CN103021176B

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Info

Publication number: CN103021176B
Application number: CN201210507080.0A
Authority: CN
Inventors: 王殿海; 付凤杰; 金盛; 马东方; 汤月华
Original assignee: Zhejiang University ZJU
Current assignee: Zhejiang University ZJU
Priority date: 2012-11-29
Filing date: 2012-11-29
Publication date: 2014-06-11
Anticipated expiration: 2032-11-29
Also published as: CN103021176A

Abstract

本发明公开了一种基于断面检测器的城市道路交通状态判别方法。现有交通状态判别方法的精度和可靠性较低。本发明是以交通流量、速度、时间占有率这三项交通流参数构造一个综合拥堵评价指标，即交通拥堵指数，利用交通拥堵指数对路段交通状态进行判别。本发明提出的交通状态判别方法包括信息发布间隔内断面交通流数据获取的步骤交通流参数平滑的步骤、速度拥堵指数和占有率拥堵指数计算的步骤、临界速度拥堵指数计算的步骤、交通拥堵指数计算的步骤、路段交通状态判别的步骤。本发明基于路段上某一个检测断面的交通信息，综合考虑多种交通流参数，自动判别该路段所处交通状态，同时采用尽量少的判别阈值并充分利用现有资源，易于工程实现。

The invention discloses a method for judging urban road traffic state based on a section detector. The accuracy and reliability of existing traffic state discrimination methods are low. The present invention constructs a comprehensive congestion evaluation index, that is, a traffic congestion index, based on three traffic flow parameters of traffic flow, speed and time occupancy, and uses the traffic congestion index to judge the traffic state of a road section. The traffic state discrimination method proposed by the present invention includes the steps of obtaining cross-section traffic flow data in the information release interval, the step of smoothing traffic flow parameters, the step of calculating speed congestion index and occupancy congestion index, the step of calculating critical speed congestion index, and the step of traffic congestion index. Calculation steps and road section traffic state judgment steps. Based on the traffic information of a certain detection section on the road section, the present invention comprehensively considers various traffic flow parameters, automatically judges the traffic state of the road section, adopts as few judgment thresholds as possible and fully utilizes existing resources, and is easy to implement in engineering.

Description

Urban road traffic state method of discrimination based on section detecting device

Technical field

The present invention relates to a kind of urban road traffic state method of discrimination based on section detecting device, for urban traffic control and management, belong to intelligent transportation research field.

Background technology

Road traffic state is carried out to scientific and reasonable estimation, can provide dynamic decision foundation for traffic administration person and traffic participant, the benign development of induction urban transportation.

The at present differentiation of urban road traffic state is mainly taking floating car data as foundation, taking video monitoring and artificial observation for supplementary.As the current only taxi that can support large-scale application floating vehicle data acquisition source, it itself is also a kind of commerial vehicle, cabin factor and bus dispatching rate in the different periods are widely different, and often concentrate on the concentrated region of public activity and important passenger traffic passage, this ride characteristic can have influence on Floating Car sample size and the counting accuracy for calculating section travel speed; Because video monitoring resource is very limited, human factor is larger on the impact of artificial observation and video monitoring result, and therefore the precision of existing traffic state judging method and reliability are lower.Existing traffic state judging method is unique foundation of differentiating mainly with speed simultaneously, and stability and reliability requirement to speed data are higher, and time occupancy is also a key factor weighing traffic behavior.Therefore setting up one is very urgent based on urban road traffic state method of discrimination section detecting device and time of fusion occupation rate.

Summary of the invention

The object of the present invention is to provide a kind of urban road traffic state method of discrimination based on section detecting device.The basic thought of the method is with the magnitude of traffic flow, speed, these three the traffic flow parameter structure evaluation index of comprehensively blocking up---traffic congestion indexes of time occupancy, utilizes traffic congestion index to differentiate section traffic behavior.For achieving the above object, the traffic state judging method that the present invention proposes comprises that information issues section traffic flow data obtains in interval level and smooth step, the speed of step traffic flow parameter block up exponential sum occupation rate block up step, critical velocity that index calculates the block up step that index calculates, the step of traffic congestion index calculating, the step of road section traffic volume condition discrimination.

The traffic state judging method that the present invention proposes, the laying situation that has comprised three kinds of section detecting devices: there is one group of section detecting device traffic state judging, have many group detecting device traffic state judgings, sensorless traffic state judging.

Having one group of section detecting device traffic state judging is a kind of urban road traffic state method of discrimination, differentiate section and only have one group of detecting device, each issue obtains traffic flow data by detecting device in interval, determine traffic congestion index, according to predefined traffic congestion index ranking interval, judge traffic behavior.

Having many group section detecting device traffic state judgings is to differentiate section to have many group detecting devices, according to the each group of detector location COMPREHENSIVE CALCULATING road section traffic volume index that blocks up, according to predefined traffic congestion index ranking interval, carries out traffic behavior judgement.

Sensorless traffic state judging is the one that urban road traffic state is differentiated, and differentiating section does not have detecting device, according to the traffic behavior of upstream and downstream line, realizes the traffic state judging in this section by setting upstream and downstream traffic behavior weight.

The basic step of this method is as follows:

C1, from each track, in each section detecting device, obtain these three traffic flow parameters of the magnitude of traffic flow, speed and time occupancy in this this track of detection section according to the pre-determined sampling interval time; Then obtain the magnitude of traffic flow, speed and time occupancy that information issue interval characterizes this this track traffic stream characteristics of detection section; Traffic flow parameter is carried out to pre-service, and the information that obtains is issued interval and is characterized the magnitude of traffic flow, speed and the time occupancy of this detection section traffic stream characteristics.

C2, traffic flow parameter level and smooth.

