase includes the following steps:
3.2.1 north and south left turn phase) is opened；As shown in Figure 1, opening 2, No. 4 left-hand rotation green lights of main signal；
3.2.2) judge whether left-hand rotation long green light time in north and south has arrived setting minimum value tl, according to the south detected if reaching
The queue length of northern left turn lane and reverse changeable driveway calculates north and south main signal left-hand rotation green extension tex2, go to step
3.2.3), otherwise, 3.2.2 is gone to step)；
Main signal left-hand rotation green light sets minimum value tlIt is big according to practical intersection when not sharing right-of-way with pedestrian phases
The small value within the scope of 5-10s.
Main signal left-hand rotation green extension tex2Minimum time t is reached for main signallAfterwards, it depending on the size of the volume of traffic, is protecting
Extend a part of green time under the premise of the card phase entirety traffic capacity.Main signal left-hand rotation green extension tex2Value model
It encloses and is generally set to 20-30s.The present invention is after green light sets minimum value, the lane that is obtained in real time by video flow detector
Main signal green extension is calculated as follows in data queued:
In formula: D is the length (m) of left-hand rotation entrance driveway and Through Lane, can field survey acquisition；l1For reverse changeable driveway
Queue length (m) after the minimum green time that turns left, is that video flow detector obtains in real time.
3.2.3) according to tex2Judge whether pre-signal long green light time has arrived minimum shut-in time t in advancea, closed if reaching
North and south pre-signal green light is closed, 3.2.4 is gone to step), otherwise, go to step 3.2.3)；
Pre-signal minimum shifts to an earlier date shut-in time taIt is to guarantee to enter reverse changeable driveway during pre-signal green light
Vehicle can fully enter intersection during main signal left-hand rotation green light, that is, guarantee that reverse changeable driveway empties, prevent from inversely may be used
The left turning vehicle and opposite through vehicles for becoming lane clash.Therefore pre-signal minimum shifts to an earlier date shut-in time taIt is exactly pre-signal
Green light is equal to vehicle into reverse changeable driveway until being driven out to when driving than the time that main signal left-hand rotation green light terminates in advance
Between, it can calculate as follows:
In formula, D1For the length (m) of reverse changeable driveway；νl' it is travel speed of the vehicle in reverse changeable driveway,
It is obtained by factual survey.
3.2.4) judge whether left-hand rotation green light in north and south reaches and extend time tex2If then closing north and south left-hand rotation green light, turn step
It is rapid 3.3), otherwise, go to step 3.2.4)；
3.3) start third phase: i.e. unlatching north-south main signal straight trip phase
3.3.1 north and south straight trip phase) is opened；As shown in Figure 1, opening 2, No. 4 straight trip green lights of main signal；
3.3.2) judge whether to reach and postpone minimum opening time td, 3.3.2 is gone to step if not reaching), otherwise turn to walk
Rapid 3.3.3)；
3.3.3) judge whether there is vehicle process on the reverse changeable driveway of thing by detector, if passing through without vehicle
East and West direction pre-signal green light is opened, as shown in Figure 1, opening pre-signal 1,3 signal lamps, goes to step 3.3.4), otherwise go to step
3.3.3)；
3.3.4) judge whether north and south straight trip long green light time has arrived setting minimum value ts, according to the south detected if reaching
Northern Through Lane queue length calculates north and south main signal straight trip green extension tex1, go to step 3.3.5), otherwise, go to step
3.3.4)；
3.3.5) judge whether north and south straight trip green light reaches and extend time tex1If then closing north and south straight trip green light, turn step
It is rapid 3.4), otherwise, go to step 3.3.5)；
3.4) start the 4th phase: i.e. unlatching East and West direction main signal left turn phase
3.4.1 thing left turn phase) is opened；
3.4.2) judge whether thing left-hand rotation long green light time has arrived setting minimum value tl, according to the east detected if reaching
The queue length of western left turn lane and reverse changeable driveway calculates thing main signal left-hand rotation green extension tex2, go to step
3.4.3), otherwise, 3.4.2 is gone to step)；
3.4.3) according to tex2Judge whether pre-signal long green light time has arrived minimum shut-in time t in advancea, closed if reaching
Thing pre-signal green light is closed, 3.4.4 is gone to step), otherwise, go to step 3.4.3)；
3.4.4) judge whether thing left-hand rotation green light reaches and extend time tex2, if then closing thing left-hand rotation green light, turn step
It is rapid 3.1), otherwise, go to step 3.4.4).
