CN106781558B - A method for fast traffic flow in the main channel based on the macro basic diagram under the Internet of Vehicles - Google Patents
A method for fast traffic flow in the main channel based on the macro basic diagram under the Internet of VehiclesDownload PDFInfo
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本发明属于城市交通管理控制领域，尤其涉及车联网下基于宏观基本图的主通道交通流快速疏导方法。The invention belongs to the field of urban traffic management and control, and in particular relates to a method for quickly dredging traffic flow in a main channel based on a macroscopic basic diagram under the Internet of Vehicles.
背景技术Background technique
随着社会经济飞跃发展，汽车保有量剧增，城市交通拥堵问题恶化，已成为城市发展的瓶颈之一。为了减少车辆延误时间和排队长度，缓解交通拥堵，部分大城市采用先进的交通控制技术，实施了智能化交通信号控制系统。但随着车流不断增多，部分城市交通出现了过饱和想象，原有交通控制系统效果不明显。With the rapid development of society and economy, the number of cars has increased sharply, and the problem of urban traffic congestion has become worse, which has become one of the bottlenecks of urban development. In order to reduce vehicle delay time and queue length and ease traffic congestion, some large cities have adopted advanced traffic control technologies and implemented intelligent traffic signal control systems. However, with the continuous increase of traffic flow, some urban traffic has appeared oversaturated imagination, and the effect of the original traffic control system is not obvious.
近期Daganzo和Geroliminis两位学者研究了大量实际交通数据，发现城市交通路网中具有一定客观规律性，即路网的交通运行状态和移动的车辆数之间的联系，该关系其称之为宏观基本图，它亦能够反映路网中加权流量与总交通量的普遍关系，以及车流在整个路网中的行驶距离与消耗时间之间的关系。后续多位学者通过大量实际数据，也证实了宏观基本图的普通性。因此基于宏观基本图对交通控制进行深入研究是很有必要的，它能够有效帮助了解道路交通拥挤的情况。但现阶段对它的运用还不够深入，考虑交通控制的因素不够全面，很多研究都未提出具体的控制思路。Recently, two scholars, Daganzo and Geroliminis, have studied a large amount of actual traffic data and found that there is a certain objective regularity in the urban traffic road network, that is, the relationship between the traffic operation status of the road network and the number of moving vehicles. This relationship is called macroscopic. It can also reflect the general relationship between the weighted flow and the total traffic volume in the road network, as well as the relationship between the travel distance and the consumption time of the vehicle flow in the entire road network. Subsequent scholars have also confirmed the generality of the macro fundamental map through a large amount of actual data. Therefore, it is necessary to conduct in-depth research on traffic control based on the macroscopic basic graph, which can effectively help understand the situation of road traffic congestion. However, the application of it is not deep enough at this stage, and the factors of traffic control are not comprehensive enough, and many studies have not put forward specific control ideas.
专利申请号为‘201410317760.5’的专利‘一种区域交通动态调控方法及系统’，它公开了方法包括选取一定路口设置反馈门控制路口，对路口进行排序，然后获得路口的车流量，再建立区域宏观基本图，当网络宏观净流量达到阈值时，对路口进行调节。虽然该专利能够基于宏观基本图将交通控制与交通诱导相结合进行车流调控，但是调控技术过于宏观，仅注重调控减缓外围车辆进行保障区域和仅提及延长绿灯加大保障区域的车流排出，而没有具体去研究保障区域内是如何做到调控降低车流量拥堵状态，实操性、可行性还不足，而且车路协同作用不明显，车联网技术应用不多，车主获知车辆自身信息或者道路情况信息少。The patent application number '201410317760.5' is a patent 'A method and system for dynamic regulation of regional traffic', which discloses that the method includes selecting a certain intersection and setting a feedback gate to control the intersection, sorting the intersection, then obtaining the traffic flow at the intersection, and then establishing the area The macroscopic basic map, when the macroscopic net flow of the network reaches the threshold, the intersection is adjusted. Although this patent can combine traffic control and traffic guidance to control traffic flow based on the macroscopic basic diagram, the control technology is too macroscopic, it only focuses on regulating and slowing down peripheral vehicles to protect the area and only mentions extending the green light to increase the traffic flow in the security area. There is no specific study on how to control and reduce traffic congestion in the guarantee area. The practicality and feasibility are still insufficient, and the synergy between vehicles and roads is not obvious. There are not many applications of Internet of Vehicles technology, and vehicle owners are informed of their own vehicle information or road conditions. Little information.
