CN109461316A - Urban road intersection signal switching control method - Google Patents
Urban road intersection signal switching control method Download PDFInfo
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- CN109461316A CN109461316A CN201811363602.8A CN201811363602A CN109461316A CN 109461316 A CN109461316 A CN 109461316A CN 201811363602 A CN201811363602 A CN 201811363602A CN 109461316 A CN109461316 A CN 109461316A
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- 238000000034 method Methods 0.000 title claims abstract description 71
- 238000000819 phase cycle Methods 0.000 claims description 13
- 230000001052 transient effect Effects 0.000 claims description 10
- 230000007704 transition Effects 0.000 claims description 10
- 238000011217 control strategy Methods 0.000 claims description 7
- 230000004069 differentiation Effects 0.000 claims description 3
- 230000002068 genetic effect Effects 0.000 claims description 3
- 230000035772 mutation Effects 0.000 claims description 3
- 238000005457 optimization Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
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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
- G08G1/081—Plural intersections under common control
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Abstract
The invention provides a signal switching control method for an urban road intersection, which judges the running state of the intersection by using a controllable state index, designs controllable state control and uncontrollable state control aiming at different controllable states, and designs switching control by using a switching control idea. When the control method is designed, an emptying strategy is taken into consideration as a control means in a controllable state, and the minimum total queuing vehicle number of each phase is set as the basis of the target function design control method in an uncontrollable state, so that the problems caused by traffic fluctuation and randomness of urban roads are solved.
Description
Technical field
The invention belongs to urban road intersection signal control fields, and in particular to one kind can for intersection difference
The switching of the lower scheme of control state is a kind of urban road intersection switch method of remote signal method.
Background technique
With continuing to increase for car ownership, urban road congestion situation is on the rise.And intersection is as city
The important component of city traffic transhipment and safe passing, carries important supporting role.And urban highway traffic naturally has
The characteristics of some macroscopic laws and microoscillations, randomness, makes integrative design intersection become complicated and is difficult to come into force.Especially
It is even more difficult in the adaptation to microoscillations, randomness.Therefore, to adapt to traffic flow microscopic characteristics as core
Intersection signal control method is designed, for alleviating urban road traffic congestion, keeping road network traffic flow stabilization, guarantee driving peace
There is extremely important meaning entirely.
Summary of the invention
For Current City Road intersection signal control method insufficient present on discriminant criterion and policy flexibility,
The thought for utilizing switching control herein, separately designs control method according to intersection controllable state, and sets controllable state switching
Index can effectively adapt to the microscopic characteristics of traffic flow, implement to be precisely controlled.Specifically adopt the following technical scheme that this method packet
Include following steps
Step 1: establishing digraph Y={ Z, E } indicates the switching of control method, in which: Z is the set of control method；
E={ R < 0:zi,zj∈ Y } be control method transition set；
Establish the control strategy under different state of a controls:
Z={ z1,z2}
In formula: z1For integrative design intersection strategy, z under controllable state2For integrative design intersection plan under uncontrollable state
Slightly；
The handoff procedure of intersection signal are as follows: carve t at the beginning0, there is the intersection of fixed control phase sequence, initial queue
For xoi, control strategy z1, before the generation of switching condition R < 0, it then follows the integrative design intersection strategy z under controllable state1；
In t1Moment, switching condition R < 0 occur, and control strategy transition are z2, hereafter follow the integrative design intersection under uncontrollable state
Tactful z2；
Step 2: switching intersection signal by judging the controllability of intersection, and specific switching law is as follows:
(1) intersection traffic state is judged, if intersection uses under controllable state in undersaturated condition
Integrative design intersection strategy z1；If the state of a control for judging intersection in hypersaturated state, is continued in intersection；
(2) state of a control of intersection is judged, if intersection, in controllable state, intersection uses z1；
If intersection is set as the transient period in uncontrollable state, by the current cycle of operation, and judges whether the transient period ties
Beam then uses z when transition end cycle2；
(3) for the differentiation of integrative design intersection state, only once judged in a cycle of operation.