C3, according to the pretreated traffic flow parameter computing velocity exponential sum occupation rate index that blocks up that blocks up.

C4, according to dividing the critical velocity corresponding to the critical speed calculation of the category of roads index that blocks up.

C5, calculate according to the speed exponential sum occupation rate index that blocks up that blocks up index---the traffic congestion index that comprehensively blocks up.

C6, the critical velocity obtaining according to the step c4 traffic congestion index that exponential sum c5 obtains that blocks up judges section traffic behavior.

The process of obtaining arithmetic for real-time traffic flow parameter in step c1 comprises:

C11, determine the section of required detection and section section Loop detector layout situation.

C12, specified data sampling interval: choosing sampling interval is 1 minute.

C13, by the magnitude of traffic flow, speed and time occupancy data on every track in each sampling interval of ring section detector acquisition.

C14, the magnitude of traffic flow, speed and time occupancy data by every track in each sampling interval calculate each information and issue the magnitude of traffic flow, speed and the time occupancy data on Nei Meitiao track, interval.

C15, the each track arithmetic for real-time traffic flow parameter obtaining in step c14 is carried out to pre-service, obtain characterizing the traffic flow parameter of this detection section.

In step c13, for the each section detecting device on every track, obtain the magnitude of traffic flow and the time occupancy in corresponding track, and the speed of each car;

From section detecting device, obtaining traffic flow parameter specifically comprises:

C131, obtain traffic flow parameter;

In each sampling interval, the magnitude of traffic flow is passed through the vehicle number of this section detecting device in one minute, and unit is veh;

Figure 2012105070800100002DEST_PATH_IMAGE001

In formula:i---of this sectionibar track;

k---thekindividual sampling interval;

n---in sampling interval by the of this section detecting devicencar;

---thekindividual sampling intervalion bar track, pass through the vehicle number of this section detecting device;

Figure 2012105070800100002DEST_PATH_IMAGE003

---thekindividual sampling intervalithe magnitude of traffic flow in bar track;

C132, acquisition speed parameter;

In each sampling interval, average velocity passes through the average velocity of all vehicles of this section detecting device in one minute, and unit is km/h;

In formula:

Figure 2012105070800100002DEST_PATH_IMAGE005

---thekindividual sampling intervalithe average velocity of bar track vehicle.

---thenthe car speed during by section detecting device;

C133, acquisition time occupation rate parameter;

In each sampling interval, time occupancy takies the T.T. of detecting device and the number percent of 1 minute by all vehicles of this section detecting device in one minute.

Figure 2012105070800100002DEST_PATH_IMAGE007

In formula:

---thencar occupies the time of detecting device during by section detecting device;

Figure 2012105070800100002DEST_PATH_IMAGE009

---thekindividual sampling intervalithe occupation rate in bar track;

The abnormal data that needs to reject each track section detecting device in step c14, can adopt threshold value screening method, rejects the magnitude of traffic flow, speed and the time occupancy data that exceed certain threshold value; Then also need that the qualified data information of carrying out is issued to interval data synthetic, obtain each information and issue the magnitude of traffic flow, speed and the time occupancy data on Nei Meitiao track, interval, detailed step is as follows:

C141, each information are issued the traffic flow parameter processing on Nei Meitiao track, interval;

In issue interval, the magnitude of traffic flow is issued in interval and is passed through the vehicle number of this section detecting device, and unit is veh, that is:

In formula:k---thekindividual sampling interval,

Figure 2012105070800100002DEST_PATH_IMAGE011

;

m---information is issued interval,m=1,2,3,4,5,10,15 ... Deng;

---theibar lane information is issued the flow in interval;

C142, each information are issued the speed parameter processing on Nei Meitiao track, interval;

Issuing average velocity in interval is, the weighted mean value of each sampling interval average velocity, and taking the flow of each sampling interval as weight, unit is km/h, that is:

In formula:

---theibar lane information is issued the average velocity in interval.

C143, each information are issued the time occupancy parameter processing on Nei Meitiao track, interval

In issue interval, time occupancy is got the mean value of each sampling interval time occupancy, that is:

Figure 2012105070800100002DEST_PATH_IMAGE015

In formula:

---theibar lane information is issued the occupation rate in interval;

5. the traffic flow parameter of in step c15, each information being issued on Nei Meitiao track, interval synthesizes, and obtains the corresponding section magnitude of traffic flow, time occupancy and speed;

C151, the processing of section traffic flow parameter;

Section flow is to issue in interval to pass through the vehicle number of this section, i.e. each track flow sum, and unit is veh, that is:

Figure 2012105070800100002DEST_PATH_IMAGE017

In formula:j---thejindividual information is issued interval;

---thejindividual information is issued the section flow at interval;

C152, the processing of section speed parameter

Section speed is the weighted mean value of track average velocity, and taking track flow as weight, unit is km/h, that is:

In formula:

---thejindividual information is issued the velocity amplitude at interval.

C152, the processing of section time occupancy parameter;

Section time occupancy is the mean value of Ratio of driveway occupancy time, that is:

Figure 2012105070800100002DEST_PATH_IMAGE021

In formula:---thejindividual information is issued interlude occupation rate.

Step c2 detects to reality the profile data obtaining and carries out smoothing processing, and the stability of guarantee system operation, reduces the interference of enchancement factor, and the continuity and the stability that keep traffic behavior to issue, be calculated as follows in detail:

Figure 2012105070800100002DEST_PATH_IMAGE023

In formula:---the after level and smoothjindividual information is issued time occupancy in interval;

---the after level and smoothjindividual information is issued velocity amplitude in interval;

---thejindividual information is issued the section flow in interval;

---thejindividual information is issued the time occupancy in interval;

---thejindividual information is issued the speed in interval;

β---smoothing factor, hasβ₁,β₂,β₃.