发明内容SUMMARY OF THE INVENTION
本发明的目的是为了解决现有技术中的上述缺陷，提供一种车联网下基于宏观基本图的主通道交通流快速疏导方法。The purpose of the present invention is to solve the above-mentioned defects in the prior art, and to provide a method for quickly dredging the traffic flow of the main channel based on the macroscopic basic diagram under the Internet of Vehicles.
本发明的目的可以通过采取如下技术方案达到：The purpose of the present invention can be achieved by adopting the following technical solutions:
一种车联网下基于宏观基本图的主通道交通流快速疏导方法，所述主通道交通流快速疏导方法包括步骤如下：A method for fast dredging of traffic flow in a main channel based on a macro basic diagram under the Internet of Vehicles, the method for fast dredging of traffic flow in the main channel includes the following steps:
S1、一定时间内采集城市中心区域路网的车流数据；S1. Collect the traffic data of the road network in the central area of the city within a certain period of time;
S2、基于所述步骤S1中采集的车流数据建立宏观基本图模型；S2, establishing a macroscopic basic graph model based on the traffic flow data collected in the step S1;
S3、根据所述宏观基本图模型确定区域路网的最大加权流量和临界车辆数；S3. Determine the maximum weighted flow and the critical vehicle number of the regional road network according to the macroscopic basic graph model;
S4、判断区域路网交通的实际车辆数和实际加权流量，并依据实际车辆数、实际加权流量、临界车辆数和最大加权流量之间的关系对主通道车辆进行联网疏导和对区域路网外的车辆进行联网诱导。S4. Judging the actual number of vehicles and actual weighted flow in the regional road network traffic, and based on the relationship between the actual number of vehicles, the actual weighted flow, the critical number of vehicles and the maximum weighted flow, the main channel vehicles are connected to the network and the traffic outside the regional road network is dredged. The vehicle is connected to the induction.
进一步地，所述步骤S4中对主通道车辆进行联网疏导的过程具体如下：Further, in the step S4, the process of networked grooming for the main channel vehicles is as follows:
在实际车辆数达到临界车辆数的90％时，依据最大加权流量和区域的实际加权流量确定区域内的车流疏导量，并依据车流疏导量动态调整区域路网内的主通道驶出方向的信号灯的周期和绿信比，对主通道驶出流量实施快速疏导。When the actual number of vehicles reaches 90% of the critical number of vehicles, the traffic diversion amount in the area is determined according to the maximum weighted flow and the actual weighted flow of the area, and the signal lights in the direction of the main aisle in the regional road network are dynamically adjusted according to the traffic diversion amount. The cycle and green-signal ratio are relatively high, and the outgoing flow of the main channel is quickly diverted.
进一步地，所述车流疏导量为最大加权流量与实际加权流量之差，且动态调整过程包括：当车流疏导量越小则加大主通道驶出方向的绿信比。Further, the traffic diversion amount is the difference between the maximum weighted flow and the actual weighted flow, and the dynamic adjustment process includes: when the traffic diversion amount is smaller, increasing the green-signal ratio in the direction of exiting the main channel.
进一步地，所述加大主通道驶出方向的绿信比具体为：通过分配得到更多的优先绿灯时间，且
进一步地，所述加大主通道驶出方向的绿信比的过程包括：保持信号灯周期不变，延长绿灯时间，且减少红灯时间，从而加大信号灯的绿信比，且最大延长绿灯时间不超过原有绿灯时间的25％；或者缩短信号灯周期，保持绿灯时间不变，减少红灯时间，从而加大信号灯的绿信比，且减少红灯时间最大不超过原有红灯时间的20％。Further, the process of increasing the green signal ratio of the main channel outbound direction includes: keeping the signal light cycle unchanged, extending the green light time, and reducing the red light time, thereby increasing the green signal ratio of the signal light, and extending the green light time at the maximum. Not more than 25% of the original green light time; or shorten the signal light cycle, keep the green light time unchanged, reduce the red light time, thereby increasing the green signal ratio of the signal light, and reduce the red light time not more than 20% of the original red light time %.
进一步地，对缩短绿灯通行时长的次通道方向，采用双周期补偿的方式，在下一周期将给予绿灯时间相应的延长。Further, for the direction of the secondary channel that shortens the green light passing time, a double-cycle compensation method is adopted, and the green light time will be extended correspondingly in the next cycle.
