CN112037508A - Intersection signal timing optimization method based on dynamic saturation flow rate - Google Patents
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本发明涉及交通信号控制领域，具体涉及一种交叉口动态饱和流率信号周期计算方法。The invention relates to the field of traffic signal control, in particular to a method for calculating the period of a dynamic saturated flow rate signal at an intersection.
背景技术Background technique
传统信号配时模型中，都是假定进口车道组的饱和流率及损失时间为固定值，将交通流量作为输入变量对信号周期及绿灯时间进行优化，从而达到最小延误和饱和度等指标。然而，通过实际观察发现，由于交叉口渠化设计以及交通状态的不同，饱和流率、损失时间等参数会随之变化，这导致了优化目标函数失效和配时方案不合理。为此，本发明通过分析高负荷状态交叉口车流释放特征，提出交叉口释放流率和损失时间的计算模型，并进一步设计高负荷交叉口的信号配时优化模型，以期为过饱和交叉口信号配时设计提供指导。In the traditional signal timing model, it is assumed that the saturated flow rate and loss time of the entrance lane group are fixed values, and the traffic flow is used as the input variable to optimize the signal period and green light time, so as to achieve the minimum delay and saturation and other indicators. However, through actual observation, it is found that due to the different intersection channelization design and traffic conditions, parameters such as saturated flow rate and loss time will change accordingly, which leads to the failure of the optimization objective function and the unreasonable timing scheme. For this reason, the present invention proposes a calculation model for the release flow rate and lost time of the intersection by analyzing the traffic flow release characteristics of the intersection in the high-load state, and further designs the signal timing optimization model of the high-load intersection, in order to provide the signal of the oversaturated intersection. Timing design provides guidance.
发明内容SUMMARY OF THE INVENTION
本发明针对现有技术的不足，提供了一种动态饱和流率信号配时优化计算方法。Aiming at the deficiencies of the prior art, the present invention provides a method for optimizing the timing of dynamic saturated flow rate signals.
本发明的目的通过如下技术方案实现：The object of the present invention is achieved through the following technical solutions:
本发明包括以下步骤：The present invention includes the following steps:
A)首先建立交叉口动态饱和流率车辆释放模型A) First establish the vehicle release model of the intersection dynamic saturated flow rate
a)分析交通流特性a) Analyze traffic flow characteristics
当交叉口绿灯启亮后，等候在停车线后的车辆将按照顺序依次通过交叉口，根据释放率的不同将释放过程分为3个阶段5种状态：红灯状态(OA)；渠化段内排队车辆释放状态(AB)；渠化段外排队车辆饱和释放状态(BC)；渠化段外排队车辆非饱和释放状态(CD)；随机到达释放状态(DE)。When the green light at the intersection is turned on, the vehicles waiting behind the stop line will pass through the intersection in sequence. According to the different release rates, the release process is divided into 3 stages and 5 states: red light state (OA); channelization section The release state (AB) of the inner queuing vehicles; the saturated release state (BC) of the queuing vehicles outside the channelization segment; the unsaturated release state (CD) of the queuing vehicles outside the channelization segment; the random arrival release state (DE).
b)确定交叉口设计参数b) Determine the intersection design parameters
实地测量当前交叉口渠化段车流驶离率S，交叉口渠化段长度L1，处于跟随状态的车辆平均加速度a1，非跟驰状态的平均加速度为a2、渠化段外排队车辆即将进入渠化车道时的速度Vi,0等交叉口参数。On-the-spot measurement of the current traffic departure rate S of the channelized section of the intersection, the length of the channelized section of the intersection L1 , the average acceleration a1 of the vehicles in the following state, the average acceleration of the non-following state is a2 , the vehicles queued outside the channelized section The intersection parameters such as speed Vi,0 when entering the channelized lane.
c)建立交叉口动态饱和流率车辆释放模型c) Establish a dynamic saturated flow rate vehicle release model at the intersection
1)渠化段内排队车辆释放模型1) Queued vehicle release model in the canalization section
绿灯启亮初期，渠化段内等候车辆开始向前运动，流率变化较快，从零逐渐达到饱和流量，并以饱和流量依次通过停车线，根据其释放规律，求出渠化段内排队车辆饱和释放所需要的时间。At the initial stage of the green light, the waiting vehicles in the channelization section start to move forward, and the flow rate changes rapidly, gradually reaching the saturated flow rate from zero, and passing through the stop line with the saturated flow rate in turn. Time required for vehicle saturation release.
