CN110364003A - Intersection double-circuit tramcar signal priority control method based on car networking - Google Patents
Intersection double-circuit tramcar signal priority control method based on car networking Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
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Abstract
The intersection double-circuit tramcar signal priority control method based on car networking that the invention discloses a kind of, includes the following steps: S1: setting signal override requests area；Whether S2: having the tramcar in new entering signal override requests area to initiate signal priority request in two street railways of detection, using the passage of existing crossing signals timing scheme control tramcar if not；S3: after detecting that new tramcar initiates signal priority request, corresponding signal priority strategy is designed for it；S4: the intersection discrete traffic model based on foundation predicts the synthesis maximum queue length of the intersection public vehicles under signal priority strategy；S5: judge whether current demand signal override requests clash with tramcar signal priority existing in opposite route request, determine conflict type: S6 in case of conflicting: being executed after determining the existing crossing signals timing scheme of double-circuit signal priority policy sequence, update.
Description
Technical field
The present invention relates to communications and transportation control field more particularly to a kind of intersection double-circuit rails based on car networking
Electric car signal priority control method.
Background technique
With the development of the city, the quantity of civilian vehicle is continuously increased, but existing means of transportation and control method are but
It can not adapt to demand of the increasing vehicle to road, therefore traffic congestion, exhaust emissions and the safety accident generated
Increasingly sharpen.A kind of track vehicle of the modern tram as medium transport power, have it is at low cost, pollution-free, speed is fast,
The high advantage of comfort level.Tramcar is generally run by the way of semi-independent right of way on road, by exclusive on road
Rail running area traveling, and right of way then is shared with public vehicles, pedestrian in intersection.
With the increase of the continuous construction and route of China's modern tram, will occur double street railways successively
The case where crossing passes crosswise, not only with conventional road vehicular traffic in the presence of passage conflict, and opposite direction street railway it
Between conflict there is also current.Intersect situation for double-circuit at present, general use first requests the simple two-way signal first to pass through preferentially to be assisted
Adjust strategy.But this tactful efficiency is lower, can not cooperate with the passage demand for considering tramcar and public vehicles.
And with the rapid development of sensor and the communication technology, it is realized by information acquiring technology and wireless communication technique
People, vehicle, road information exchange are all kinds of by means of travelling in the technical optimization traffic to realize gradually popularizing for car networking technology
Vehicle, the concertedness to improve the traffic conditions with various types of vehicles alleviate traffic congestion, improve traffic efficiency.Intersection queue length
It is the important decision variable and evaluation index of traffic control.Therefore, by means of car networking technology for different tramcar signals
Intersection vehicles queue length is predicted in real time under preference strategy, and optimizes two-way tramcar signal priority on this basis
The efficiency of tramcar signal priority control can be improved in the response of request.However existing intersection two-way tramcar letter
Number method for controlling priority can not cooperate with the signal priority request for considering two-way tramcar, therefore give the passage band of tramcar
Carry out some potential safety problems and has inconvenient traffic.
Summary of the invention
According to problem of the existing technology, the invention discloses a kind of intersection double-circuit rail based on car networking
Electric car signal priority control method, specifically includes the following steps:
S1: signal priority request area is respectively set in two street railways；
S2: the tramcar in new entering signal override requests area whether initiates in two street railways of real-time detection
Signal priority request, using the passage of existing crossing signals timing scheme control tramcar if not；
S3: after detecting that new tramcar initiates signal priority request, corresponding signal priority strategy is designed for it；
S4: each lane public vehicles driving information at acquisition signal priority request moment, the intersection based on foundation are discrete
The synthesis maximum queue length of traffic flow model prediction intersection public vehicles under signal priority strategy；
S5: judge whether current demand signal override requests request to occur with tramcar signal priority existing in opposite route
Conflict determines conflict type in case of conflicting:
S6: determining double-circuit signal priority policy sequence and executes after updating existing crossing signals timing scheme.
Further, each lane public vehicles driving information includes position, speed, acceleration and the expectation of automobile
Velocity information.