进一步地，所述步骤S4中对主通道车辆进行联网疏导的过程还包括：对行驶在主通道上的车辆发送主通道实时的红灯/绿灯倒计时信息、车辆建议车速和交叉口信号灯距离信息。Further, in the step S4, the process of networked grooming for the main aisle vehicles further includes: sending real-time red light/green light countdown information of the main aisle, vehicle suggested speed and intersection signal distance information to the vehicles driving on the main aisle.
进一步地，所述对行驶在主通道上的车辆发送主通道实时的红灯/绿灯倒计时信息、车辆建议车速和交叉口信号灯距离信息具体过程如下：Further, the specific process of sending the real-time red light/green light countdown information of the main aisle, the suggested vehicle speed of the vehicle and the distance information of the intersection signal lights to the vehicle driving on the main aisle is as follows:
S81、采集区域路网内的主通道车辆的位置信息；S81. Collect the position information of the main channel vehicles in the regional road network;
S82、实时测得每辆车在主通道上与交叉口信号灯的距离信息和每辆车与周围车辆的距离信息；S82. Measure the distance information between each vehicle on the main aisle and the signal lights at the intersection and the distance information between each vehicle and surrounding vehicles in real time;
S83、对主通道上的所有车辆发送疏导调控信号和主通道实时的红灯/绿灯倒计时信息，针对每辆车的实际位置、与交叉口信号灯的距离信息和主通道实时的红灯/绿灯倒计时信息经过分析处理发送对应的车辆建议车速和基于所述车辆建议车速通过交叉口信号灯的时间。S83. Send all vehicles on the main aisle a grooming control signal and real-time red/green countdown information on the main aisle, for the actual position of each vehicle, the distance information from the intersection signal and the real-time red/green countdown on the main aisle The information is analyzed and processed to send the corresponding suggested speed of the vehicle and the time to pass the signal light at the intersection based on the suggested speed of the vehicle.
进一步地，所述步骤S82中距离信息的计算公式如下：Further, the calculation formula of the distance information in the step S82 is as follows:
其中，表示主通道上第i个车辆到第y个交叉口信号灯的距离；Ci表示主通道上第i个车辆；Ly表示主通道第y个交叉口信号灯；Cij表示主通道上第i个车辆的经度值；Ciw表示主通道上第i个车辆的纬度值；Lyj表示主通道第y个交叉口信号灯经度值；Liw表示主通道第y个交叉口信号灯纬度值；
进一步地，所述对区域路网外的车辆进行联网诱导过程包括：进入区域方向的通道延长红灯时间，并发送诱导调控信号到区域路网外的车辆；同时设置可变信息牌对区域外的车辆进行诱导，所述可变信息牌包括实时的红灯/绿灯倒计时信息和建议绕行道路信息。Further, the process of inducing networking for vehicles outside the regional road network includes: extending the red light time for the channel entering the direction of the area, and sending an induction regulation signal to the vehicles outside the regional road network; The variable information board includes real-time red/green light countdown information and recommended detour information.
本发明相对于现有技术具有如下的优点及效果：Compared with the prior art, the present invention has the following advantages and effects:
本发明通过实地研究与多次仿真实验所得，在基于宏观基本图的框架下重点优选对主通道上的车辆进行交通流快速疏导可以有效缓解中心区域路网的交通拥堵，而重点关注实际车辆数、实际加权流量、临界车辆数和最大加权流量之间的关系对主通道车辆进行联网疏导和对区域路网外的车辆进行联网诱导可以达到更加有效的疏导、诱导效果。The present invention is obtained through field research and multiple simulation experiments. Under the framework based on the macroscopic basic diagram, the rapid diversion of the traffic flow of the vehicles on the main channel can effectively alleviate the traffic congestion of the road network in the central area, and the actual number of vehicles is mainly concerned. The relationship between the actual weighted flow, the number of critical vehicles and the maximum weighted flow can achieve more effective guidance and guidance effects for the main channel vehicles and the network guidance for vehicles outside the regional road network.
附图说明Description of drawings
图1是本发明中公开的车联网下基于宏观基本图的主通道交通流快速疏导方法的流程步骤图；Fig. 1 is the flow chart of the flow chart of the main channel traffic flow fast dredging method based on the macroscopic basic diagram under the Internet of Vehicles disclosed in the present invention;
图2是本发明实施例的区域路网示意图；2 is a schematic diagram of a regional road network according to an embodiment of the present invention;
图3是本发明实施例的宏观基本图模型；Fig. 3 is the macroscopic basic graph model of the embodiment of the present invention;
图4是本发明的另一流程步骤图。Fig. 4 is another flow chart of the present invention.