Claims (6)
1. a kind of crossing self-adapting control method that reverse changeable driveway is arranged, which comprises the following steps:
1) median opening is set, wherein median opening length D2Minimum value D2minCalculation method is as follows:
In formula, B is vehicle width (m), w1For left-hand rotation entrance driveway width, w2For central strip bandwidth, w3It is (reverse for exit ramp
Changeable driveway) width (m), rc1To force the critical turning radius after parking, rc2For the critical turning half of not parking turning
Diameter；
2) reverse changeable driveway is set, wherein the minimum value D of reverse changeable driveway design length1minIt is shorter than guided vehicle road length
10m, reverse changeable driveway design length D1Maximum value D1maxIt calculates as follows:
3) adaptive generation signal time distributing conception, according to the sequence of phase variation the following steps are included:
3.1) start first phase, i.e. unlatching East and West direction main signal straight trip phase；
3.2) start second phase, i.e. unlatching north-south main signal left turn phase；
3.3) start third phase, i.e. unlatching north-south main signal straight trip phase；
3.4) start the 4th phase, i.e. unlatching East and West direction main signal left turn phase.
2. the crossing self-adapting control method of reverse changeable driveway is arranged as described in claim 1, which is characterized in that described
In step 3.1), starts first phase and include the following steps:
3.1.1 thing straight trip phase) is opened；
3.1.2) judge whether that reaching pre-signal postpones minimum opening time td, 3.1.2 is gone to step if not reaching), otherwise turn to walk
Rapid 3.1.3)；Wherein, pre-signal postpones minimum opening time tdIt calculates as follows:
In formula, DsFor north orientation Through Lane stop line to the distance of conflict point B, DlFor conflict point B to the camber line distance of point C,For
Vehicle launch acceleration, νlFor left turning vehicle negotiation of bends speed；
3.1.3) judge whether there is vehicle process on the reverse changeable driveway in north and south by detector, opened if passing through without vehicle
North-south pre-signal green light, goes to step 3.1.4), otherwise go to step 3.1.3)；
3.1.4) judge whether thing straight trip long green light time has arrived setting minimum value tsIf arrival goes to step 3.1.5), otherwise, turn
Step 3.1.4)；
3.1.5) judge whether thing straight trip green light reaches main signal straight trip green extension tex1If it is straight then to close thing
3.2) row green light is gone to step, otherwise, go to step 3.1.5)；Wherein, main signal straight trip green extension tex1Calculation method is such as
Under:
In formula, D is the length of left-hand rotation entrance driveway and Through Lane, and n is Through Lane number, lsiIt is keeping straight on for i-th Through Lane
Queue length after minimum green time.
3. the crossing self-adapting control method of reverse changeable driveway is arranged as described in claim 1, which is characterized in that described
In step 3.2), starts second phase and include the following steps:
3.2.1 north and south left turn phase) is opened；
3.2.2) judge whether left-hand rotation long green light time in north and south has arrived setting minimum value tl, left according to the north and south detected if reaching
It changes trains or buses and the queue length of reverse changeable driveway, calculates north and south main signal and turn left green extension tex2, go to step
3.2.3), otherwise, 3.2.2 is gone to step)；Wherein, main signal left-hand rotation green extension tex2Calculation method is as follows:
In formula, D is the length of left-hand rotation entrance driveway and Through Lane, l1It is reverse changeable driveway after the minimum green time that turns left
Queue length；
3.2.3) according to tex2Judge whether pre-signal long green light time has arrived minimum shut-in time t in advancea, north and south is closed if reaching
Pre-signal green light, goes to step 3.2.4), otherwise, go to step 3.2.3)；Wherein, minimum to shift to an earlier date shut-in time taCalculation method is such as
Under:
In formula, D1For the length of reverse changeable driveway；νl' it is travel speed of the vehicle in reverse changeable driveway；
3.2.4) judge whether left-hand rotation green light in north and south reaches and extend time tex2If then closing north and south left-hand rotation green light, go to step
3.3) 3.2.4, otherwise, is gone to step).
