CN115909768A - A signal collaborative optimization method and system for an intelligent network-connected mixed traffic flow intersection - Google Patents
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Abstract
Description
Translated fromChinese技术领域technical field
本发明涉及智能交通控制技术领域，尤其涉及一种智能网联混合交通流交叉口信号协同优化方法及系统。The invention relates to the technical field of intelligent traffic control, in particular to an intelligent network-connected mixed traffic flow intersection signal collaborative optimization method and system.
背景技术Background technique
近年来，我国提出了“双碳目标”，正加快形成绿色低碳交通运输方式，推广新能源、智能化、数字化交通装备，鼓励引导绿色出行，让交通更加环保、出行更加低碳。面对诸多挑战，智能网联汽车融合了智能化、网联化的优点，为实现交通出行的节能减排、提升交通效率提供了前所未有的契机，在智能交通自动驾驶技术领域取得了许多突破性成果，可显著缓解我国所面临的能源与环境危机，并在一定程度上有效缓解日益严重的交通拥堵和道路安全问题。技术的突破让越来越多的原型智能车能够走出实验室，在真实道路环境中进行测试，逐渐向实际应用迈进。城市交通拥堵和交通事故等问题日益严重，交叉口作为城市交通网络的节点，直接影响着路网交通运行与控制效果，解决交叉口的交通问题对解决整个城市交通问题具有重大意义。In recent years, my country has put forward the "Double Carbon Goal", which is accelerating the formation of green and low-carbon transportation methods, promoting new energy, intelligent, and digital transportation equipment, encouraging and guiding green travel, and making transportation more environmentally friendly and travel more low-carbon. In the face of many challenges, ICV combines the advantages of intelligence and networking, providing an unprecedented opportunity to realize energy saving and emission reduction in traffic travel, and improve traffic efficiency, and has achieved many breakthroughs in the field of intelligent traffic autonomous driving technology As a result, it can significantly alleviate the energy and environmental crisis faced by our country, and effectively alleviate the increasingly serious traffic congestion and road safety problems to a certain extent. Technological breakthroughs have allowed more and more prototype smart cars to go out of the laboratory and be tested in real road environments, gradually moving towards practical applications. Problems such as urban traffic congestion and traffic accidents are becoming more and more serious. As the nodes of the urban traffic network, intersections directly affect the operation and control of road network traffic. Solving traffic problems at intersections is of great significance to solving the entire urban traffic problem.
随着通信技术、传感和计算机技术的发展，智能网联技术成为解决交通问题的关键技术。尽管到目前为止智能网联车已经取得了巨大的进步，但要达到完全自动化以及较高的智能网联车市场渗透率还需要相对较长的时间，在智能网联车完全取代人类驾驶车辆之前，道路将在很长一段时间内存在智能网联车和人类驾驶车辆混合交通流。在智能网联环境下，智能网联车和人类驾驶车辆具有更快的信息探知能力和更小的反应时间，路端感知也可将检测到的交叉口范围内的道路、车辆运行状况实时传输到车端。如何在交叉口控制问题中发挥智能网联系统的技术优势，实现安全、有效、科学的控制是目前交通控制领域研究的重要方向。With the development of communication technology, sensing and computer technology, intelligent network technology has become a key technology to solve traffic problems. Although the ICV has made great progress so far, it will take a relatively long time to achieve full automation and a high penetration rate of the ICV market, before the ICV completely replaces human-driven vehicles. , the road will have a mixed traffic flow of intelligent networked vehicles and human-driven vehicles for a long time. In the intelligent network environment, intelligent networked vehicles and human-driven vehicles have faster information detection capabilities and shorter reaction times. Roadside perception can also transmit the detected road and vehicle operating conditions within the intersection range in real time. to the end of the car. How to make full use of the technical advantages of the intelligent network system in the intersection control problem to achieve safe, effective and scientific control is an important direction of research in the field of traffic control.
然而，现有的基于混合通行条件下智能车轨迹优化研究中，智能车的渗透率往往较低，在人机混驾的交通模式中检测器难以获得研究范围内所有车辆的动态运行状况，制约了智能车的轨迹规划；现有研究为单边优化，少有轨迹与信号协同优化。并且，较少使用多车跟驰模型进行速度控制，往往仅考虑单车。针对上述这种情况，本发明提出了一种智能网联混合交通流交叉口信号协同优化方法及系统，能够有效地对现有技术进行改进，克服其不足。However, in the existing research on smart vehicle trajectory optimization based on mixed traffic conditions, the penetration rate of smart cars is often low. The trajectory planning of intelligent vehicles has been studied; the existing research is unilateral optimization, and there are few collaborative optimization of trajectory and signal. Moreover, the multi-vehicle car-following model is rarely used for speed control, and only a single vehicle is often considered. In view of the above situation, the present invention proposes an intelligent network-connected mixed traffic flow intersection signal collaborative optimization method and system, which can effectively improve the existing technology and overcome its shortcomings.
发明内容Contents of the invention
针对现有技术的不足，本发明提供了一种智能网联混合交通流交叉口信号协同优化方法及系统，以解决现有技术存在的以上问题，其具体方案如下：Aiming at the deficiencies of the prior art, the present invention provides an intelligent network-connected hybrid traffic flow intersection signal collaborative optimization method and system to solve the above problems existing in the prior art. The specific scheme is as follows:
第一方面，本发明提供了一种智能网联混合交通流交叉口信号协同优化方法，所述方法包括：In the first aspect, the present invention provides a method for collaborative optimization of signals at an intelligent network-connected mixed traffic flow intersection, the method comprising:
步骤1：对交通状态信息进行高精度采集，包括目标车辆运行状态数据与初始信控方案；Step 1: High-precision collection of traffic status information, including target vehicle operating status data and initial signal control scheme;
步骤2：基于初始信息控制的智能车轨迹进行优化，包括交叉口分区界定、智能车队编组、速度引导区边界计算、跟驰模型建立、车速引导策略应用；Step 2: Optimizing the trajectory of the smart vehicle based on the initial information control, including the definition of intersection divisions, smart fleet formation, boundary calculation of the speed guidance area, establishment of car-following models, and application of vehicle speed guidance strategies;
步骤3：基于优化后的所述智能车轨迹的信号控制进行优化，包括标准小汽车当量参数优化，道路通行能力占用系数确定，信控方案确定。Step 3: Optimizing based on the signal control of the optimized trajectory of the smart car, including standard car equivalent parameter optimization, determination of road capacity occupancy coefficient, and determination of signal control scheme.