Step c3 is normalized traffic flow data, the speed of the obtaining exponential sum time occupancy index that blocks up that blocks up, and detailed step is as follows.

The c31 speed index that blocks up;

Suppose that the block up relation of index of speed and speed is linear, and the minimum value of speed (0) and maximal value (

) the corresponding speed index that blocks up is respectively 1,0.The block up computing formula of index of speed is:

In formula:j_v---the speed index that blocks up;

---free stream velocity;

---the section speed after level and smooth.

The c32 time occupancy index that blocks up;

Time occupancy and the time occupancy index that blocks up is linear, the minimum value (0) of time occupancy and maximal value (

) the corresponding speed index that blocks up is respectively 0,1.The block up computing formula of index of time occupancy is as follows:

In formula:j_o---the time occupancy index that blocks up;

---the historical maximal value of time occupancy;

---the section time occupancy after level and smooth.

Step c4 is according to the critical velocity value of urban road grade classification

,

urban road traffic state is divided into block up, slow and unimpeded three grades, according to critical velocity value

,calculate the corresponding critical velocity index that blocks up:

In formula:j₁,j₂---the critical value that traffic behavior changes;

,

---the critical velocity that traffic behavior is divided;

v_f---free stream velocity.

The step c5 fusion speed exponential sum time occupancy index that blocks up that blocks up, sets up the comprehensive index of blocking up---traffic congestion index, and detailed step is as follows:

Mono-group of detecting device section of c51

In formula,j---the composite target of traffic state judging, is called traffic congestion index;

j_v---the speed index that blocks up;

j_o---the time occupancy index that blocks up;

η---the weight coefficient of speed index and time occupancy index, value is 0-1, system can be defaulted as 0.5, and adjusts according to actual conditions.

C52 organizes detecting device section more

While there is many group section detecting devices, need to carry out comprehensive distinguishing and calculate according to the position of section detecting device the traffic congestion index of line.

In formula:j_di---detecting deviceitraffic congestion index;

l_di---detecting deviceito the distance of its downstream detector;

l_d1---the distance apart from the nearest detecting device of downstream stop line apart from stop line.

C53 is without detecting section

When upstream and downstream section equal sensorless, this road section traffic volume state is grey, unknown.

Upstream or downstream are provided with detecting device, and this road section traffic volume state above downstream road section traffic behavior is foundation, utilize upstream and downstream traffic congestion index to calculate the traffic congestion index in this section.

(18)

In formula:j_up---the traffic congestion index of upstream detector;

j_down---the traffic congestion index of downstream detector;

---the weight coefficient of upstream and downstream detecting device traffic congestion index, in the time of downstream road section sensorless,

; In the time of the sensorless of section, upstream,

; When upstream and downstream all has detecting device,.

Step c6 has considered the problem of processing at the critical localisation of traffic behavior variation, the credibility interval that adopts traffic behavior to change.Definition ± Δjfor the normal fluctuation interval of state variation, the detailed step of traffic state judging is as follows.

If c61jin individual issue interval, when traffic behavior is red, judgej+1issue interval traffic state judging according to being:

1. work as

time, traffic behavior is red;

2. work as

time, traffic behavior is yellow;

3. work astime, traffic behavior is green.

If c62jin individual issue interval, when traffic behavior is yellow, judge thej+1issue interval traffic state judging according to being:

1. work as

time, traffic behavior is red;

2. at that time, traffic behavior was yellow;

3. work astime, traffic behavior is green.

If c63jin individual issue interval, when traffic behavior is green, judgej+1issue interval traffic state judging according to being:

1. work as

time, traffic behavior is red;

2. work as

time, traffic behavior is yellow;

3. work as

time, traffic behavior is green.

In above-mentioned rule, Δj₁with Δj₂value need to be according to actual conditions setting.

Beneficial effect of the present invention: the transport information that the present invention is based on some detection sections on section, consider multiple traffic flow parameter, this section of automatic discrimination traffic behavior of living in, the method adopts and tries one's best few discrimination threshold and make full use of existing resource simultaneously, is easy to Project Realization.

Brief description of the drawings

Fig. 1 is traffic state judging method flow diagram;

Fig. 2 is speed and the speed number mark relation curves that block up;

Fig. 3 is time occupancy and the time occupancy exponential relationship curve that blocks up;

Fig. 4 is line Loop detector layout schematic diagram;

Fig. 5 is traffic state judging.

Embodiment

Below in conjunction with accompanying drawing, the present invention will be described in detail, and as shown in Figure 1, concrete steps of the present invention are:

Step 1 is obtained track sampling interval data:

Certain sectioniin the sampling interval of bar track, the computing formula of flow, average velocity and time occupancy is as follows:

(1)

(2)

(3)

In formula:i---of this sectionibar track;

k---thekindividual sampling interval;

n---in sampling interval by the of this section detecting devicencar;

---thenthe car speed during by section detecting device;

---thekindividual sampling intervalithe flow in bar track;

---thekindividual sampling intervalithe occupation rate in bar track;

---thekindividual sampling intervalithe average velocity of bar track vehicle.

Step 2 is calculated lane information and is issued interval data:

Suppose that the time interval that information is issued ismminute,m=1,2,3,4,5,10,15 ... Deng,ibar lane information is issued the flow in interval

formthe algebraic sum of individual sampling interval, time occupancy

formthe mean value of individual sampling interval, speedformthe weighted mean value of individual sampling interval, computing formula is as follows.

(4)

(5)

(6)

In formula:k---thekindividual sampling interval,

;

m---information is issued interval,m=1,2,3,4,5,10,15 ... Deng;

---theibar lane information is issued the flow in interval;

---theibar lane information is issued the occupation rate in interval;

---theibar lane information is issued the average velocity in interval.