4. the crossing self-adapting control method of reverse changeable driveway is arranged as described in claim 1, which is characterized in that described
In step 3.3), starts third phase and include the following steps:
3.3.1 north and south straight trip phase) is opened；
3.3.2) judge whether to reach and postpone minimum opening time td, 3.3.2 is gone to step if not reaching), otherwise go to step
3.3.3)；
3.3.3) judge whether there is vehicle process on the reverse changeable driveway of thing by detector, opened if passing through without vehicle
East and West direction pre-signal green light, goes to step 3.3.4), otherwise go to step 3.3.3)；
3.3.4) judge whether north and south straight trip long green light time has arrived setting minimum value tsIf arrival goes to step 3.3.5), otherwise turn to walk
Rapid 3.3.4)；
3.3.5) judge whether north and south straight trip green light reaches and extend time tex1If then closing north and south straight trip green light, go to step
3.4) 3.3.5, is otherwise gone to step).
5. the crossing self-adapting control method of reverse changeable driveway is arranged as described in claim 1, which is characterized in that described
In step 3.4), starts the 4th phase and include the following steps:
3.4.1 thing left turn phase) is opened；
3.4.2) judge whether thing left-hand rotation long green light time has arrived setting minimum value tl, left according to the thing detected if reaching
It changes trains or buses and the queue length of reverse changeable driveway, calculates thing main signal and turn left green extension tex2, go to step
3.4.3), otherwise, 3.4.2 is gone to step)；
3.4.3) according to tex2Judge whether pre-signal long green light time has arrived minimum shut-in time t in advancea, thing is closed if reaching
Pre-signal green light, goes to step 3.4.4), otherwise, go to step 3.4.3)；
3.4.4) judge whether thing left-hand rotation green light reaches and extend time tex2If then closing thing left-hand rotation green light, go to step
3.1) 3.4.4, is otherwise gone to step).
6. a kind of crossing self-adapting control system that reverse changeable driveway is arranged, characterized by comprising: 4 groups of electronic police bars
Part, 4 video flow detectors, 4 groups of intersection main signal lamp group rod pieces, 4 groups of reverse changeable driveway opening pre-signal lamp stands
Part and intersection normalized signal, convergence cabinet, wherein the electronic police rod piece is for installing electronic police equipment and view
Frequency flow detector, each crossing configure an electronic police rod piece, are mounted on 25m after each entrance driveway stop line in intersection
Place is placed on side point band or pavement；The video flow detector detects import for launching virtual video detection line circle
The queue length in lane is mounted on electronic police rod piece, and 1 group of electronic police rod piece installs 1 video flow detector, is passed through
Surpass five class cables to be connected with the pole cabinet of electronic police rod piece, and gives convergence cabinet by network cable transmission；The intersection master
Signal lamp group rod piece, for installing main signal light, whether the vehicle of the corresponding flow direction in control intersection passes through, is mounted on intersection and goes out
On side point band or pavement beside mouth road, the exit ramp at each crossing configures one group of intersection main signal lamp group rod piece；Institute
Reverse changeable driveway opening pre-signal lamp stand part is stated, for installing pre-signal lamp, control is waited in central separating belt opening place
Vehicle can drive into reverse changeable driveway, be mounted on median opening along the front end in wagon flow direction, each center point
One group of reverse changeable driveway opening pre-signal lamp stand part is configured every band opening；The intersection normalized signal, convergence machine
Case generates main, pre-signal lamp timing scheme, control master, pre-signal for receiving the detection data of video flow detector
Lamp is mounted on other than the pavement in a corner of intersection, by optical fiber and surpass five class cables and 4 groups of masters, pre-signal lamp and
The pole cabinet of electronic police rod piece is connected.
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