优选地，所述步骤2包括：Preferably, said step 2 includes:
S21.交叉口分区界定：对采集器检测范围L进行分区，主要由车队决策区LD、速度引导区LV所组成；车队编组区主要功能为将智能网联车辆与人工驾驶车辆进行编组；速度引导区主要功能为应用速度控制策略实现智能车队的实时控制，为保证交通安全，LV长度需小于进口道实线区域Llimit；其组成与约束如下：S21. Intersection partition definition: partition the detection range L of the collector, which is mainly composed of the fleet decision-making area LD and the speed guidance area LV ; the main function of the fleet marshalling area is to marshal intelligent networked vehicles and human-driven vehicles; The main function of the speed guidance area is to apply the speed control strategy to realize the real-time control of the intelligent fleet. In order to ensure traffic safety, the length of LV must be less than the solid line area Llimit of the entrance road; its composition and constraints are as follows:
L＝LD+LVL＝LD +LV
LV＜Llimit；LV < Llimit ;
S22.智能车队编组：由于人机混驾的环境，智能网联车辆按照一定渗透率存在于交叉口内；在车队决策区LD内将智能网联车辆(CAV)作为所编组的车队的头车
S23.速度引导区边界计算：不同于检测器的探测边界，确定车辆被集中控制器开始纳入速度控制策略的影响范围；其判断条件为驾驶员能够接受的加速度极值ac，并根据加速度极值ac与道路限制速度VL计算舒适制动距离Sc；其计算公式如下：S23. Calculation of the boundary of the speed guide area: Different from the detection boundary of the detector, it is determined that the vehicle is brought into the influence range of the speed control strategy by the centralized controller; the judgment condition is the acceleration extreme value ac acceptable to the driver, and according to the acceleration Calculate the comfortable braking distance Sc from the value ac and the road limit speed VL ; the calculation formula is as follows:
根据计算得出的舒适制动距离Sc，以交叉口停止线为基准确定速度引导区LV边界；若Sc＞Slimit，取边界距离为Slimit；According to the calculated comfortable braking distance Sc , determine the boundary of the speed guidance area LV based on the intersection stop line; if Sc > Slimit , take the boundary distance as Slimit ;
S24.跟驰模型建立：由于车队中存在部分人工驾驶车辆，智能网联车队Mn头车的驾驶特征将诱导跟驰人工驾驶车辆以相同目标速度通过交叉口或停止；由于基于雷视一体机的交通采集系统能够得到包括人工驾驶车辆在内的所有车辆的运行状态信息，可应用基于车队的改进FVD(全速度差)跟驰模型，得到后一车队头车
am+1＝α(V′m-Vm(t))+β(Vm+1(t)-Vm(t))am+1 ＝α(V′m -Vm (t))+β(Vm+1 (t)-Vm (t))
式中：am+1——m+1车队中头车跟驰加速度；In the formula: am+1 ——the car-following acceleration of the leading vehicle in the m+1 fleet;
V′m——m车队的头车目标车速；V′m ——the target vehicle speed of the head car of the m team;
Vm(t)——t时刻m车队尾车速度；Vm (t)——the speed of the rear vehicle of m team at time t;
Vm+1(t)——t时刻m+1车队头车速度；Vm+1 (t)——the speed of the head car of the m+1 team at time t;
α——驾驶员敏感系数；β——驾驶员反应系数；α—driver sensitivity coefficient; β—driver reaction coefficient;
S25.车速引导策略应用：智能网联车队Mn到达速度引导区LV边界时，进行相位判断，此行进方向信号灯为红黄灯相位Pr，其剩余时间设为Tr；或绿灯相位Pg，其剩余时间设为Tg；并针对不同的相位状态采用不同的车速引导策略，设置tr为驾驶员反应时间；S25. Application of vehicle speed guidance strategy: When the intelligent networked fleet Mn reaches the boundary of the speed guidance area LV , the phase judgment is performed. The direction signal light is the red and yellow light phase Pr , and the remaining time is set to Tr ; or the green light phase Pg , whose remaining time is set as Tg ; and different vehicle speed guidance strategies are adopted for different phase states, and tr is set as the driver's reaction time;
其中，集中控制器仅在无下游排队车辆或排队车辆无干扰的情况下进行轨迹优化：Among them, the centralized controller only performs trajectory optimization when there are no downstream queuing vehicles or no interference from queuing vehicles:
1)当
2)当
式中：Vmin——道路最低限速；Vmax——道路最高限速。In the formula: Vmin - the minimum speed limit of the road; Vmax - the maximum speed limit of the road.
优选地，所述步骤3包括：Preferably, said step 3 includes:
S31.标准小汽车当量参数优化：基于雷视一体机对于车辆运行状态获取的准确性，能够利用交叉口内运行车辆的车辆类型、车辆大小、占用空间、运行速度对小汽车当量换算系数进行改进：S31. Optimization of standard car equivalent parameters: Based on the accuracy of the LeTV all-in-one machine for vehicle running status acquisition, the car equivalent conversion coefficient can be improved by using the vehicle type, vehicle size, occupied space, and running speed of the vehicles running in the intersection:
其中：
λs、λr、λl、λb分别为小汽车、中型车、大型车、公交车的空间占用系数，其反应各类车辆对道路面积的占用度；并根据交通流率情况确定公交优先度，即λb取值；λs , λr , λl , and λb are the space occupancy coefficients of cars, medium-sized cars, large cars, and buses, respectively, which reflect the occupancy of various vehicles on the road area; and determine the bus priority according to the traffic flow rate degree, that is, the value of λb ;
δs、δr、δl、δb分别为小汽车、中型车、大型车、公交车的道路通行能力占用系数；δs , δr , δl , and δb are the road capacity occupancy coefficients of cars, medium-sized cars, large cars, and buses, respectively;
S32.道路通行能力占用系数确定：根据该车道平均速度
S33.信控方案确定：根据步骤S32中的计算公式，可以得出精确的各关键车道的交通流量qi，引用经典的英国TRRL方法进行信号配时计算，生成相位方案；S33. Determination of the signal control scheme: according to the calculation formula in step S32, the accurate traffic flow qi of each key lane can be obtained, and the classic British TRRL method is used to calculate the signal timing and generate a phase scheme;
其中，在一个周期中，集中控制器将实时读取轨迹优化后交叉口所有车辆的运行状态，利用基于改进标准小汽车当量的webster法进行交叉口信号控制。Among them, in one cycle, the centralized controller will read the running status of all vehicles at the intersection after trajectory optimization in real time, and use the Webster method based on the improved standard car equivalent to control the intersection signal.
优选地，所述步骤S33包括：Preferably, the step S33 includes:
S41.关键车道流量比总和计算：根据步骤3.2中给出的改进下各车道交通量进行流量比总和计算，其计算方法如下：S41. Calculation of the sum of flow ratios of key lanes: According to the traffic volume of each lane under the improvement given in step 3.2, the sum of flow ratios is calculated, and the calculation method is as follows:
其中i为相位的索引，需根据交叉口实际运行情况具体设定；
其中
S42.最优周期时长：TRRL方法信号控制的周期时长应桉如下公式计算：S42. Optimal cycle duration: The cycle duration of TRRL method signal control should be calculated by the following formula:
40s≤C0≤180s40s≤C0 ≤180s
其中L定义为信号总损失时间，其计算公式如下：Among them, L is defined as the total loss time of the signal, and its calculation formula is as follows:
其中Ls定义为启动损失时间；AR为i相位的全红交叉口清空时间；where Ls is defined as the start-up loss time; AR is the clearing time of the all-red intersection of phase i;
S43.有效绿灯时间计算：根据各相位准确的流量比分配最优周期时长C0，其计算方法如下：S43. Calculation of effective green light time: distribute the optimal cycle duration C0 according to the accurate flow ratio of each phase, and the calculation method is as follows:
由有效绿灯时间生成相位组合G＝[g1，g2，g3，...]，用于进行下一周期的交叉口信号控制；下周期开始时，回到步骤2继续进行基于步骤3给出信控方案下的智能车轨迹优化。Generate the phase combination G=[g1 , g2 , g3 ,...] from the effective green light time, which is used to control the intersection signal in the next cycle; when the next cycle starts, go back to step 2 and continue based on step 3 The intelligent vehicle trajectory optimization under the signal control scheme is given.
第二方面，本发明提供了一种智能网联混合交通流交叉口信号协同优化系统，所述系统包括：In the second aspect, the present invention provides an intelligent network-connected mixed traffic flow intersection signal collaborative optimization system, the system comprising:
获取模块，用于对交通状态信息进行高精度采集，包括目标车辆运行状态数据与初始信控方案；The acquisition module is used for high-precision collection of traffic state information, including target vehicle operating state data and initial signal control scheme;
处理模块，用于基于初始信息控制的智能车轨迹进行优化，包括交叉口分区界定、智能车队编组、速度引导区边界计算、跟驰模型建立、车速引导策略应用；The processing module is used to optimize the trajectory of the intelligent vehicle based on the initial information control, including the definition of the intersection zone, the formation of the intelligent fleet, the calculation of the boundary of the speed guidance area, the establishment of the car following model, and the application of the vehicle speed guidance strategy;
优化模块，用于基于优化后的所述智能车轨迹的信号控制进行优化，包括标准小汽车当量参数优化，道路通行能力占用系数确定，信控方案确定。An optimization module, configured to optimize based on the signal control of the optimized trajectory of the smart car, including optimization of standard car equivalent parameters, determination of road capacity occupancy coefficients, and determination of signal control schemes.