Step 3 is synthesized section traffic flow data:

Suppose that this detection section haslbar track, the computing formula of section traffic flow data is as follows:

(7)

(8)

(9)

In formula:j---thejindividual information is issued interval;

---thejindividual information is issued the section flow at interval;

---thejindividual information is issued interlude occupation rate;

---thejindividual information is issued the velocity amplitude at interval.

Step 4 is carried out the level and smooth of traffic flow modes parameter:

Section time occupancy and speed adopt following methods to carry out smoothing processing:

(10)

(11)

In formula:

---the after level and smoothjindividual information is issued time occupancy in interval;

---thejindividual information is issued the section flow in interval;

---thejindividual information is issued the time occupancy in interval;

---thejindividual information is issued the speed in interval;

β---smoothing factor, hasβ₁,β₂,β₃.

Step 5 is determined block up index and interval:

(1) speed index

Suppose that the block up relation of index of speed and speed is linear, as Fig. 2 speed and speed are blocked up as shown in several relation curves.The block up computing formula of index of speed is:

(12)

In formula:j_v---the speed index that blocks up;

---free stream velocity;

---the section speed after level and smooth.

(2) the time occupancy index that blocks up

The block up relation curve of index of time occupancy and time occupancy blocks up as shown in exponential relationship curve as Fig. 3 time occupancy and time occupancy, and the block up computing formula of index of time occupancy is as follows:

(13)

In formula:j_o---the time occupancy index that blocks up;

---the historical maximal value of time occupancy;

---the section time occupancy after level and smooth.

(3) speed block up index ranking divide

According to practical experience both domestic and external, the division of urban road traffic state should be the travel speed in section according to major parameter.Based on this consideration, the critical velocity value of dividing according to urban road grade and traffic behavior is divided into urban road traffic state and blocks up, slow and unimpeded three grades, as shown in the table.

Table 1 urban road speed divided rank

Can obtain the block up divided rank of index of speed according to the block up normalization formula of index and table 1 of speed, in table 2.

(14)

(15)

In formula:j₁,j₂---the critical value that traffic behavior changes;

,

---the critical velocity that traffic behavior is divided;

v_f---free stream velocity.

The table 2 urban road speed index divided rank of blocking up

Step 6 is set up the comprehensive index of blocking up:

(1) calculate single group detecting device road section traffic volume index that blocks up

Consider the impact of speed and time occupancy, the composite target of setting up traffic state judging is as follows:

(16)

j_v---the speed index that blocks up;

j_o---the time occupancy index that blocks up;

(2) calculate many group detecting device road section traffic volumes index that blocks up

While there is many group section detecting devices, need to carry out comprehensive distinguishing and calculate according to the position of section detecting device the traffic congestion index of linej.Line Loop detector layout schematic diagram is as shown in Fig. 4 line Loop detector layout schematic diagram.

In figure,x_upwithx_downrepresent respectively the coordinate position (with the coordinate replacement of intersection parking line) of upstream and downstream crossing;x_d1,x_d2,x_di...,x_dnrepresent respectively from 1 tonthe coordinate position of individual section detecting device.

The traffic congestion index of line can obtain with the weighting processing of all detecting device traffic congestion indexes in this line, and its computing formula is as follows:

(17)

In formula:j_di---detecting deviceitraffic congestion index;

l_di---detecting deviceito the distance of its downstream detector;

(3) determine without detecting the road section traffic volume index that blocks up

Upstream or downstream are provided with detecting device, and this road section traffic volume state above downstream road section traffic behavior is foundation, and traffic congestion formula of index is as follows:

(18)

In formula:j_up---the traffic congestion index of upstream detector;

j_down---the traffic congestion index of downstream detector;

; In the time of the sensorless of section, upstream,; When upstream and downstream all has detecting device,

.

Step 7 is carried out traffic state judging:

In the time carrying out traffic state judging, the problem that the critical localisation that needs consideration to change at traffic behavior is especially processed, with the continuous and stable that ensures that traffic behavior changes.Therefore,, in the time carrying out traffic state judging, need to consider the credibility interval of state variation.Definition ± Δjfor the normal fluctuation interval of state variation,jdiscriminate interval can be expressed as traffic state judging figure (Fig. 5).

(1) ifjin individual issue interval, when traffic behavior is red, judgej+1issue interval traffic state judging according to being:

1. work as

time, traffic behavior is red;

2. work as

time, traffic behavior is yellow;

3. work as

Figure 2012105070800100002DEST_PATH_IMAGE156

time, traffic behavior is green.

(2) ifjin individual issue interval, when traffic behavior is yellow, judge thej+1issue interval traffic state judging according to being:

1. work as

time, traffic behavior is red;

2. work astime, traffic behavior is yellow;

3. work as

time, traffic behavior is green.

(3) ifjin individual issue interval, when traffic behavior is green, judgej+1issue interval traffic state judging according to being:

1. work as

time, traffic behavior is red;

2. work as

Figure 2012105070800100002DEST_PATH_IMAGE160

time, traffic behavior is yellow;

3. work astime, traffic behavior is green.