Preferably,
(1) the integrative design intersection strategy z under the controllable state1, specifically:
1) the control phase number of intersection is set as n, and phase 1 obtains right-of-way first, and phase sequence is 1 → 2... → n → 1 | n
≥2；
2) when phase i obtains right-of-way, and its interior wagon flow is emptied xi(k)=0, Phase-switching is to next phase i+1, i
=1 ..., n-1 | n >=2；When phase n obtains right-of-way, and its interior wagon flow is emptied xn(k)=0, phase is switched to phase again
1；
3) when phase i obtains right-of-way, Effective Green Time meets:
If
Then have
4) when phase i is switched to phase i+1, the phase loss time is li(i+1)> 0, i=1 ..., n-1 | n >=2；Work as phase
When position n is switched to phase 1, the phase loss time is ln1；
(2) the integrative design intersection strategy z under the uncontrollable state2, specifically:
1) the intersection major parameter under uncontrollable state has following relationship:
So thatIt enables:Then have:
Being located at kth period each phase has initial queue xio(k), then it is always lined up in the intersection kth period are as follows:
2) it is optimized using genetic algorithm
A) phase 1 obtains right-of-way first, and phase sequence is 1 → 2... → n → 1 | and n >=2 (any fixed phase sequence)；
B) objective function is set by the total queuing vehicle number minimum of each phase in intersection in the period
And meet constraint condition:
C) fitness function is set are as follows:
D) design includes population scale, crossover probability, mutation probability, optimization algebra；
Wherein, qi(k) flow rate, u are reached for phase i vehicle in the k periodiIt (k) is phase i vehicle departure rate in the k period, qm
For maximum stream flow, vmTo reach speed when maximum stream flow, kmTo reach density when maximum stream flow, kjFor jam density, SiFor
The saturation volume rate of phase i, xiIt (k) is the vehicle number of the queuing formed of phase i in the k period, xioIt (k) is the first of phase i in the k period
Begin the vehicle being lined up, Δ xiFor the remaining queue length of phase i,For standard vehicle the space occupied length,For riAt the end of
The increased value of queue length,For giAt the end of queue length shorten value, QiIt (k) is the traffic capacity of phase i in the k period, Pi
It (k) is the vehicle let pass in the unit time of phase i in the k period, giFor the green time of phase i, gciTo be counted using Webster
The initial phase green time of calculation, gi(k) green time obtained for phase i in the k period, li(i+1)For phase i and phase i+1
Between transit time.
The present invention has following beneficial technical effect:
(1) method for handover control, which fully takes into account, differentiates that intersection traffic state is done control method switching and deposited using saturation degree
Deficiency, therefore using controllable state as switching criterion, it is ensured that adaptability of the different control methods to traffic behavior
With the accuracy of switching, and can guarantee intersection operation stability；
(2) being quickly converted for intersection signal can be ensured for the Flushing Policy of controllable state design, improve operating effect
Rate；For the controlling party for being set as objective function with the total queuing vehicle number minimum of each phase in intersection of uncontrollable Design of State
Method can guarantee that the traffic flow of intersection all directions is balanced, not easily cause backtracking and spilling.
Detailed description of the invention
Fig. 1 is handoff procedure schematic diagram.
Fig. 2 is switching control flow chart.
Fig. 3 is certain intersection profile of flowrate.
Fig. 4 is the intersection queueing condition figure under different control methods.
Specific embodiment
In Fig. 1, the switching condition of method for handover control is determined by controllable state index R, as R < 0, intersection in
Controllable state uses controllable state control method at this time；As R > 0, intersection is in uncontrollable state, at this time using uncontrollable
Condition control method.
In Fig. 2, specific control logic is provided, and integrative design intersection is to judge whether intersection is supersaturated first,
If differentiate result be it is no, be determined as undersaturation, control judges whether the transient period terminates into the controllable transition period,
Implement the control method of controllable state if terminating；If intersection is determined as supersaturation, need further to judge intersection
Whether in controllable state, if differentiate result be it is yes, be determined as that state is controllable, control judges into the controllable transition period
Whether the transient period terminates, and implements the control method of controllable state if terminating；If intersection is determined as uncontrollable, control
Into the uncontrollable transient period, and judge whether the transient period terminates, implements the control method of uncontrollable state if terminating.
In figs. 3 and 4, it has chosen certain intersection to be analyzed as example, there are initial queues for intersection, are starting rank
Section is since intersection is in " controllable " state, and each phase queue length is gradually reduced until stabilization, over time due to each
The flow of phase increases, and intersection turns to " uncontrollable " from " controllable ", and phase queuing at this time gradually increases, and hereafter intersection repeats
There is aforementioned process.It can be seen from the figure that various control methods can be carried out effectively when intersection is when " controllable state "
Control, when intersection signal switches to " uncontrollable to hit him ", mentioned switching control herein enables to each phase in intersection
It is lined up summation and reaches minimum, so that intersection is effectively controlled under " uncontrollable state ".Meanwhile intersection is in difference
Under state in conversion process, wherein switching control can make the queuing amplitude of variation of each phase minimum, avoid the occurrence of queuing and substantially shake
The phenomenon that swinging.
Urban road intersection switch method of remote signal method of the invention, this method are intersected using the judgement of controllable state index
Mouth operating status, and for the different control of controllable Design of State controllable state and the control of uncontrollable state, and utilize switching
Control thought designs switching control.Control method under different state of a controls is the guarantee that intersection operated normally, prevented and treated congestion.