第三方面，本发明提供了一种智能网联混合交通流交叉口信号协同优化设备，所述设备包括：In the third aspect, the present invention provides an intelligent network-connected hybrid traffic flow intersection signal collaborative optimization device, which includes:
通信总线，用于实现处理器与存储器间的连接通信；The communication bus is used to realize the connection and communication between the processor and the memory;
存储器，用于存储计算机程序；memory for storing computer programs;
处理器，用于执行所述计算机程序以实现如下步骤：A processor for executing the computer program to achieve the following steps:
对交通状态信息进行高精度采集，包括目标车辆运行状态数据与初始信控方案；High-precision collection of traffic status information, including target vehicle operating status data and initial signal control scheme;
基于初始信息控制的智能车轨迹进行优化，包括交叉口分区界定、智能车队编组、速度引导区边界计算、跟驰模型建立、车速引导策略应用；Optimizing the trajectory of intelligent vehicles based on initial information control, including the definition of intersection divisions, intelligent fleet formation, boundary calculation of speed guidance areas, establishment of car-following models, and application of vehicle speed guidance strategies;
基于优化后的所述智能车轨迹的信号控制进行优化，包括标准小汽车当量参数优化，道路通行能力占用系数确定，信控方案确定。Optimizing based on the signal control of the optimized trajectory of the smart car includes optimizing the equivalent parameters of a standard car, determining the occupancy coefficient of the road capacity, and determining the signal control scheme.
第四方面，本发明提供了一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现如第一方面所述的方法。In a fourth aspect, the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method as described in the first aspect is implemented.
有益效果：本发明的智能网联混合交通流交叉口信号协同优化方法及系统，通过对交通状态信息进行高精度采集，包括目标车辆运行状态数据与初始信控方案；基于初始信息控制的智能车轨迹进行优化，包括交叉口分区界定、智能车队编组、速度引导区边界计算、跟驰模型建立、车速引导策略应用；基于优化后的所述智能车轨迹的信号控制进行优化，包括标准小汽车当量参数优化，道路通行能力占用系数确定，信控方案确定。这样，通过采用车辆编组的方式，将智能车与人工车辆编组，使用车队进行跟驰；并利用了雷视一体机的采集特性，车队领头智能车能够获得前车队车尾人工驾驶车辆的速度，从而进行跟驰，解决了混合交通模式下，智能车渗透率较低，存在大量的人工智能驾驶跟驰智能车辆；且仅仅是控制智能车单车，未考虑多车跟驰状态，优化作用将有限的缺点。同时，通过采用了轨迹与信号协同优化的方式，避免了现有仅采用单边优化的混合交通情况导致的往往仅针对车辆运行状态进行信号优化，或者在固定配时方案下进行轨迹优化与速度控制的弊端，进一步提升交叉口的运行效率，保障了数据来源更精确、微观，并且控制策略更合理、有效。Beneficial effects: the intelligent network-connected mixed traffic flow intersection signal collaborative optimization method and system of the present invention, through high-precision collection of traffic state information, including target vehicle operating state data and initial signal control scheme; intelligent vehicle control based on initial information The trajectory is optimized, including intersection division definition, intelligent fleet formation, speed guidance area boundary calculation, car-following model establishment, and vehicle speed guidance strategy application; optimization is based on the signal control of the optimized trajectory of the intelligent vehicle, including standard car equivalent Parameter optimization, determination of road capacity occupancy coefficient, and information control scheme. In this way, by adopting the method of vehicle marshalling, the smart car and the artificial vehicle are marshaled, and the fleet is used to follow the car; and by using the collection characteristics of the Levision all-in-one machine, the leading smart car of the fleet can obtain the speed of the artificially driven vehicle at the rear of the front fleet, Car-following is carried out, which solves the problem of low penetration rate of smart cars in the mixed traffic mode, and there are a large number of artificial intelligence-driven car-following smart cars; and it only controls smart car single-car, without considering the state of multi-vehicle car-following, and the optimization effect will be limited Shortcomings. At the same time, by adopting the method of trajectory and signal collaborative optimization, it avoids the existing mixed traffic conditions that only use unilateral optimization, which often only optimizes the signal for the vehicle operating state, or performs trajectory optimization and speed under a fixed timing scheme. The shortcomings of control further improve the operational efficiency of intersections, ensure more accurate and microscopic data sources, and make control strategies more reasonable and effective.
附图说明Description of drawings
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，附图中的实施例不构成对本发明的任何限制，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. The embodiments in the drawings do not constitute any limitation to the present invention, and those skilled in the art can also obtain other drawings according to these drawings without creative work.
图1是本发明智能网联混合交通流交叉口信号协同优化方法一实施例流程示意图。Fig. 1 is a schematic flow chart of an embodiment of a method for signal collaborative optimization of an intelligent network-connected mixed traffic flow intersection signal according to the present invention.
图2是本发明智能网联混合交通流交叉口信号协同优化系统一实施例结构示意图。Fig. 2 is a schematic structural diagram of an embodiment of the intelligent network-connected mixed traffic flow intersection signal collaborative optimization system of the present invention.
图3是本发明智能网联混合交通流交叉口信号协同优化设备一实施例结构示意图。Fig. 3 is a structural schematic diagram of an embodiment of an intelligent network-connected mixed traffic flow intersection signal collaborative optimization device according to the present invention.
具体实施方式Detailed ways
下面结合附图与实施例对本发明技术方案作进一步详细的说明，这是本发明的较佳实施例。应当理解，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例；需要说明的是，在不冲突的情况下，本发明中的实施例及实施例中的特征可以相互组合。基于本发明中的实施例，本领域普通技术人员在没有做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。The technical scheme of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments, which is a preferred embodiment of the present invention. It should be understood that the described embodiments are only some of the embodiments of the present invention, not all of them; it should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other . Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
本发明实施例技术方案的主要思想：对交通状态信息进行高精度采集，包括目标车辆运行状态数据与初始信控方案；基于初始信息控制的智能车轨迹进行优化，包括交叉口分区界定、智能车队编组、速度引导区边界计算、跟驰模型建立、车速引导策略应用；基于优化后的所述智能车轨迹的信号控制进行优化，包括标准小汽车当量参数优化，道路通行能力占用系数确定，信控方案确定。The main idea of the technical solution of the embodiment of the present invention: high-precision collection of traffic state information, including target vehicle operating state data and initial signal control scheme; optimization of intelligent vehicle trajectory based on initial information control, including intersection partition definition, intelligent fleet Marshalling, calculation of the boundary of the speed guidance area, establishment of the car-following model, and application of the vehicle speed guidance strategy; optimization based on the signal control of the optimized trajectory of the smart car, including optimization of standard car equivalent parameters, determination of road capacity occupancy coefficients, and signal control The plan is determined.
为了更好的理解上述的技术方案，下面将结合说明书附图以及具体的实施方式对上述技术方案进行详细的说明。In order to better understand the above-mentioned technical solution, the above-mentioned technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation manners.
实施例一Embodiment one
本发明一实施例提供了一种智能网联混合交通流交叉口信号协同优化方法，如图1所示，该数据处理方法具体可以包括如下步骤：An embodiment of the present invention provides an intelligent network-connected mixed traffic flow intersection signal collaborative optimization method, as shown in Figure 1, the data processing method may specifically include the following steps:
步骤S101，对交通状态信息进行高精度采集，包括目标车辆运行状态数据与初始信控方案；Step S101, collecting high-precision traffic state information, including target vehicle operating state data and initial signal control scheme;
在本发明申请实施例中，目标车辆运行状态数据具体可以包括：目标类型Cs、目标纵向速度Vp、目标纵向加速度Vap、目标所在车道号码Li、目标距停车线距离Yi；初始信控方案采集包括各相位的绿灯时长、黄灯时长、全红时间、相序方案。数据的采集通过建立于交叉口的雷视一体机目标检测系统进行，实时采集得到的信息同时输入至轨迹优化与信控方案优化方法中。In the application embodiment of the present invention, the target vehicle running state data may specifically include: target type Cs , target longitudinal velocity Vp , target longitudinal acceleration Vap , target lane number Li , target distance Yi from the stop line; initial The signal control scheme collection includes the green light duration, yellow light duration, full red time, and phase sequence scheme of each phase. The data collection is carried out through the Levision all-in-one target detection system established at the intersection, and the information collected in real time is input into the trajectory optimization and signal control scheme optimization methods at the same time.