Claims

Translated fromChinese

1.基于断面检测器的城市道路交通状态判别方法，其特征在于该方法包括以下步骤：1. the urban road traffic state discrimination method based on section detector, it is characterized in that the method comprises the following steps:

c1、从各车道上各断面检测器中根据事先确定的采样间隔时间获取检测断面该车道的交通流量、速度和时间占有率这三项交通流参数；继而得到信息发布间隔表征该检测断面该车道交通流特性的交通流量、速度和时间占有率；对交通流参数进行预处理，得到信息发布间隔表征该检测断面交通流特性的交通流量、速度和时间占有率；c1. Obtain the three traffic flow parameters of the traffic flow, speed and time occupancy rate of the lane in the detection section from the detectors of each section on each lane according to the predetermined sampling interval; and then obtain the information release interval to characterize the lane in the detection section The traffic flow, speed and time occupancy rate of the traffic flow characteristics; the traffic flow parameters are preprocessed to obtain the traffic flow, speed and time occupancy rate representing the traffic flow characteristics of the detection section at the information release interval;

c2、交通流参数的平滑；c2. Smoothing of traffic flow parameters;

c3、根据预处理后的交通流参数计算速度拥堵指数和占有率拥堵指数；c3. Calculate the speed congestion index and occupancy rate congestion index according to the preprocessed traffic flow parameters;

c4、根据划分道路等级的临界速度计算对应的临界速度拥堵指数；c4. Calculate the corresponding critical speed congestion index according to the critical speed for dividing road grades;

c5、根据速度拥堵指数和占有率拥堵指数计算综合拥堵指标——交通拥堵指数；c5, according to the speed congestion index and the occupancy rate congestion index, calculate the comprehensive congestion index-traffic congestion index;

c6、根据步骤c4得到的临界速度拥堵指数和c5得到的交通拥堵指数对路段交通状态进行判断。c6. Judging the road section traffic state according to the critical speed congestion index obtained in step c4 and the traffic congestion index obtained in step c5.

2.根据权利要求1所述的基于断面检测器的城市道路交通状态判别方法，其特征在于：步骤c1中获取实时交通流参数的过程包括：2. the urban road traffic state discrimination method based on section detector according to claim 1, is characterized in that: the process of obtaining real-time traffic flow parameters comprises in the step c1:

c11、确定所需检测的路段，以及路段断面检测器布设情况；c11. Determine the road section to be detected and the layout of the road section detector;

c12、确定数据采样间隔：选取采样间隔为1分钟；c12. Determine the data sampling interval: select the sampling interval as 1 minute;

c13、通过环断面检测器获取每一采样间隔内每条车道上的交通流量、速度和时间占有率数据；c13. Obtain the traffic flow, speed and time occupancy data of each lane in each sampling interval through the ring section detector;

c14、由每一采样间隔内每条车道上的交通流量、速度和时间占有率数据计算得到每一信息发布间隔内每条车道上的交通流量、速度和时间占有率数据；c14. Calculate the traffic flow, speed and time occupancy data on each lane in each information release interval from the traffic flow, speed and time occupancy data on each lane in each sampling interval;

c15、对步骤c14中获得的各车道实时交通流参数进行预处理，得到表征该检测断面的交通流参数。c15. Preprocessing the real-time traffic flow parameters of each lane obtained in step c14 to obtain traffic flow parameters representing the detection section.

3.根据权利要求2所述的基于断面检测器的城市道路交通状态判别方法，其特征在于：步骤c13中对于每条车道上的每个断面检测器，获取相应车道的交通流量和时间占有率，以及每辆车的速度；3. the urban road traffic state discrimination method based on section detector according to claim 2, is characterized in that: for each section detector on every lane in the step c13, obtain the traffic flow and the time occupancy rate of corresponding lane , and the speed of each vehicle;

从断面检测器中获取交通流参数具体包括：Obtaining traffic flow parameters from section detectors specifically includes:

c131、获取交通流量参数；c131. Obtain traffic flow parameters;

每一采样间隔内交通流量即一分钟内通过该断面检测器的车辆数，单位为veh；The traffic flow in each sampling interval is the number of vehicles passing through the section detector within one minute, the unit is veh;

q_i(k)=N_i(k)q_i (k)=N_i (k)

式中：i——该路段的第i条车道；In the formula: i——the i-th lane of the road section;

k——第k个采样间隔；k - the kth sampling interval;

n——采样间隔内通过该断面检测器的第n辆车；n——the nth vehicle passing through the section detector within the sampling interval;

N_i(k)——第k个采样间隔第i条车道上通过该断面检测器的车辆数；N_i (k)——the number of vehicles passing the cross-section detector on the i-th lane in the k-th sampling interval;

q_i(k)——第k个采样间隔第i条车道的交通流量；q_i (k)——the traffic flow of the i-th lane in the k-th sampling interval;

c132、获取速度参数；c132. Get the speed parameter;

每一采样间隔内平均速度即一分钟内通过该断面检测器的所有车辆的平均速度，单位为km/h；The average speed in each sampling interval is the average speed of all vehicles passing the section detector within one minute, the unit is km/h;

{v v}_{i i} ((k k)) = = \frac{{Σ Σ}_{n no = = 11}^{{N N}_{i i} ((k k))} {v v}_{in in} ((k k))}{{q q}_{i i} ((k k))}

式中：v_i(k)——第k个采样间隔第i条车道车辆的平均速度；In the formula: v_i (k)——the average speed of the vehicle in the i-th lane at the k-th sampling interval;

v_in(k)——第n辆车通过断面检测器时的速度；v_in (k)——the speed of the nth vehicle passing the section detector;

c133、获取时间占有率参数；c133. Obtain the time occupancy parameter;

每一采样间隔内时间占有率即一分钟内通过该断面检测器的所有车辆占用检测器的总时间与1分钟的百分比；The time occupancy rate in each sampling interval is the percentage of the total time of all vehicles passing through the cross-section detector within one minute and the percentage of one minute;

{o o}_{i i} ((k k)) = = \frac{{Σ Σ}_{n no = = 11}^{{N N}_{i i} ((k k))} {t t}_{in in} ((k k))}{6060}

式中：t_in(k)——第n辆车通过断面检测器时占有检测器的时间；In the formula: t_in (k)——the time that the nth vehicle occupies the detector when passing through the section detector;

o_i(k)——第k个采样间隔第i条车道的占有率。o_i (k)——the occupancy rate of the i-th lane in the k-th sampling interval.