2)建立渠化段外排队车辆饱和释放模型2) Establish a saturation release model for queuing vehicles outside the canalization section
当启动波传递至渠化段的最后一辆车时，该车跟随前车启动加速，仍然以饱和流量释放，此时渠化段外排队车辆逐渐分方向进入渠化车道，此时前方车辆速度较慢，后续进入的车辆能够迅速追赶上并形成跟随状态，交通流仍然按照饱和流量释放，根据其释放规律，求出渠化段外排队车辆饱和释放所需要的时间。When the starting wave is transmitted to the last vehicle in the channelization section, the vehicle starts to accelerate with the vehicle in front, and is still released at a saturated flow rate. At this time, the queued vehicles outside the channelization section gradually enter the channelization lane in different directions. At this time, the speed of the vehicle in front is If it is slower, the following vehicles can quickly catch up and form a following state, and the traffic flow is still released according to the saturated flow.
3)确定渠化段外排队车辆非饱和释放模型3) Determine the unsaturated release model of vehicles queued outside the canalization section
当前方车辆速度较快，后车无法在到达设计时速前追上前车时，此时车辆属于非饱和释放状态，根据其释放规律求出渠化段外排队车辆非饱和释放所需要的时间。When the vehicle in front is fast and the rear vehicle cannot catch up with the vehicle in front before reaching the design speed, the vehicle is in an unsaturated release state, and the time required for unsaturated release of vehicles queued outside the canalization section is obtained according to its release law.
B)然后建立交叉口动态饱和流率信号配时优化模型B) Then establish an optimization model of intersection dynamic saturated flow rate signal timing
a)建立基于动态饱和流率的信号周期计算模型a) Establish a signal period calculation model based on dynamic saturated flow rate
周期内总到达车辆数减去图1中AD段释放的车辆数，剩余车辆在一定时间内按照自由流驶离率释放完毕，既无滞留车辆，也无富余绿灯时间，计算最优周期。Calculate the optimal cycle by subtracting the total number of arriving vehicles in the cycle from the number of vehicles released in AD segment in Figure 1. The remaining vehicles are released according to the free-flow departure rate within a certain period of time. There are neither stranded vehicles nor excess green light time.
b)计算基于动态饱和流率的最佳绿灯时长。b) Calculate the optimal green light duration based on the dynamic saturated flow rate.
本发明的有益效果：Beneficial effects of the present invention:
本发明能够根据交叉口渠化段长度、交通量、加速度等参数，准确计算交叉口进口道不同时间段的动态饱和流率，真实展现交叉口绿灯期间车辆释放规律，并以此来计算最优周期及最优绿灯时间。本发明能够解决高负荷状态下，传统配时模型计算中采用饱和流率固定值而产生的周期时间盈余问题。The invention can accurately calculate the dynamic saturated flow rate of the intersection entrance in different time periods according to parameters such as the length of the canalization section of the intersection, traffic volume, acceleration, etc., and truly show the vehicle release law during the green light of the intersection, and use this to calculate the optimal cycle and optimal green light time. The invention can solve the problem of cycle time surplus caused by adopting a fixed value of saturated flow rate in traditional timing model calculation under high load state.
附图说明Description of drawings
图1是本发明交叉口饱和状态车流释放过程图；Fig. 1 is the traffic flow release process diagram of the saturated state of the intersection of the present invention;
图2是本发明红灯期间交叉口运行状态图；Fig. 2 is the operating state diagram of the intersection during the red light period of the present invention;
图3是本发明绿灯启亮初期车流运行状态图；Fig. 3 is the traffic flow operation state diagram of the present invention in the initial stage of the green light;
图4是本发明渠化段外排队车辆初期释放状态图；Fig. 4 is the initial release state diagram of vehicles queuing outside the canalization section of the present invention;
图5是本发明渠化段外排队车辆行驶过程图；Fig. 5 is the driving process diagram of queuing vehicles outside the canalization section of the present invention;
图6是本发明渠化段外排队车辆后期释放状态图；Fig. 6 is the state diagram of the late release state of the vehicles queued outside the canalization section of the present invention;
图7是本发明车辆自由到达-释放状态图；Fig. 7 is the free arrival-release state diagram of the vehicle of the present invention;
图8是本发明方法流程图。Figure 8 is a flow chart of the method of the present invention.