步骤S102，基于初始信息控制的智能车轨迹进行优化，包括交叉口分区界定、智能车队编组、速度引导区边界计算、跟驰模型建立、车速引导策略应用；Step S102, optimize the trajectory of the intelligent vehicle based on the initial information control, including the definition of the intersection zone, the formation of the intelligent fleet, the calculation of the boundary of the speed guidance area, the establishment of the car-following model, and the application of the vehicle speed guidance strategy;
具体地，是在周期开始时，采用集中控制器，读取交叉口全部车辆运行状态，同时对交叉口控制范围内所有的智能网联车辆进行速度控制。Specifically, at the beginning of the cycle, a centralized controller is used to read the running status of all vehicles at the intersection, and at the same time control the speed of all intelligent networked vehicles within the control range of the intersection.
在本发明申请实施例中，交叉口分区界定具体可以包括：对采集器检测范围L进行分区，主要由车队决策区LD、速度引导区LV所组成；车队编组区主要功能为将智能网联车辆与人工驾驶车辆进行编组；速度引导区主要功能为应用速度控制策略实现智能车队的实时控制，为保证交通安全，LV长度需小于进口道实线区域Llimit；其组成与约束如下：In the application embodiment of the present invention, the intersection partition definition may specifically include: partitioning the detection range L of the collector, which is mainly composed of the fleet decision-making areaLD and the speed guide area LV ; the main function of the fleet formation area is to integrate the intelligent network The main function of the speed guidance area is to apply the speed control strategy to realize the real-time control of the intelligent fleet. To ensure traffic safety, the length of LV must be less than the Llimit of the solid line area of the entrance road; its composition and constraints are as follows:
L＝LD+LVL＝LD +LV
LV＜Llimit；LV < Llimit ;
在本发明申请实施例中，智能车队编组具体可以包括：由于人机混驾的环境，智能网联车辆按照一定渗透率存在于交叉口内；在车队决策区LD内将智能网联车辆(CAV)作为所编组的车队的头车
在本发明申请实施例中，速度引导区边界计算具体可以包括：不同于检测器的探测边界，确定车辆被集中控制器开始纳入速度控制策略的影响范围；其判断条件为驾驶员能够接受的加速度极值ac，并根据加速度极值ac与道路限制速度VL计算舒适制动距离Sc；其计算公式如下：In the application embodiment of the present invention, the calculation of the boundary of the speed guide area may specifically include: different from the detection boundary of the detector, it is determined that the vehicle is started to be included in the range of influence of the speed control strategy by the centralized controller; the judgment condition is the acceleration acceptable to the driver The extreme value ac , and calculate the comfortable braking distance Sc according to the acceleration extreme value ac and the road speed limit VL ; the calculation formula is as follows:
根据计算得出的舒适制动距离Sc，以交叉口停止线为基准确定速度引导区LV边界；若Sc＞Slimit，取边界距离为Slimit；According to the calculated comfortable braking distance Sc , determine the boundary of the speed guidance area LV based on the intersection stop line; if Sc > Slimit , take the boundary distance as Slimit ;
在本发明申请实施例中，跟驰模型建立具体可以包括：由于车队中存在部分人工驾驶车辆，智能网联车队Mn头车的驾驶特征将诱导跟驰人工驾驶车辆以相同目标速度通过交叉口或停止；由于基于雷视一体机的交通采集系统能够得到包括人工驾驶车辆在内的所有车辆的运行状态信息，可应用基于车队的改进FVD(全速度差)跟驰模型，得到后一车队头车
am+1＝α(V′m-Vm(t))+β(Vm+1(t)-Vm(t))am+1 ＝α(V′m -Vm (t))+β(Vm+1 (t)-Vm (t))
式中：am+1－－m+1车队中头车跟驰加速度；In the formula: am+1 －－m+1 is the car-following acceleration of the leading car in the team;
V′m——m车队的头车目标车速；V′m ——the target vehicle speed of the head car of the m team;
Vm(t)——t时刻m车队尾车速度；Vm (t)——the speed of the rear vehicle of m team at time t;
Vm+1(t)——t时刻m+1车队头车速度；Vm+1 (t)——the speed of the head car of the m+1 team at time t;
α——驾驶员敏感系数；β——驾驶员反应系数；α—driver sensitivity coefficient; β—driver reaction coefficient;
在本发明申请实施例中，车速引导策略应用具体可以包括：智能网联车队Mn到达速度引导区LV边界时，进行相位判断，此行进方向信号灯为红黄灯相位Pr，其剩余时间设为Tr；或绿灯相位Pg，其剩余时间设为Tg；并针对不同的相位状态采用不同的车速引导策略，设置tr为驾驶员反应时间；In the application embodiment of the present invention, the application of the vehicle speed guidance strategy may specifically include: when the intelligent networked fleetMn reaches the boundary of the speed guidance areaLV , phase judgment is performed, the direction signal light is red and yellow light phase Pr , and the remaining time Set as Tr ; or green light phase Pg , and its remaining time is set as Tg ; and adopt different speed guidance strategies for different phase states, set tr as the driver's reaction time;
其中，集中控制器仅在无下游排队车辆或排队车辆无干扰的情况下进行轨迹优化：Among them, the centralized controller only performs trajectory optimization when there are no downstream queuing vehicles or no interference from queuing vehicles:
1)当
2)当
式中：Vmin——道路最低限速；Vmax——道路最高限速。In the formula: Vmin - the minimum speed limit of the road; Vmax - the maximum speed limit of the road.
步骤S103，基于优化后的所述智能车轨迹的信号控制进行优化，包括标准小汽车当量参数优化，道路通行能力占用系数确定，信控方案确定。Step S103, optimize based on the signal control of the optimized trajectory of the smart car, including optimization of standard car equivalent parameters, determination of road capacity occupancy coefficient, and determination of signal control scheme.
具体地，在一个周期中，集中控制器将实时读取轨迹优化后交叉口所有车辆的运行状态，利用基于改进标准小汽车当量的webster法进行交叉口信号控制。Specifically, in one cycle, the centralized controller will read the operating status of all vehicles at the intersection after trajectory optimization in real time, and use the Webster method based on the improved standard car equivalent to control the intersection signal.
在本发明申请实施例中，标准小汽车当量参数优化具体可以包括：基于雷视一体机对于车辆运行状态获取的准确性，能够利用交叉口内运行车辆的车辆类型、车辆大小、占用空间、运行速度对小汽车当量换算系数进行改进：In the application embodiment of the present invention, the standard car equivalent parameters optimization can specifically include: based on the accuracy of the LeTV all-in-one machine for vehicle running status acquisition, the vehicle type, vehicle size, occupied space, and running speed of the running vehicles in the intersection can be used. Improve the car equivalent conversion factor:
其中：
λs、λr、λl、λb分别为小汽车、中型车、大型车、公交车的空间占用系数，其反应各类车辆对道路面积的占用度；并根据交通流率情况确定公交优先度，即λb取值；λs , λr , λl , and λb are the space occupancy coefficients of cars, medium-sized cars, large cars, and buses, respectively, which reflect the occupancy of various vehicles on the road area; and determine the bus priority according to the traffic flow rate degree, that is, the value of λb ;
δs、δr、δl、δb分别为小汽车、中型车、大型车、公交车的道路通行能力占用系数；δs , δr , δl , and δb are the road capacity occupancy coefficients of cars, medium-sized cars, large cars, and buses, respectively;
在本发明申请实施例中，道路通行能力占用系数确定具体可以包括：根据该车道平均速度
在本发明申请实施例中，具体地，信控方案确定具体可以包括：根据步骤S32中的计算公式，可以得出精确的各关键车道的交通流量qi，引用经典的英国TRRL方法进行信号配时计算，生成相位方案。In the embodiment of the present application, specifically, the determination of the signal control scheme may specifically include: According to the calculation formula in step S32, the accurate traffic flow qi of each key lane can be obtained, and the classic British TRRL method is used for signal allocation. When calculated, a phase scheme is generated.