4.根据权利要求2所述的基于断面检测器的城市道路交通状态判别方法，其特征在于：步骤c14中需剔除各车道断面检测器的异常数据，采用阈值筛选法，即剔除超过一定阈值的交通流量、速度和时间占有率数据；然后对合格数据进行信息发布间隔数据合成，得到每一信息发布间隔内每条车道上的交通流量、速度和时间占有率数据，详细步骤如下：4. the urban road traffic state discriminating method based on section detector according to claim 2, is characterized in that: need to reject the abnormal data of each lane section detector in the step c14, adopts threshold value screening method, promptly rejects exceeding certain threshold value Traffic flow, speed and time occupancy data; and then carry out information release interval data synthesis on qualified data to obtain traffic flow, speed and time occupancy data on each lane in each information release interval, the detailed steps are as follows:

c141、每一信息发布间隔内每条车道上的交通流量参数处理c141. Processing of traffic flow parameters on each lane in each information release interval

发布间隔内交通流量即发布间隔内通过该断面检测器的车辆数，单位为veh，即：The traffic flow in the release interval is the number of vehicles passing the section detector in the release interval, the unit is veh, that is:

{q q}_{i i} = = {Σ Σ}_{k k = = 11}^{m m} {q q}_{i i} ((k k))

式中：k——第k个采样间隔，k∈(1,m]；In the formula: k—the kth sampling interval, k∈(1,m];

m——信息发布间隔，m——Information release interval,

q_i——第i条车道信息发布间隔内的流量；q_i ——the flow rate of the i-th lane information release interval;

c142、每一信息发布间隔内每条车道上的速度参数处理c142. Speed parameter processing on each lane in each information release interval

发布间隔内平均速度为，每个采样间隔平均速度的加权平均值，以每个采样间隔的流量为权重，单位为km/h，即：The average speed in the release interval is the weighted average of the average speed of each sampling interval, with the flow rate of each sampling interval as the weight, and the unit is km/h, that is:

{v v}_{i i} = = \frac{{Σ Σ}_{k k = = 11}^{m m} {v v}_{i i} ((k k)) {q q}_{i i} ((k k))}{{Σ Σ}_{i i = = 11}^{m m} {q q}_{i i} ((k k))}

式中：v_i——第i条车道信息发布间隔内的平均速度；In the formula: v_i ——the average speed of the i-th lane within the information release interval;

c143、每一信息发布间隔内每条车道上的时间占有率参数处理c143. Time occupancy parameter processing of each lane in each information release interval

发布间隔内时间占有率取每个采样间隔时间占有率的平均值，即：The time occupancy rate in the release interval is the average value of the time occupancy rate of each sampling interval, that is:

{o o}_{i i} = = \frac{11}{m m} {Σ Σ}_{k k = = 11}^{m m} {o o}_{i i} ((k k))

式中：o_i——第i条车道信息发布间隔内的占有率。In the formula: o_i —— the occupancy rate of the i-th lane within the information release interval.

5.根据权利要求2所述的基于断面检测器的城市道路交通状态判别方法，其特征在于：步骤c15中对每一信息发布间隔内每条车道上的交通流参数进行合成，获取相应的断面交通流量、时间占有率和速度；5. the urban road traffic state discrimination method based on section detector according to claim 2, is characterized in that: in the step c15, the traffic flow parameter on each lane in each information release interval is synthesized, obtains corresponding section Traffic flow, time occupancy and speed;

c151、断面交通流量参数处理c151, section traffic flow parameter processing

断面流量为发布间隔内通过该断面的车辆数，即各个车道流量之和，单位为veh，即：Section flow is the number of vehicles passing through the section within the release interval, that is, the sum of the flow of each lane, the unit is veh, that is:

\overset{&OverBar; &OverBar;}{q q} ((j j)) = = {Σ Σ}_{i i = = 11}^{l l} {q q}_{i i}

式中：j——第j个信息发布间隔；In the formula: j - jth information release interval;

——第j个信息发布间隔的断面流量；

——the cross-sectional flow of the jth information release interval;c152、断面速度参数处理c152, section velocity parameter processing

断面速度为车道平均速度的加权平均值，以车道流量为权重，单位为km/h，即：The section speed is the weighted average of the average lane speed, with the lane flow as the weight, and the unit is km/h, that is:

\overset{&OverBar; &OverBar;}{v v} ((j j)) = = \frac{{Σ Σ}_{i i = = 11}^{l l} {v v}_{i i} {q q}_{i i}}{{Σ Σ}_{i i = = 11}^{l l} {q q}_{i i}}

式中：

——第j个信息发布间隔的速度值；In the formula:

——the speed value of the jth information release interval;

c152、断面时间占有率参数处理c152, section time occupancy parameter processing

断面时间占有率为车道时间占有率的平均值，即：The time occupancy rate of the section is the average value of the lane time occupancy rate, namely:

\overset{&OverBar; &OverBar;}{o o} ((j j)) = = \frac{11}{l l} {Σ Σ}_{i i = = 11}^{l l} {o o}_{i i}

式中：

——第j个信息发布间隔的时间占有率。In the formula:

——the time occupancy rate of the jth information release interval.