具体实施方式Detailed ways
下面结合附图和实施例对本发明做进一步详细的说明；The present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments;
本发明方法的步骤包括：The steps of the method of the present invention include:
A)首先建立交叉口动态饱和流率车辆释放模型A) First establish the vehicle release model of the intersection dynamic saturated flow rate
a)分析交通流特性a) Analyze traffic flow characteristics
当交叉口绿灯启亮后，等候在停车线后的车辆将按照顺序依次通过交叉口，根据释放率的不同将释放过程分为3个阶段5种状态：红灯状态(OA)；渠化段内排队车辆释放状态(AB)；渠化段外排队车辆饱和释放状态(BC)；渠化段外排队车辆非饱和释放状态(CD)；随机到达释放状态(DE)；如图1、图2和图3所示。下面将对每一种运行状态进行深入分析，以确定状态持续时间和对应参数。When the green light at the intersection is turned on, the vehicles waiting behind the stop line will pass through the intersection in sequence. According to the different release rates, the release process is divided into 3 stages and 5 states: red light state (OA); channelization section Release state (AB) of vehicles queued inside; saturated release state (BC) of vehicles queued outside the channelization segment; unsaturated release state (CD) of vehicles queued outside the channelization segment; release state (DE) by random arrival; as shown in Figure 1 and Figure 2 and shown in Figure 3. An in-depth analysis of each operating state is performed below to determine the state duration and corresponding parameters.
b)确定交叉口设计参数b) Determine the intersection design parameters
实地测量当前交叉口渠化段车流驶离率S，交叉口渠化段长度L1，处于跟随状态的车辆平均加速度a1，非跟驰状态的平均加速度为a2、绿灯初始车辆启动损失时间l0和饱和释放车头时距h0等交叉口参数。Measure the current vehicle flow departure rate S of the channelized section of the intersection, the length of the channelized section of the intersection L1 , the average acceleration a1 of the vehicle in the following state, the average acceleration of the non-following state is a2 , the initial vehicle start loss time of the green light Intersection parameters such as l0 and saturation release headway h0 .
c)建立交叉口动态饱和流率车辆释放模型，见图3、图4和图5；c) Establish a vehicle release model with dynamic saturated flow rate at the intersection, see Figure 3, Figure 4 and Figure 5;
1)渠化段内排队车辆释放模型1) Queued vehicle release model in the canalization section
这里的计算参数包括：渠化段内排队车辆饱和释放所需要的时间ΔtAB；车流驶离率SAB；交叉口渠化段的长度L1；绿灯初期车辆启动损失时间l0。The calculation parameters here include: time ΔtAB required for queuing vehicles to be saturated and released in the channelized section; vehicle flow departure rate SAB ; length L1 of the channelized section of the intersection;
此时对应图1中AB段，通过下式计算：At this time, corresponding to the AB section in Figure 1, it is calculated by the following formula:
ΔtAB＝L1/(6*SAB)+l0ΔtAB =L1 /(6*SAB )+l0
2)建立渠化段外排队车辆饱和释放模型2) Establish a saturation release model for queuing vehicles outside the canalization section
21)渠化段外排队车辆i即将进入渠化车道时的速度21) The speed of the queued vehicle i outside the channelization section when it is about to enter the channelization lane
这里的计算参数包括：渠化段外排队车辆i即将进入渠化车道时的速度Vi,0；处于跟随状态的车辆平均加速度a1。The calculation parameters here include: the speed Vi,0 of the queued vehicle i outside the channelization section when it is about to enter the channelization lane; the average acceleration a1 of the vehicles in the following state.
渠化段外排队车辆i即将进入渠化车道时的速度为：The speed of the queued vehicle i outside the channelization section when it is about to enter the channelization lane is:
Vi,0＝(2a1*6(i-1))1/2Vi,0 = (2a1 *6(i-1))1/2
22)渠化段外排队车辆i以跟随状态通过停车线时刻22) The moment when the queued vehicle i outside the channelization section passes the stop line in the following state
这里的计算参数包括：排队车辆进入直行车道时的平均车头间距hs，饱和释放车头时距h0，渠化段外排队车辆i以跟随状态通过停车线的时刻Ti，渠化段外排队车辆i以自由行驶状态通过停车线的时刻Ti'，直行车在车流中所占比重β。The calculation parameters here include: the average head-to-head distance hs when the queuing vehicles enter the straight lane, the saturation release head-to-head distance h0 , the time Ti when the queued vehicle i outside the canalization section passes the stop line in the following state, the queued vehicles outside the canalization section When i passes the stop line in a free-running state at the time Ti ', the proportion β of the straight vehicle in the traffic flow is β.