较佳地，以上步骤具体可以包括：Preferably, the above steps may specifically include:
首先，关键车道流量比总和计算是根据步骤3.2中给出的改进下各车道交通量进行流量比总和计算，其计算方法如下：First, the calculation of the sum of the flow ratios of the key lanes is based on the traffic volume of each lane under the improvement given in step 3.2. The calculation method is as follows:
其中i为相位的索引，需根据交叉口实际运行情况具体设定；
其中
40s≤C0≤180s40s≤C0 ≤180s
其中L定义为信号总损失时间，其计算公式如下：Among them, L is defined as the total loss time of the signal, and its calculation formula is as follows:
其中Ls定义为启动损失时间；AR为i相位的全红交叉口清空时间；where Ls is defined as the start-up loss time; AR is the clearing time of the all-red intersection of phase i;
最后，有效绿灯时间计算是根据各相位准确的流量比分配最优周期时长C0，其计算方法如下：Finally, the calculation of the effective green light time is to allocate the optimal cycle duration C0 according to the accurate flow ratio of each phase, and the calculation method is as follows:
在本发明申请实施例中，由有效绿灯时间生成相位组合G＝[g1，g2，g3，...]，用于进行下一周期的交叉口信号控制；下周期开始时，回到步骤2继续进行基于步骤3给出信控方案下的智能车轨迹优化。In the application embodiment of the present invention, the phase combination G=[g1 , g2 , g3 ,...] is generated from the effective green light time, and is used to control the intersection signal in the next cycle; at the beginning of the next cycle, return to Go to step 2 and continue to optimize the trajectory of the smart car based on the signal control scheme given in step 3.
实施例二Embodiment two
本发明一实施例提供了一种智能网联混合交通流交叉口信号协同优化系统，如图2所示，该协同优化系统具体可以包括如下模块：An embodiment of the present invention provides an intelligent network-connected mixed traffic flow intersection signal collaborative optimization system, as shown in Figure 2, the collaborative optimization system may specifically include the following modules:
获取模块，用于对交通状态信息进行高精度采集，包括目标车辆运行状态数据与初始信控方案；The acquisition module is used for high-precision collection of traffic state information, including target vehicle operating state data and initial signal control scheme;
在本发明申请实施例中，目标车辆运行状态数据具体可以包括：目标类型Cs、目标纵向速度Vp、目标纵向加速度Vap、目标所在车道号码Li、目标距停车线距离Yi；初始信控方案采集包括各相位的绿灯时长、黄灯时长、全红时间、相序方案。数据的采集通过建立于交叉口的雷视一体机目标检测系统进行，实时采集得到的信息同时输入至轨迹优化与信控方案优化方法中。In the application embodiment of the present invention, the target vehicle running state data may specifically include: target type Cs , target longitudinal velocity Vp , target longitudinal acceleration Vap , target lane number Li , target distance Yi from the stop line; initial The signal control scheme collection includes the green light duration, yellow light duration, full red time, and phase sequence scheme of each phase. The data collection is carried out through the Levision all-in-one target detection system established at the intersection, and the information collected in real time is input into the trajectory optimization and signal control scheme optimization methods at the same time.
处理模块，用于基于初始信息控制的智能车轨迹进行优化，包括交叉口分区界定、智能车队编组、速度引导区边界计算、跟驰模型建立、车速引导策略应用；The processing module is used to optimize the trajectory of the intelligent vehicle based on the initial information control, including the definition of the intersection zone, the formation of the intelligent fleet, the calculation of the boundary of the speed guidance area, the establishment of the car following model, and the application of the vehicle speed guidance strategy;
具体地，是在周期开始时，采用集中控制器，读取交叉口全部车辆运行状态，同时对交叉口控制范围内所有的智能网联车辆进行速度控制。Specifically, at the beginning of the cycle, a centralized controller is used to read the running status of all vehicles at the intersection, and at the same time control the speed of all intelligent networked vehicles within the control range of the intersection.
在本发明申请实施例中，交叉口分区界定具体可以包括：对采集器检测范围L进行分区，主要由车队决策区LD、速度引导区LV所组成；车队编组区主要功能为将智能网联车辆与人工驾驶车辆进行编组；速度引导区主要功能为应用速度控制策略实现智能车队的实时控制，为保证交通安全，LV长度需小于进口道实线区域Llimit；其组成与约束如下：In the application embodiment of the present invention, the intersection partition definition may specifically include: partitioning the detection range L of the collector, which is mainly composed of the fleet decision-making areaLD and the speed guide area LV ; the main function of the fleet formation area is to integrate the intelligent network The main function of the speed guidance area is to apply the speed control strategy to realize the real-time control of the intelligent fleet. To ensure traffic safety, the length of LV must be less than the Llimit of the solid line area of the entrance road; its composition and constraints are as follows:
L＝LD+LVL＝LD +LV
LV＜Llimit；LV < Llimit ;
在本发明申请实施例中，智能车队编组具体可以包括：由于人机混驾的环境，智能网联车辆按照一定渗透率存在于交叉口内；在车队决策区LD内将智能网联车辆(CAV)作为所编组的车队的头车
在本发明申请实施例中，速度引导区边界计算具体可以包括：不同于检测器的探测边界，确定车辆被集中控制器开始纳入速度控制策略的影响范围；其判断条件为驾驶员能够接受的加速度极值ac，并根据加速度极值ac与道路限制速度VL计算舒适制动距离Sc；其计算公式如下：In the application embodiment of the present invention, the calculation of the boundary of the speed guide area may specifically include: different from the detection boundary of the detector, it is determined that the vehicle is started to be included in the range of influence of the speed control strategy by the centralized controller; the judgment condition is the acceleration acceptable to the driver The extreme value ac , and calculate the comfortable braking distance Sc according to the acceleration extreme value ac and the road speed limit VL ; the calculation formula is as follows:
根据计算得出的舒适制动距离Sc，以交叉口停止线为基准确定速度引导区LV边界；若Sc＞Slimit，取边界距离为Slimit；According to the calculated comfortable braking distance Sc , determine the boundary of the speed guidance area LV based on the intersection stop line; if Sc > Slimit , take the boundary distance as Slimit ;
在本发明申请实施例中，跟驰模型建立具体可以包括：由于车队中存在部分人工驾驶车辆，智能网联车队Mn头车的驾驶特征将诱导跟驰人工驾驶车辆以相同目标速度通过交叉口或停止；由于基于雷视一体机的交通采集系统能够得到包括人工驾驶车辆在内的所有车辆的运行状态信息，可应用基于车队的改进FVD(全速度差)跟驰模型，得到后一车队头车
am+1＝α(V′m-Vm(t))+β(Vm+1(t)-Vm(t))am+1 ＝α(V′m -Vm (t))+β(Vm+1 (t)-Vm (t))
式中：am+1－－m+1车队中头车跟驰加速度；In the formula: am+1 －－m+1 is the car-following acceleration of the leading car in the team;
V′m－－m车队的头车目标车速；V′m - the target vehicle speed of the lead vehicle of the m team;
Vm(t)——t时刻m车队尾车速度；Vm (t)——the speed of the rear vehicle of m team at time t;
Vm+1(t)－－t时刻m+1车队头车速度；Vm+1 (t) - the speed of the head car of the m+1 team at time t;
α－－驾驶员敏感系数；β——驾驶员反应系数；α——driver sensitivity coefficient; β——driver reaction coefficient;
在本发明申请实施例中，车速引导策略应用具体可以包括：智能网联车队Mn到达速度引导区LV边界时，进行相位判断，此行进方向信号灯为红黄灯相位Pr，其剩余时间设为Tr；或绿灯相位Pg，其剩余时间设为Tg；并针对不同的相位状态采用不同的车速引导策略，设置tr为驾驶员反应时间；In the application embodiment of the present invention, the application of the vehicle speed guidance strategy may specifically include: when the intelligent networked fleetMn reaches the boundary of the speed guidance areaLV , phase judgment is performed, the direction signal light is red and yellow light phase Pr , and the remaining time Set as Tr ; or green light phase Pg , and its remaining time is set as Tg ; and adopt different speed guidance strategies for different phase states, set tr as the driver's reaction time;
其中，集中控制器仅在无下游排队车辆或排队车辆无干扰的情况下进行轨迹优化：Among them, the centralized controller only performs trajectory optimization when there are no downstream queuing vehicles or no interference from queuing vehicles:
1)当
2)当
式中：Vmin——道路最低限速；Vmax——道路最高限速。In the formula: Vmin - the minimum speed limit of the road; Vmax - the maximum speed limit of the road.