Intersection signal switching control refers to the switching of Multiphase Control Traffic intersection control method under different state of a controls.Including as follows
Step:
Step 1: according to switching system theory, the switching of control method can be indicated with digraph Y={ Z, E },
In: Z is the set of control method；E={ R < 0:zi,zj∈ Y } be control method transition (discrete event) set, R < 0 expression make
Control method miIt is transitted towards mjCondition.
According to intersection controllability it is found that the control method under different state of a controls is divided into:
Z={ z1,z2} (1)
In formula: z1For integrative design intersection strategy, z under controllable state2For integrative design intersection plan under uncontrollable state
Slightly.
The handoff procedure of intersection signal control method is described as follows: carving t at the beginning0, there is fixed control phase sequence
Intersection, initial queue xoi, control method z1, before the generation of switching condition R < 0, it then follows the intersection under " controllable state "
Mouth signal control method z1；In t1Moment, switching condition R < 0 occur, and control method transition are z2, i.e. the generation of switching condition R < 0
Cause control method from z1Transition are z2, hereafter intersection will comply with the intersection signal control method z under " uncontrollable state "2,
And handoff procedure dynamic change with the variation of switching condition.
Step 2: the method that the switching law of prong control method uses logic judgment, by judging the controllable of intersection
Property determines which kind of control method intersection should be in.Specific switching law is as follows:
(1) intersection traffic state is judged, if intersection is in undersaturated condition, intersection uses " can
Control method under control state "；If the state of a control for judging intersection in hypersaturated state, is continued in intersection；
(2) state of a control of intersection is judged, if intersection in " controllable state ", i.e. R > 0, then intersection
Using the control method under " controllable state "；If intersection is in " uncontrollable state ", i.e. R < 0, then by the current cycle of operation
It is set as the transient period, and judges whether the transient period terminates.When transition end cycle, then using the control under " uncontrollable state "
Method processed；
(3) for the differentiation of integrative design intersection state, only once judged in a cycle of operation.
Step 3: for " controllable state " in above-mentioned designed switching control, using method control as follows:
Step1: the control method can be used when intersection is in controllable state, and wherein intersection is in controllable state
Using the sufficient and necessary condition of this control method；
Step2: setting the control phase number of intersection as n, and phase 1 obtains right-of-way first, and phase sequence is 1 → 2... → n
→ 1 | n >=2 (any fixed phase sequence)；
Step3: when phase i obtains right-of-way, and its interior wagon flow is emptied xi(k)=0, Phase-switching is to next phase i+
1, i=1 ..., n-1 | n >=2；When phase n obtains right-of-way, and its interior wagon flow is emptied xn(k)=0, phase is switched to again
Phase 1；
Step4: when phase i obtains right-of-way, Effective Green Time meets:
If
Then have
Step5: when phase i is switched to phase i+1, the phase loss time is li(i+1)> 0, i=1 ..., n-1 | n >=2；
When phase n is switched to phase 1, the phase loss time is ln1.
Step 4: for " the uncontrollable state " in above-mentioned switching control model, using method control as follows:
Setp1: the control method can be used when intersection is in uncontrollable state, and wherein intersection is in uncontrollable shape
State is the sufficient and necessary condition using this control method；
Setp2: the intersection major parameter under uncontrollable state has following relationship:
It is obtained by formula (13) and (14):
Qi(k)=Pi(k) (5)
I.e.It converts:
So thatIt enables:Then have:
Being located at kth period each phase has initial queue xio(k), then it is always lined up in the intersection kth period are as follows:
Setp3: it is optimized using genetic algorithm
A) phase 1 obtains right-of-way first, and phase sequence is 1 → 2... → n → 1 | and n >=2 (any fixed phase sequence)；
B) objective function is set by the total queuing vehicle number minimum of each phase in intersection in the period
And (9) formula meets constraint condition:
C) fitness function is set are as follows:
D) design includes population scale, crossover probability, mutation probability, optimization algebra etc..
Symbol description:
Claims (2)
1. a kind of urban road intersection switch method of remote signal method, which is characterized in that this method comprises the following steps:
Step 1: establishing digraph Y={ Z, E } indicates the switching of control method, in which: Z is the set of control method；E=R <
0:zi,zj∈ Y } be control method transition set；
Establish the control strategy under different state of a controls:
Z={ z1,z2}
In formula: z1For integrative design intersection strategy, z under controllable state2For integrative design intersection strategy under uncontrollable state；
The handoff procedure of intersection signal are as follows: carve t at the beginning0, there is the intersection of fixed control phase sequence, initial queue is
xoi, control strategy z1, before the generation of switching condition R < 0, it then follows the integrative design intersection strategy z under controllable state1；?
t1Moment, switching condition R < 0 occur, and control strategy transition are z2, hereafter follow the integrative design intersection plan under uncontrollable state
Slightly z2；
Step 2: switching intersection signal by judging the controllability of intersection, and specific switching law is as follows:
(1) intersection traffic state is judged, if intersection uses the friendship under controllable state in undersaturated condition
Prong signal control strategy z1；If the state of a control for judging intersection in hypersaturated state, is continued in intersection；
(2) state of a control of intersection is judged, if intersection, in controllable state, intersection uses z1；If handed over
Prong is in uncontrollable state, then sets the transient period for the current cycle of operation, and judge whether the transient period terminates, served as
End cycle is crossed, then uses z2；
(3) for the differentiation of integrative design intersection state, only once judged in a cycle of operation.