6.根据权利要求1所述的基于断面检测器的城市道路交通状态判别方法，其特征在于：步骤c2对实际检测得到的断面数据进行平滑处理，保证系统运行的稳定性，减少随机因素的干扰，保持交通状态发布的连续性与稳定性，详细计算如下：6. The urban road traffic state discrimination method based on the cross-section detector according to claim 1, characterized in that: step c2 smoothes the cross-section data obtained by actual detection to ensure the stability of the system operation and reduce the interference of random factors , to maintain the continuity and stability of traffic status release, the detailed calculation is as follows:

\overset{^^}{o o} ((j j)) = = \frac{{β β}_{11} \overset{&OverBar; &OverBar;}{o o} ((j j)) + + {β β}_{22} \overset{&OverBar; &OverBar;}{o o} ((j j - - 11)) + + {β β}_{33} \overset{&OverBar; &OverBar;}{o o} ((j j - - 22))}{{β β}_{11} + + {β β}_{22} + + {β β}_{33}}

\overset{^^}{v v} ((j j)) = = \frac{{β β}_{11} \overset{&OverBar; &OverBar;}{q q} ((j j)) \overset{&OverBar; &OverBar;}{v v} ((j j)) + + {β β}_{22} \overset{&OverBar; &OverBar;}{q q} ((j j - - 11)) \overset{&OverBar; &OverBar;}{v v} ((j j - - 11)) + + {β β}_{33} \overset{&OverBar; &OverBar;}{q q} ((j j - - 22)) \overset{&OverBar; &OverBar;}{v v} ((j j - - 22))}{{β β}_{11} \overset{&OverBar; &OverBar;}{q q} ((j j)) + + {β β}_{22} \overset{&OverBar; &OverBar;}{q q} ((j j - - 11)) + + {β β}_{33} \overset{&OverBar; &OverBar;}{q q} ((j j - - 22))}

式中：

——平滑后的第j个信息发布间隔内时间占有率；In the formula:

——the smoothed time occupancy rate in the jth information release interval;

——平滑后的第j个信息发布间隔内速度值；

——the smoothed speed value in the jth information release interval;

——第j个信息发布间隔内的断面流量；

——the cross-section flow in the jth information release interval;

——第j个信息发布间隔内的时间占有率；

——the time occupancy rate in the jth information release interval;

——第j个信息发布间隔内的速度；

——the speed in the jth information release interval;

β——平滑系数，有β₁，β₂，β₃。β——smoothing coefficient, including β₁ , β₂ , and β₃ .

7.根据权利要求1所述的基于断面检测器的城市道路交通状态判别方法，其特征在于：步骤c3将交通流数据进行归一化处理，得到速度拥堵指数和时间占有率拥堵指数，详细步骤如下；7. the urban road traffic state discrimination method based on section detector according to claim 1, is characterized in that: step c3 carries out normalization process with traffic flow data, obtains speed congestion index and time occupancy ratio congestion index, detailed steps as follows;

c31速度拥堵指数c31 speed congestion index

假定速度与速度拥堵指数的关系呈线性关系，且速度的最小值（0）和最大值（v_f）对应速度拥堵指数分别为1、0；速度拥堵指数的计算公式为：Assume that the relationship between speed and speed congestion index is linear, and the minimum value (0) and maximum value (v_f ) of the speed correspond to the speed congestion index as 1 and 0 respectively; the calculation formula of the speed congestion index is:

{J J}_{v v} = = 11 - - \frac{\overset{^^}{v v}}{{v v}_{f f}}

式中：J_v——速度拥堵指数；In the formula: J_v ——speed congestion index;

v_f——自由流速度；v_f ——free flow velocity;

——平滑后的断面速度；

— smoothed section velocity;

c32时间占有率拥堵指数c32 time occupancy congestion index

时间占有率与时间占有率拥堵指数呈线性关系，时间占有率的最小值（0）和最大值（o_max）对应速度拥堵指数分别为0、1；则时间占有率拥堵指数的计算公式如下：There is a linear relationship between the time occupancy rate and the time occupancy rate congestion index, and the minimum value (0) and maximum value (o_max ) of the time occupancy rate correspond to the speed congestion index as 0 and 1 respectively; the calculation formula of the time occupancy rate congestion index is as follows:

{J J}_{o o} = = \frac{\overset{^^}{o o}}{{o o}_{max max}}

式中：J_o——时间占有率拥堵指数；In the formula: J_o ——time occupancy congestion index;

o_max——时间占有率的历史最大值；o_max - the historical maximum value of time occupancy;

——平滑后的断面时间占有率。

——Smoothed section time occupancy.

8.根据权利要求1所述的基于断面检测器的城市道路交通状态判别方法，其特征在于：步骤c4依据城市道路等级划分的临界速度值v₁、v₂将城市道路交通状态划分为拥堵、滞缓和畅通三级，根据临界速度值v₁、v₂计算出对应的临界速度拥堵指数：8. The urban road traffic state discrimination method based on section detector according_to claim₁ , characterized in that: step c4 divides the urban road traffic state into congested, There are three levels of sluggishness and smoothness, and the corresponding critical speed congestion index is calculated according to the critical speed values v₁ and v₂ :

{J J}_{11} = = 11 - - \frac{{v v}_{11}}{{v v}_{f f}}

{J J}_{22} = = 11 - - \frac{{v v}_{22}}{{v v}_{f f}}

式中：J₁、J₂——交通状态变化的临界值；In the formula: J₁ , J₂ ——the critical value of traffic state change;

v₁、v₂——交通状态划分的临界速度；v₁ , v₂ ——the critical speed of traffic status division;

v_f——自由流速度。v_f ——free flow velocity.