优化模块，用于基于优化后的所述智能车轨迹的信号控制进行优化，包括标准小汽车当量参数优化，道路通行能力占用系数确定，信控方案确定。An optimization module, configured to optimize based on the signal control of the optimized trajectory of the smart car, including optimization of standard car equivalent parameters, determination of road capacity occupancy coefficients, and determination of signal control schemes.
具体地，在一个周期中，集中控制器将实时读取轨迹优化后交叉口所有车辆的运行状态，利用基于改进标准小汽车当量的webster法进行交叉口信号控制。Specifically, in one cycle, the centralized controller will read the operating status of all vehicles at the intersection after trajectory optimization in real time, and use the Webster method based on the improved standard car equivalent to control the intersection signal.
在本发明申请实施例中，标准小汽车当量参数优化具体可以包括：基于雷视一体机对于车辆运行状态获取的准确性，能够利用交叉口内运行车辆的车辆类型、车辆大小、占用空间、运行速度对小汽车当量换算系数进行改进：In the application embodiment of the present invention, the standard car equivalent parameters optimization can specifically include: based on the accuracy of the LeTV all-in-one machine for vehicle running status acquisition, the vehicle type, vehicle size, occupied space, and running speed of the running vehicles in the intersection can be used. Improve the car equivalent conversion factor:
其中：
λs、λr、λl、λb分别为小汽车、中型车、大型车、公交车的空间占用系数，其反应各类车辆对道路面积的占用度；并根据交通流率情况确定公交优先度，即λb取值；λs , λr , λl , and λb are the space occupancy coefficients of cars, medium-sized cars, large cars, and buses, respectively, which reflect the occupancy of various vehicles on the road area; and determine the bus priority according to the traffic flow rate degree, that is, the value of λb ;
δs、δr、δl、δb分别为小汽车、中型车、大型车、公交车的道路通行能力占用系数；δs , δr , δl , and δb are the road capacity occupancy coefficients of cars, medium-sized cars, large cars, and buses, respectively;
在本发明申请实施例中，道路通行能力占用系数确定具体可以包括：根据该车道平均速度
在本发明申请实施例中，具体地，信控方案确定具体可以包括：根据步骤S32中的计算公式，可以得出精确的各关键车道的交通流量qi，引用经典的英国TRRL方法进行信号配时计算，生成相位方案。In the embodiment of the present application, specifically, the determination of the signal control scheme may specifically include: According to the calculation formula in step S32, the accurate traffic flow qi of each key lane can be obtained, and the classic British TRRL method is used for signal allocation. When calculated, a phase scheme is generated.
较佳地，以上步骤具体可以包括：Preferably, the above steps may specifically include:
首先，关键车道流量比总和计算是根据步骤3.2中给出的改进下各车道交通量进行流量比总和计算，其计算方法如下：First, the calculation of the sum of the flow ratios of the key lanes is based on the traffic volume of each lane under the improvement given in step 3.2. The calculation method is as follows:
其中i为相位的索引，需根据交叉口实际运行情况具体设定；
其中
然后，最优周期时长未TRRL方法信号控制的周期时长应按如下公式计算：Then, the optimal period length is not controlled by the signal of TRRL method, and the period length should be calculated according to the following formula:
40s≤C0≤180s40s≤C0 ≤180s
其中L定义为信号总损失时间，其计算公式如下：Among them, L is defined as the total loss time of the signal, and its calculation formula is as follows:
其中Ls定义为启动损失时间；AR为i相位的全红交叉口清空时间；where Ls is defined as the start-up loss time; AR is the clearing time of the all-red intersection of phase i;
最后，有效绿灯时间计算是根据各相位准确的流量比分配最优周期时长C0，其计算方法如下：Finally, the calculation of the effective green light time is to allocate the optimal cycle duration C0 according to the accurate flow ratio of each phase, and the calculation method is as follows:
在本发明申请实施例中，由有效绿灯时间生成相位组合G＝[g1，g2，g3，...]，用于进行下一周期的交叉口信号控制；下周期开始时，回到步骤2继续进行基于步骤3给出信控方案下的智能车轨迹优化。In the application embodiment of the present invention, the phase combination G=[g1 , g2 , g3 ,...] is generated from the effective green light time, and is used to control the intersection signal in the next cycle; at the beginning of the next cycle, return to Go to step 2 and continue to optimize the trajectory of the smart car based on the signal control scheme given in step 3.
实施例三Embodiment three
本发明一实施例提供了一种智能网联混合交通流交叉口信号协同优化系统，如图3所示，该协同优化系统具体可以包括如下模块：An embodiment of the present invention provides an intelligent network-connected mixed traffic flow intersection signal collaborative optimization system, as shown in Figure 3, the collaborative optimization system may specifically include the following modules:
通信总线，用于实现处理器与存储器间的连接通信；The communication bus is used to realize the connection and communication between the processor and the memory;
存储器，用于存储计算机程序；存储器可能包含高速RAM存储器，也可能还包含非不稳定的存储器(non-volatile memory)，例如至少一个磁盘存储器。存储器可选的可以包含至少一个存储装置。Memory, for storing computer programs; the memory may include high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory. The memory may optionally comprise at least one storage device.
处理器，用于执行上述计算机程序以实现如下步骤：A processor, configured to execute the above computer program to achieve the following steps:
首先，对交通状态信息进行高精度采集，包括目标车辆运行状态数据与初始信控方案；First, high-precision collection of traffic status information, including target vehicle operating status data and initial signal control scheme;
在本发明申请实施例中，目标车辆运行状态数据具体可以包括：目标类型Cs、目标纵向速度Vp、目标纵向加速度Vap、目标所在车道号码Li、目标距停车线距离Yi；初始信控方案采集包括各相位的绿灯时长、黄灯时长、全红时间、相序方案。数据的采集通过建立于交叉口的雷视一体机目标检测系统进行，实时采集得到的信息同时输入至轨迹优化与信控方案优化方法中。In the application embodiment of the present invention, the target vehicle running state data may specifically include: target type Cs , target longitudinal velocity Vp , target longitudinal acceleration Vap , target lane number Li , target distance Yi from the stop line; initial The signal control scheme collection includes the green light duration, yellow light duration, full red time, and phase sequence scheme of each phase. The data collection is carried out through the Levision all-in-one target detection system established at the intersection, and the information collected in real time is input into the trajectory optimization and signal control scheme optimization methods at the same time.
然后，基于初始信息控制的智能车轨迹进行优化，包括交叉口分区界定、智能车队编组、速度引导区边界计算、跟驰模型建立、车速引导策略应用；Then, optimize the trajectory of the intelligent vehicle based on the initial information control, including the definition of intersection division, intelligent fleet formation, boundary calculation of speed guidance area, establishment of car-following model, and application of vehicle speed guidance strategy;
具体地，是在周期开始时，采用集中控制器，读取交叉口全部车辆运行状态，同时对交叉口控制范围内所有的智能网联车辆进行速度控制。Specifically, at the beginning of the cycle, a centralized controller is used to read the running status of all vehicles at the intersection, and at the same time control the speed of all intelligent networked vehicles within the control range of the intersection.