2. a kind of urban road intersection switch method of remote signal method as described in claim 1, which is characterized in that
(1) the integrative design intersection strategy z under the controllable state1, specifically:
1) the control phase number of intersection is set as n, and phase 1 obtains right-of-way first, and phase sequence is 1 → 2... → n → 1 | n >=2；
2) when phase i obtains right-of-way, and its interior wagon flow is emptied xi(k)=0, Phase-switching is to next phase i+1, i=
1,…,n-1|n≥2；When phase n obtains right-of-way, and its interior wagon flow is emptied xn(k)=0, phase is switched to phase 1 again；
3) when phase i obtains right-of-way, Effective Green Time meets:
If
Then have
4) when phase i is switched to phase i+1, the phase loss time is li(i+1)> 0, i=1 ..., n-1 | n >=2；When phase n is cut
When changing to phase 1, the phase loss time is ln1。
(2) the integrative design intersection strategy z under the uncontrollable state2, specifically:
1) the intersection major parameter under uncontrollable state has following relationship:
So thatIt enables:Then have:
Being located at kth period each phase has initial queue xio(k), then it is always lined up in the intersection kth period are as follows:
2) it is optimized using genetic algorithm
A) phase 1 obtains right-of-way first, and phase sequence is 1 → 2... → n → 1 | and n >=2 (any fixed phase sequence)；
B) objective function is set by the total queuing vehicle number minimum of each phase in intersection in the period
And meet constraint condition:
C) fitness function is set are as follows:
D) design includes population scale, crossover probability, mutation probability, optimization algebra；
Wherein, qi(k) flow rate, u are reached for phase i vehicle in the k periodiIt (k) is phase i vehicle departure rate in the k period, qmFor most
Big flow, vmTo reach speed when maximum stream flow, kmTo reach density when maximum stream flow, kjFor jam density, SiFor phase
The saturation volume rate of i, xiIt (k) is the vehicle number of the queuing formed of phase i in the k period, xioIt (k) is the initial row of phase i in the k period
The vehicle of team, Δ xiFor the remaining queue length of phase i,For standard vehicle the space occupied length,For riAt the end of be lined up
The increased value of length,For giAt the end of queue length shorten value, QiIt (k) is the traffic capacity of phase i in the k period, Pi(k)
The vehicle let pass in unit time for phase i in the k period, giFor the green time of phase i, gciTo be calculated using Webster
Initial phase green time, gi(k) green time obtained for phase i in the k period, li(i+1)For phase i and phase i+1 it
Between transit time.
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Cited By (4)
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| CN110136444A (en) * | 2019-06-06 | 2019-08-16 | 南京慧尔视智能科技有限公司 | A kind of intersection green light sky puts time calculation method and device |
| CN110164128A (en) * | 2019-04-23 | 2019-08-23 | 银江股份有限公司 | A kind of City-level intelligent transportation analogue system |
| CN110189531A (en) * | 2019-05-22 | 2019-08-30 | 东南大学 | A kind of urban road the crossway of the main stem coordinated control transition scheme formulating method |
| CN112216121A (en) * | 2020-09-23 | 2021-01-12 | 公安部交通管理科学研究所 | Traffic trunk line signal coordination control rapid transition adjustment method and system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110164128A (en) * | 2019-04-23 | 2019-08-23 | 银江股份有限公司 | A kind of City-level intelligent transportation analogue system |
| CN110164128B (en) * | 2019-04-23 | 2020-10-27 | 银江股份有限公司 | City-level intelligent traffic simulation system |
| CN110189531A (en) * | 2019-05-22 | 2019-08-30 | 东南大学 | A kind of urban road the crossway of the main stem coordinated control transition scheme formulating method |
| CN110136444A (en) * | 2019-06-06 | 2019-08-16 | 南京慧尔视智能科技有限公司 | A kind of intersection green light sky puts time calculation method and device |
| CN112216121A (en) * | 2020-09-23 | 2021-01-12 | 公安部交通管理科学研究所 | Traffic trunk line signal coordination control rapid transition adjustment method and system |
| CN112216121B (en) * | 2020-09-23 | 2021-10-01 | 公安部交通管理科学研究所 | Traffic trunk line signal coordination control rapid transition adjustment method and system |
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Application publication date: 20190312 |