9.根据权利要求1所述的基于断面检测器的城市道路交通状态判别方法，其特征在于：步骤c5融合速度拥堵指数和时间占有率拥堵指数，建立综合性拥堵指标——交通拥堵指数，详细步骤如下：9. The urban road traffic state discrimination method based on section detector according to claim 1, characterized in that: step c5 fuses speed congestion index and time occupancy congestion index to set up comprehensive congestion index---traffic congestion index, detailed Proceed as follows:

c51单组检测器路段c51 single group detector section

J=ηJ_v+(1-η)J_oJ=ηJ_v +(1-η)J_o

式中，J——交通状态判别的综合性指标，称为交通拥堵指数；In the formula, J——a comprehensive index for traffic state discrimination, called traffic congestion index;

J_v——速度拥堵指数；J_v ——speed congestion index;

J_o——时间占有率拥堵指数；J_o —— time occupancy rate congestion index;

η——速度指标与时间占有率指标的权重系数，取值为0-1，并根据实际情况进行调整；η——the weight coefficient of the speed index and the time occupancy index, the value is 0-1, and it should be adjusted according to the actual situation;

c52多组检测器路段c52 multi-group detector section

存在多组断面检测器时，需要根据断面检测器的位置进行综合判别计算得到连线的交通拥堵指数；When there are multiple groups of cross-section detectors, it is necessary to perform comprehensive discrimination and calculation according to the position of the cross-section detectors to obtain the traffic congestion index of the connection;

J J = = \frac{{Σ Σ}_{i i = = 11}^{n no} {l l}_{di di} {J J}_{di di}}{{Σ Σ}_{i i = = 11}^{n no} {l l}_{di di}}

式中：J_di——检测器i的交通拥堵指数；In the formula: J_di - traffic congestion index of detector i;

l_di——检测器i到其下游检测器的距离；l_di ——the distance from detector i to its downstream detector;

l_d1——距离下游停车线最近的检测器距停车线的距离；l_d1 ——the distance from the nearest detector to the downstream stop line to the stop line;

c53无检测路段c53 no detection section

上下游路段均无检测器时，此路段交通状态为灰色，即未知；When there is no detector in the upstream and downstream sections, the traffic status of this section is gray, that is, unknown;

上游或下游设有检测器，此路段交通状态则以上下游路段交通状态为依据，利用上下游交通拥堵指数计算得到该路段的交通拥堵指数；There is a detector in the upstream or downstream, and the traffic status of this road section is based on the traffic status of the upstream and downstream sections, and the traffic congestion index of the road section is calculated by using the upstream and downstream traffic congestion index;

J=αJ_up+(1-α)J_down (18)J=αJ_up +(1-α)J_down (18)

式中：J_up——上游检测器的交通拥堵指数；In the formula: J_up —— the traffic congestion index of the upstream detector;

J_down——下游检测器的交通拥堵指数；J_down - the traffic congestion index of the downstream detector;

α——上下游检测器交通拥堵指数的权重系数，当下游路段无检测器时，α=1；当上游路段无检测器时，α=0；上下游均有检测器时，α=0.5。α——The weight coefficient of the traffic congestion index of the upstream and downstream detectors. When there is no detector in the downstream section, α=1; when there is no detector in the upstream section, α=0; when there are detectors in both upstream and downstream, α=0.5.

10.根据权利要求1所述的基于断面检测器的城市道路交通状态判别方法，其特征在于：步骤c6考虑了在交通状态变化的临界位置进行处理的问题，即采用交通状态变化的可信区间；定义±ΔJ为状态变化的正常波动区间，则交通状态判别的详细步骤如下；10. the urban road traffic state discrimination method based on section detector according to claim 1, is characterized in that: step c6 considers the problem of processing at the critical position of traffic state change, promptly adopts the credible interval of traffic state change ;Define ±ΔJ as the normal fluctuation interval of state change, then the detailed steps of traffic state discrimination are as follows;

c61如果第j个发布间隔内，交通状态为红时，判断第j+1发布间隔交通状态判别依据为：c61 If the traffic status is red in the jth release interval, the basis for judging the traffic status of the j+1th release interval is:

①当J∈(J₁-ΔJ₁,1]时，交通状态为红；①When J∈(J₁ -ΔJ₁ ,1], the traffic status is red;

②当J∈(J₂-ΔJ₂,J₁-ΔJ₁]时，交通状态为黄；②When J∈(J₂ -ΔJ₂ ,J₁ -ΔJ₁ ], the traffic status is yellow;

③当J∈[0,J₂-ΔJ₂]时，交通状态为绿；③When J∈[0,J₂ -ΔJ₂ ], the traffic status is green;

c62如果第j个发布间隔内，交通状态为黄时，判断第j+1发布间隔交通状态判别依据为：c62 If the traffic status is yellow in the jth release interval, the basis for judging the traffic status of the j+1th release interval is:

①当J∈(J₁+ΔJ₁,1]时，交通状态为红；①When J∈(J₁ +ΔJ₁ ,1], the traffic status is red;

②当J∈(J₂-ΔJ₂,J₁+ΔJ₁]时，交通状态为黄；②When J∈(J₂ -ΔJ₂ ,J₁ +ΔJ₁ ], the traffic status is yellow;

c63如果第j个发布间隔内，交通状态为绿时，判断第j+1发布间隔交通状态判别依据为：c63 If the traffic status is green in the jth release interval, the basis for judging the traffic status of the j+1th release interval is:

②当J∈(J₂+ΔJ₂,J₁+ΔJ₁]时，交通状态为黄；②When J∈(J₂ +ΔJ₂ ,J₁ +ΔJ₁ ], the traffic status is yellow;

③当J∈[0,J₂+ΔJ₂]时，交通状态为绿；③When J∈[0,J₂ +ΔJ₂ ], the traffic status is green;

上述判别依据中，ΔJ₁与ΔJ₂的取值需要根据实际情况设置。In the above discrimination basis, the values of ΔJ₁ and ΔJ₂ need to be set according to the actual situation.