排队车辆进入直行车道时的平均车头间距为：The average head-to-head spacing of queuing vehicles entering the straight lane is:
hs＝h0/βhs =h0 /β
渠化段外排队车辆i以跟随状态通过停车线时刻为：The moment when the queued vehicle i outside the canalization section passes the stop line in the following state is:
Ti＝ΔtAB+i*h0Ti =ΔtAB +i*h0
23)渠化段外排队车辆饱和释放所需要的时间23) Time required for saturated release of vehicles queued outside the canalization section
这里的计算参数包括：渠化段外排队车辆i-1以跟随状态通过停车线的时刻Ti-1，渠化段内排队车辆消散时间ΔtBC，渠化段外排队车辆饱和释放车辆数n，渠化段外排队车辆i即将驶出渠化车道时的速度Vd，非跟驰状态的平均加速度为a2。The calculation parameters here include: the time Ti-1 when the queued vehicle i-1 outside the canalization section passes the stop line in the following state, the dissipation time ΔtBC of the queued vehicle in the canalization section, and the number n of vehicles that are saturated and released outside the canalization section , the speed Vd of the queued vehicle i outside the channelized section when it is about to leave the channelized lane, and the average acceleration in the non-following state is a2 .
渠化段外排队车辆饱和释放需要满足条件：The saturated release of vehicles queued outside the canalization section needs to meet the following conditions:
Ti'-Ti-1≥(hs-h0)Ti '-Ti-1 ≥(hs -h0 )
渠化段外排队车辆i以自由行驶状态通过停车线的时刻为：The moment when the queued vehicle i outside the canalization section passes the stop line in a free driving state is:
渠化段外排队车辆i-1以跟随状态通过停车线的时刻为：The moment when the queued vehicle i-1 outside the canalization section passes the stop line in the following state is:
该状态的持续时间为：The duration of this state is:
ΔtBC＝3600n/SBCΔtBC =3600n/SBC
3)确定渠化段外排队车辆非饱和释放模型3) Determine the unsaturated release model of vehicles queued outside the canalization section
这里的计算参数包括：红灯时间r,渠化段外排队车辆的释放率SCD,车辆到达率q，CD段车辆消散时间ΔtCD。The calculation parameters here include: red light time r, release rate SCD of vehicles queued outside the canalization section, vehicle arrival rate q, and vehicle dissipation time ΔtCD in CD section.
排队车辆释放率为：The queued vehicle release rate is:
SCD＝1/hs＝β/h0SCD =1/hs =β/h0
渠化段外排队车辆非饱和释放时间为：The unsaturated release time of vehicles queued outside the canalization section is:
B)然后建立交叉口动态饱和流率信号配时优化模型，见图7；B) Then establish an optimization model of dynamic saturated flow rate signal timing at the intersection, as shown in Figure 7;
建立交叉口动态饱和流率信号配时优化模型的过程包括：The process of establishing an optimal model for the timing of dynamic saturated flow rate signals at an intersection includes:
a)建立基于动态饱和流率的信号周期计算模型。a) Establish a signal period calculation model based on the dynamic saturated flow rate.
这里的计算参数包括：周期时长Cmin；损失时间L。The calculation parameters here include: cycle duration Cmin ; loss time L.
b)计算基于动态饱和流率的最佳绿灯时长b) Calculate the optimal green light duration based on the dynamic saturated flow rate
综上，本发明以交叉口通行效率最高为目标，针对传统配时模型中采用固定参数导致的方案设计不合理问题，在充分考虑交叉口渠化及供需关系的基础上，首先对高负荷交叉口车流释放特征进行精细化解析，确定5个阶段的最大释放流率及持续时间；其次，提出了交叉口总损失时间的计算模型，并将其作为高负荷交叉口信号配时的优化目标；之后，基于优化指标构建了信号周期及绿灯的优化模型，使得该情况下最佳信号周期与最佳绿灯时长更加准确，见图8。To sum up, the present invention aims at the highest traffic efficiency at the intersection. In view of the unreasonable scheme design caused by the use of fixed parameters in the traditional timing model, on the basis of fully considering the channelization of the intersection and the relationship between supply and demand, first of all, the high-load intersection is solved. The characteristics of traffic flow release at the intersection are analyzed in detail, and the maximum release flow rate and duration of five stages are determined; secondly, the calculation model of the total lost time of the intersection is proposed, and it is used as the optimization target of signal timing at high-load intersections; After that, an optimization model of the signal period and the green light is constructed based on the optimization index, which makes the optimal signal period and the optimal green light duration more accurate in this case, as shown in Figure 8.
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| CN114399912A (en)* | 2022-03-24 | 2022-04-26 | 华砺智行(武汉)科技有限公司 | Adaptive signal control method and system under intelligent networking environment |
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