具体实施方式Detailed ways
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
实施例Example
如图1所示，本实施例所涉及的车联网下基于宏观基本图的主通道交通流快速疏导方法，包括步骤如下：As shown in FIG. 1 , the method for quickly dredging traffic flow in the main channel based on the macro basic diagram under the Internet of Vehicles involved in this embodiment includes the following steps:
S1、一定时间内采集城市中心区域路网的车流数据；S1. Collect the traffic data of the road network in the central area of the city within a certain period of time;
S2、基于所述步骤S1中采集的车流数据建立宏观基本图模型；S2, establishing a macroscopic basic graph model based on the traffic flow data collected in the step S1;
S3、根据所述宏观基本图模型确定区域路网的最大加权流量和临界车辆数；S3. Determine the maximum weighted flow and the critical vehicle number of the regional road network according to the macroscopic basic graph model;
S4、判断区域路网交通的实际车辆数和实际加权流量，并依据实际车辆数、实际加权流量、临界车辆数和最大加权流量之间的关系对主通道车辆进行联网疏导和对区域路网外的车辆进行联网诱导。S4. Judging the actual number of vehicles and actual weighted flow in the regional road network traffic, and based on the relationship between the actual number of vehicles, the actual weighted flow, the critical number of vehicles and the maximum weighted flow, the main channel vehicles are connected to the network and the traffic outside the regional road network is dredged. The vehicle is connected to the induction.
如图2所示，本实施例选取某城市中心区域路网为疏导调控对象，通过对该城市中心区域路网的多个交叉口和路段进行车流量监控，并根据下述步骤建立宏观基本图，如图3所示。通过宏观基本图可以了解到该城市中心区域路网的最大加权流量和临界车辆数，从图3中宏观基本图的拟合曲线，可计算出该商业区的最大加权流量
当早晚高峰时期，实际车辆数达到临界车辆数的90％时，也即车辆数达到945pcu时，开始进行路网内主通道车辆疏导和路网外车辆诱导。具体地，路网内主通道车辆疏导动态调整过程包括：当车流疏导量(车流疏导量为最大加权流量与实际加权流量之差)越小则加大主通道驶出方向的绿信比，加大主通道驶出方向的绿信比通过分配得到更多的优先绿灯时间，且
另外，加大主通道驶出方向的绿信比的过程包括：保持信号灯周期不变，延长绿灯时间，且减少红灯时间，从而加大信号灯的绿信比，且最大延长绿灯时间不超过原有绿灯时间的25％。In addition, the process of increasing the green signal ratio in the outbound direction of the main channel includes: keeping the signal light cycle unchanged, extending the green light time, and reducing the red light time, so as to increase the green signal ratio of the signal light, and the maximum extension of the green light time does not exceed the original time. There is 25% of the green light time.
本实施例也可以通过缩短信号灯周期，保持绿灯时间不变，减少红灯时间，从而加大信号灯的绿信比，且减少红灯时间最大不超过原有红灯时间的20％。This embodiment can also shorten the signal light cycle, keep the green light time unchanged, and reduce the red light time, thereby increasing the green signal ratio of the signal light, and the reduced red light time does not exceed 20% of the original red light time at most.
本发明之所以重点先疏导主通道就是因为在路网中，如果所有通道一起调控疏导就会增加调控复杂性，而且往往效果不明显，而通过研究发现在主通道疏导成功后，就会更容易对次通道的车流量进行疏导，因此优选疏导主通道，然后在对主通道进行重点疏导后，对其它次通道的车流量由于缩短绿灯通行时长，后面采用双周期补偿的方式，在下一周期将给予绿灯时间相应的延长；如图3所示，如果主通道横向有两条，竖向有一条，则条数较少的竖向相对两条横向的主通道则等同于次通道处理。The reason why the present invention focuses on dredging the main channel first is because in the road network, if all channels are regulated and dredged together, it will increase the complexity of regulation, and the effect is often not obvious. It is found through research that after the main channel is successfully dredged, it will be easier To divert the traffic flow of the secondary channel, it is preferable to divert the main channel, and then after the main channel is mainly dredged, the traffic flow of other secondary channels is shortened due to the shortening of the green light traffic time. Give a corresponding extension of the green light time; as shown in Figure 3, if there are two main channels horizontally and one vertically, then the vertical with a smaller number of channels is equivalent to the secondary channel processing compared to the two horizontal main channels.