在本发明申请实施例中，交叉口分区界定具体可以包括：对采集器检测范围L进行分区，主要由车队决策区LD、速度引导区LV所组成；车队编组区主要功能为将智能网联车辆与人工驾驶车辆进行编组；速度引导区主要功能为应用速度控制策略实现智能车队的实时控制，为保证交通安全，LV长度需小于进口道实线区域Llimit；其组成与约束如下：In the application embodiment of the present invention, the intersection partition definition may specifically include: partitioning the detection range L of the collector, which is mainly composed of the fleet decision-making areaLD and the speed guide area LV ; the main function of the fleet formation area is to integrate the intelligent network The main function of the speed guidance area is to apply the speed control strategy to realize the real-time control of the intelligent fleet. To ensure traffic safety, the length of LV must be less than the Llimit of the solid line area of the entrance road; its composition and constraints are as follows:
L＝LD+LVL＝LD +LV
LV＜Llimit；LV < Llimit ;
在本发明申请实施例中，智能车队编组具体可以包括：由于人机混驾的环境，智能网联车辆按照一定渗透率存在于交叉口内；在车队决策区LD内将智能网联车辆(CAV)作为所编组的车队的头车
在本发明申请实施例中，速度引导区边界计算具体可以包括：不同于检测器的探测边界，确定车辆被集中控制器开始纳入速度控制策略的影响范围；其判断条件为驾驶员能够接受的加速度极值ac，并根据加速度极值ac与道路限制速度VL计算舒适制动距离Sc；其计算公式如下：In the application embodiment of the present invention, the calculation of the boundary of the speed guide area may specifically include: different from the detection boundary of the detector, it is determined that the vehicle is started to be included in the range of influence of the speed control strategy by the centralized controller; the judgment condition is the acceleration acceptable to the driver The extreme value ac , and calculate the comfortable braking distance Sc according to the acceleration extreme value ac and the road speed limit VL ; the calculation formula is as follows:
根据计算得出的舒适制动距离Sc，以交叉口停止线为基准确定速度引导区LV边界；若Sc＞Slimit，取边界距离为Slimit；According to the calculated comfortable braking distance Sc , determine the boundary of the speed guidance area LV based on the intersection stop line; if Sc > Slimit , take the boundary distance as Slimit ;
在本发明申请实施例中，跟驰模型建立具体可以包括：由于车队中存在部分人工驾驶车辆，智能网联车队Mn头车的驾驶特征将诱导跟驰人工驾驶车辆以相同目标速度通过交叉口或停止；由于基于雷视一体机的交通采集系统能够得到包括人工驾驶车辆在内的所有车辆的运行状态信息，可应用基于车队的改进FVD(全速度差)跟驰模型，得到后一车队头车
am+1＝α(V′m-Vm(t))+β(Vm+1(t)-Vm(t))am+1 ＝α(V′m -Vm (t))+β(Vm+1 (t)-Vm (t))
式中：am+1－－m+1车队中头车跟驰加速度；In the formula: am+1 －－m+1 is the car-following acceleration of the leading car in the team;
V′m——m车队的头车目标车速；V′m ——the target vehicle speed of the head car of the m team;
Vm(t)——t时刻m车队尾车速度；Vm (t)——the speed of the rear vehicle of m team at time t;
Vm+1(t)——t时刻m+1车队头车速度；Vm+1 (t)——the speed of the head car of the m+1 team at time t;
α——驾驶员敏感系数；β——驾驶员反应系数；α—driver sensitivity coefficient; β—driver reaction coefficient;
在本发明申请实施例中，车速引导策略应用具体可以包括：智能网联车队Mn到达速度引导区LV边界时，进行相位判断，此行进方向信号灯为红黄灯相位Pr，其剩余时间设为Tr；或绿灯相位Pg，其剩余时间设为Tg；并针对不同的相位状态采用不同的车速引导策略，设置tr为驾驶员反应时间；In the application embodiment of the present invention, the application of the vehicle speed guidance strategy may specifically include: when the intelligent networked fleetMn reaches the boundary of the speed guidance areaLV , phase judgment is performed, the direction signal light is red and yellow light phase Pr , and the remaining time Set as Tr ; or green light phase Pg , and its remaining time is set as Tg ; and adopt different speed guidance strategies for different phase states, set tr as the driver's reaction time;
其中，集中控制器仅在无下游排队车辆或排队车辆无干扰的情况下进行轨迹优化：Among them, the centralized controller only performs trajectory optimization when there are no downstream queuing vehicles or no interference from queuing vehicles:
1)当
2)当
式中：Vmin——道路最低限速；Vmax——道路最高限速。In the formula: Vmin - the minimum speed limit of the road; Vmax - the maximum speed limit of the road.
最后，基于优化后的所述智能车轨迹的信号控制进行优化，包括标准小汽车当量参数优化，道路通行能力占用系数确定，信控方案确定。Finally, optimization is carried out based on the signal control of the optimized trajectory of the smart car, including the optimization of standard car equivalent parameters, the determination of the road capacity occupancy coefficient, and the determination of the signal control scheme.
具体地，在一个周期中，集中控制器将实时读取轨迹优化后交叉口所有车辆的运行状态，利用基于改进标准小汽车当量的webster法进行交叉口信号控制。Specifically, in one cycle, the centralized controller will read the operating status of all vehicles at the intersection after trajectory optimization in real time, and use the Webster method based on the improved standard car equivalent to control the intersection signal.
在本发明申请实施例中，标准小汽车当量参数优化具体可以包括：基于雷视一体机对于车辆运行状态获取的准确性，能够利用交叉口内运行车辆的车辆类型、车辆大小、占用空间、运行速度对小汽车当量换算系数进行改进：In the application embodiment of the present invention, the standard car equivalent parameters optimization can specifically include: based on the accuracy of the LeTV all-in-one machine for vehicle running status acquisition, the vehicle type, vehicle size, occupied space, and running speed of the running vehicles in the intersection can be used. Improve the car equivalent conversion factor:
其中：
λs、λr、λl、λb分别为小汽车、中型车、大型车、公交车的空间占用系数，其反应各类车辆对道路面积的占用度；并根据交通流率情况确定公交优先度，即λb取值；λs , λr , λl , and λb are the space occupancy coefficients of cars, medium-sized cars, large cars, and buses, respectively, which reflect the occupancy of various vehicles on the road area; and determine the bus priority according to the traffic flow rate degree, that is, the value of λb ;
δs、δr、δl、δb分别为小汽车、中型车、大型车、公交车的道路通行能力占用系数；δs , δr , δl , and δb are the road capacity occupancy coefficients of cars, medium-sized cars, large cars, and buses, respectively;
在本发明申请实施例中，道路通行能力占用系数确定具体可以包括：根据该车道平均速度
在本发明申请实施例中，具体地，信控方案确定具体可以包括：根据步骤S32中的计算公式，可以得出精确的各关键车道的交通流量qi，引用经典的英国TRRL方法进行信号配时计算，生成相位方案。In the embodiment of the present application, specifically, the determination of the signal control scheme may specifically include: According to the calculation formula in step S32, the accurate traffic flow qi of each key lane can be obtained, and the classic British TRRL method is used for signal allocation. When calculated, a phase scheme is generated.
较佳地，以上步骤具体可以包括：Preferably, the above steps may specifically include:
首先，关键车道流量比总和计算是根据步骤3.2中给出的改进下各车道交通量进行流量比总和计算，其计算方法如下：First, the calculation of the sum of the flow ratios of the key lanes is based on the traffic volume of each lane under the improvement given in step 3.2. The calculation method is as follows:
其中i为相位的索引，需根据交叉口实际运行情况具体设定；
其中
40s≤C0≤180s40s≤C0 ≤180s
其中L定义为信号总损失时间，其计算公式如下：Among them, L is defined as the total loss time of the signal, and its calculation formula is as follows:
其中Ls定义为启动损失时间；AR为i相位的全红交叉口清空时间；where Ls is defined as the start-up loss time; AR is the clearing time of the all-red intersection of phase i;
最后，有效绿灯时间计算是根据各相位准确的流量比分配最优周期时长C0，其计算方法如下：Finally, the calculation of the effective green light time is to allocate the optimal cycle duration C0 according to the accurate flow ratio of each phase, and the calculation method is as follows:
在本发明申请实施例中，由有效绿灯时间生成相位组合G＝[g1，g2，g3，...]，用于进行下一周期的交叉口信号控制；下周期开始时，回到步骤2继续进行基于步骤3给出信控方案下的智能车轨迹优化。In the application embodiment of the present invention, the phase combination G=[g1 , g2 , g3 ,...] is generated from the effective green light time, and is used to control the intersection signal in the next cycle; at the beginning of the next cycle, return to Go to step 2 and continue to optimize the trajectory of the smart car based on the signal control scheme given in step 3.