对区域路网内的主通道车辆进行联网疏导过程还包括对行驶在主通道上的车辆发送主通道实时的红灯/绿灯倒计时信息、车辆建议车速和交叉口信号灯距离信息。The network grooming process for the main aisle vehicles in the regional road network also includes sending real-time red light/green light countdown information, vehicle recommended speed and intersection signal distance information to the vehicles driving on the main aisle.
如图4所示，上述具体步骤如下：As shown in Figure 4, the above specific steps are as follows:
S81.采集区域路网内的主通道车辆的位置信息；S81. Collect the location information of the main channel vehicles in the regional road network;
S82.实时测得每辆车在主通道上与交叉口信号灯的距离信息和每辆车与周围车辆的距离信息；S82. Measure the distance information of each vehicle on the main aisle and the signal lights of the intersection and the distance information of each vehicle and surrounding vehicles in real time;
S83.对主通道上的所有车辆发送疏导调控信号和主通道实时的红灯/绿灯倒计时信息，针对每辆车的实际位置、与交叉口信号灯的距离信息和主通道实时的红灯/绿灯倒计时信息经过分析处理发送对应的车辆建议车速和基于所述车辆建议车速通过交叉口信号灯的时间。S83. Send all vehicles on the main aisle a clearing control signal and real-time red light/green light countdown information on the main aisle, according to the actual position of each vehicle, the distance information from the intersection signal and the real-time red/green light countdown on the main aisle The information is analyzed and processed to send the corresponding suggested speed of the vehicle and the time to pass the signal light at the intersection based on the suggested speed of the vehicle.
针对步骤S82中计算距离信息的公式如下：The formula for calculating the distance information in step S82 is as follows:
其中
对区域路网外的车辆进行联网诱导过程包括：进入区域方向的通道延长红灯时间，并发送诱导调控信号到区域路网外的车辆；同时设置可变信息牌对区域外的车辆进行诱导，所述可变信息牌包括诱导过程进入区域方向的实时的红灯/绿灯倒计时信息和建议绕行道路信息，所述可变信息牌还可以增加区域路网内疏导情况，可以让区域外的车主了解区域路网内的道路情况，有助于区域外车辆后续进入可以The process of network induction for vehicles outside the regional road network includes: extending the red light time for the passage in the direction of the area, and sending an induction control signal to the vehicles outside the regional road network; at the same time, setting variable information signs to induce vehicles outside the area, The variable information board includes real-time red light/green light countdown information and suggested detour road information in the direction of entering the area during the induction process. Knowing the road conditions in the regional road network will help the subsequent entry of vehicles outside the area.
实施本发明涉及的方法前，城市中心区域的各项交通信号控制指标分别为：车辆平均延误时间约45.6s，平均停车次数约0.95次，平均排队长度为18.5m；实施本发明涉及的方法后，仿真结果表明，路网车辆平均延误时间约37.2s，平均停车次数约0.81次，平均排队长度约16.1m。而且使用本发明涉及的具体方法对区域路网主通道的车辆优先疏导其效果优于其它方法。仿真结果表明，当路网交通趋于拥堵时，实施本发明涉及的方法后路网的各项交通信号控制指标得到明显改善。Before implementing the method involved in the present invention, various traffic signal control indicators in the central area of the city are: the average vehicle delay time is about 45.6s, the average number of stops is about 0.95 times, and the average queue length is 18.5m; , the simulation results show that the average delay time of vehicles on the road network is about 37.2s, the average number of stops is about 0.81, and the average queue length is about 16.1m. Moreover, using the specific method involved in the present invention to preferentially guide vehicles in the main passage of the regional road network has a better effect than other methods. The simulation results show that when the road network traffic tends to be congested, various traffic signal control indicators of the road network are significantly improved after implementing the method involved in the present invention.
上述实施例为本发明较佳的实施方式，但本发明的实施方式并不受上述实施例的限制，其他的任何未背离本发明的精神实质与原理下所作的改变、修饰、替代、组合、简化，均应为等效的置换方式，都包含在本发明的保护范围之内。The above-mentioned embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited by the above-mentioned embodiments, and any other changes, modifications, substitutions, combinations, The simplification should be equivalent replacement manners, which are all included in the protection scope of the present invention.
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