本实施例中的处理器可能是一种集成电路芯片，具有信号处理能力。在实现过程中，上述方法的各步骤可以通过处理器中的硬件的集成逻辑电路或者软件形式的指令完成。上述的处理器可以是通用处理器、数字信号处理器(DSP)、专用集成电路(ASIC)、现成可编程门阵列(FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。可以实现或者执行本发明实施例中的公开的各方法、步骤及逻辑框图。上述处理器可以是微处理器或者上述处理器也可以是任何常规的处理器等。结合本发明实施例所公开的方法的步骤可以直接体现为硬件处理器执行完成，或者用处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器，闪存、只读存储器，可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器，处理器读取存储器中的信息，结合其硬件完成上述方法的步骤。The processor in this embodiment may be an integrated circuit chip with signal processing capability. In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in a processor or an instruction in the form of software. The above-mentioned processor may be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components . Various methods, steps and logic block diagrams disclosed in the embodiments of the present invention may be implemented or executed. The aforementioned processor may be a microprocessor, or the aforementioned processor may also be any conventional processor or the like. The steps of the methods disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor. The software module can be located in a mature storage medium in the field such as random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, register. The storage medium is located in the memory, and the processor reads the information in the memory, and completes the steps of the above method in combination with its hardware.
实施例四Embodiment four
本发明一实施例提供了一种计算机可读存储介质，其上存储有计算机程序，上述计算机程序被处理器执行时实现上述的协同优化方法。An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the above-mentioned computer program is executed by a processor, the above-mentioned collaborative optimization method is realized.
综上所述，本发明实施例提供的一种智能网联混合交通流交叉口信号协同优化方法及系统，通过对交通状态信息进行高精度采集，包括目标车辆运行状态数据与初始信控方案；基于初始信息控制的智能车轨迹进行优化，包括交叉口分区界定、智能车队编组、速度引导区边界计算、跟驰模型建立、车速引导策略应用；基于优化后的所述智能车轨迹的信号控制进行优化，包括标准小汽车当量参数优化，道路通行能力占用系数确定，信控方案确定。这样，通过采用车辆编组的方式，将智能车与人工车辆编组，使用车队进行跟驰；并利用了雷视一体机的采集特性，车队领头智能车能够获得前车队车尾人工驾驶车辆的速度，从而进行跟驰，解决了混合交通模式下，智能车渗透率较低，存在大量的人工智能驾驶跟驰智能车辆；且仅仅是控制智能车单车，未考虑多车跟驰状态，优化作用将有限的缺点。同时，通过采用了轨迹与信号协同优化的方式，避免了现有仅采用单边优化的混合交通情况导致的往往仅针对车辆运行状态进行信号优化，或者在固定配时方案下进行轨迹优化与速度控制的弊端，进一步提升交叉口的运行效率，保障了数据来源更精确、微观，并且控制策略更合理、有效。To sum up, the embodiment of the present invention provides a method and system for collaborative optimization of signals at intelligent network-connected mixed traffic flow intersections, through high-precision collection of traffic state information, including target vehicle operating state data and initial signal control schemes; Optimizing the trajectory of the intelligent vehicle based on the initial information control, including the definition of the intersection area, the formation of the intelligent vehicle fleet, the calculation of the boundary of the speed guidance area, the establishment of the car-following model, and the application of the vehicle speed guidance strategy; based on the signal control of the optimized trajectory of the intelligent vehicle. Optimization includes optimization of standard car equivalent parameters, determination of road capacity occupancy coefficient, and determination of information control scheme. In this way, by adopting the method of vehicle marshalling, the smart car and the artificial vehicle are marshaled, and the fleet is used to follow the car; and by using the collection characteristics of the Levision all-in-one machine, the leading smart car of the fleet can obtain the speed of the artificially driven vehicle at the rear of the front fleet, Car-following is carried out, which solves the problem of low penetration rate of smart cars in the mixed traffic mode, and there are a large number of artificial intelligence-driven car-following smart cars; and it only controls smart car single-car, without considering the state of multi-vehicle car-following, and the optimization effect will be limited Shortcomings. At the same time, by adopting the method of trajectory and signal collaborative optimization, it avoids the existing mixed traffic conditions that only use unilateral optimization, which often only optimizes the signal for the vehicle operating state, or performs trajectory optimization and speed under a fixed timing scheme. The shortcomings of control further improve the operational efficiency of intersections, ensure more accurate and microscopic data sources, and make control strategies more reasonable and effective.
需要说明的是，对于前述的各方法实施例，为了简单描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本发明并不受所描述的动作顺序的限制，因为依据本发明，某些步骤可以采用其他顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于可选实施例，所涉及的动作和模块并不一定是本发明所必须的。It should be noted that for the foregoing method embodiments, for the sake of simple description, they are expressed as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described action sequence. Because of the present invention, certain steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present invention.
上述实施例，可以全部或部分地通过软件、硬件、固件或其他任意组合来实现。当使用软件实现时，上述实施例可以全部或部分地以计算机程序产品的形式实现。该计算机程序产品包括一个或多个计算机指令。在计算机上加载或执行该计算机程序指令时，全部或部分地产生按照本申请实施例该的流程或功能。该计算机可以为通用计算机、专用计算机、计算机网络、或者其他可编程装置。该计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一个计算机可读存储介质传输，例如，该计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。该计算机可读存储介质可以是计算机能够存取的任何可用介质或者是包含一个或多个可用介质集合的服务器、数据中心等数据存储设备。该可用介质可以是磁性介质(例如，软盘、硬盘、磁带)、光介质(例如，DVD)、或者半导体介质。半导体介质可以是固态硬盘。The above-mentioned embodiments may be implemented in whole or in part by software, hardware, firmware or other arbitrary combinations. When implemented using software, the above-described embodiments may be implemented in whole or in part in the form of computer program products. The computer program product includes one or more computer instructions. When the computer program instructions are loaded or executed on the computer, the processes or functions according to the embodiments of the present application will be generated in whole or in part. The computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transferred from a website, computer, server, or data center by wire (such as infrared, wireless, microwave, etc.) to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that can be accessed by a computer, or a data storage device such as a server or a data center that includes one or more sets of available media. The available media may be magnetic media (eg, floppy disk, hard disk, magnetic tape), optical media (eg, DVD), or semiconductor media. The semiconductor medium may be a solid state drive.
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。Those skilled in the art can appreciate that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed by hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the present application.
在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其他实施例的相关描述。In the foregoing embodiments, the descriptions of each embodiment have their own emphases, and for parts not described in detail in a certain embodiment, reference may be made to relevant descriptions of other embodiments.
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。Those skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method embodiment, which will not be repeated here.
在本发明所提供的几个实施例中，应该理解到，所揭露的系统，装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。In the several embodiments provided by the present invention, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(read-only memory，ROM)、随机存取存储器(random access memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。If the integrated unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the essence of the technical solution of the present invention or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , including several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (read-only memory, ROM), random access memory (random access memory, RAM), magnetic disk or optical disc and other media that can store program codes. .
本发明是参照本发明实施例的方法、装置(设备)和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。The present invention is described with reference to flowcharts and/or block diagrams of methods, apparatus (device) and computer program products according to embodiments of the present invention. It should be understood that each procedure and/or block in the flowchart and/or block diagram, and a combination of procedures and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions may be provided to a general purpose computer, special purpose computer, embedded processor, or processor of other programmable data processing equipment to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing equipment produce a An apparatus for realizing the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the instructions The device realizes the function specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。These computer program instructions can also be loaded onto a computer or other programmable data processing device, causing a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby The instructions provide steps for implementing the functions specified in the flow chart or blocks of the flowchart and/or the block or blocks of the block diagrams.
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is a relationship between these entities or operations. There is no such actual relationship or order between them. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or device. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the various embodiments of the present invention. scope.
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