Further, the signal priority strategy is to shorten newly to correspond to a certain signal cycle of track direction into tramcar
Red phase lengths, wherein being shortened using two ways, first way is to delay the red phase time started,
The second way are as follows: shift to an earlier date the red phase end time；
If being newly into the time that tramcar reaches crossingIf according to set timing strategy, ttramWhen
Fall within red phase quarter, then need modelled signal preference strategy, if in acquired signal timing the red phase starting and ending
Time is respectively tr,b, tr,e, then the red phase time started amount of delaying be
Δtr,b=ttram-tr,b+σ
And red phase end time lead is
Δtr,e=tr,e-ttram+σ
Wherein, σ is a set time constant, it is ensured that tramcar can pass through intersection；
If according to set timing strategy, ttramMoment falls within green phase, it is determined that and signal priority strategy amplitude is zero,
That is Δ tr,b=Δ tr,e=0.
Further, the intersection discrete traffic model is established in the following way:
If when speed traveling of the front without other vehicles or signal lamp limitation, vehicle desirably；When vehicle and front truck
Vehicle headway be decreased to minimum safe spacing hminWhen, vehicle is switched to from the state for travelling on desired speed follows front
The state of car speed, and minimum safe spacing, wherein minimum safe spacing are kept with front vehicles is defined as: front vehicles
When emergency braking, vehicle from present speed speed is reduced to zero with safe acceleration required for distance；
hmin=α v+ β v2+δ
V is vehicle real-time speed in formula, and α indicates that driver's average reaction time, β are the steady deceleration of vehicle, and δ is to stop
The safe distance in two workshops when vehicle.
Further, S4 is specifically in the following way:
S41: according to two kinds of signal priority strategy Δ tr,b、Δtr,eIt is folded respectively with existing crossing signals timing scheme
Add, obtains two kinds of new crossing signals timing schemes；
S42: under two kinds of new crossing signals timing schemes, vehicle in each lane in intersection is numbered, according to friendship
It is as follows that prong discrete traffic model respectively obtains in each lane the variation of public vehicles queue length Discrete Dynamic,
Qk(t+Δt|Δtr,b)=Qk(t|Δtr,b)+Numin(t+Δt|t,Δtr,b)-Numout(t+Δt|t,Δ
tr,b), k ∈ Η
Qk(t+Δt|Δtr,e)=Qk(t|Δtr,e)+Numin(t+Δt|t,Δtr,e)-Numout(t+Δt|t,Δ
tr,e), k ∈ Η
S43: maximum queue length Q of each lane under two kinds of new signal priority strategies is obtainedmax,k(Δtr,b)、Qmax,k
(Δtr,e), k ∈ Η；
S44: the maximum queue length in all lanes is added, (Δ t under two kinds of signal priority strategies is obtainedr,b, Δ tr,e)
Intersection integrates maximum queue length Qmax(Δtr,b) and Qmax(Δtr,e)。
Further, S5 is specifically in the following way:
S51: judge whether new tramcar signal priority request asks with the existing tramcar signal priority that do not respond
Ask (Or) responded in the identical signal cycle in intersection, if yes then enter in next step, otherwise it is determined as no punching
It is prominent；
S52: judge new tramcar signal priority strategy (Δ tr,b, Δ tr,e) whether amplitude be zero, if it is non-zero
Then enter in next step, is otherwise determined as Lothrus apterus；
S53: judge whether new tramcar signal priority request is drawn by existing opposite tramcar signal priority strategy
Hair, if it is does following judgement, is otherwise determined as Lothrus apterus；
If existing opposite direction tramcar signal priority strategy is to delay a certain red phase time started, the amount of delaying isAnd newly enters tramcar and reach the crossing timeThen new tramcar signal priority request with
Existing opposite direction signal priority request collision, defines the first conflict；
If existing opposite direction tramcar signal priority strategy is to shift to an earlier date a certain red phase end time, lead isAnd newly enters tramcar and reach the crossing timeThen new tramcar signal priority request with
Existing opposite direction signal priority request collision, defines the second conflict；
If existing opposite direction tramcar signal priority amplitude is zero, and opposite tramcar reaches the crossing timeThe then request of new tramcar signal priority and opposite tramcar signal conflict, define third punching
It is prominent；
If existing opposite direction tramcar signal priority amplitude is zero, and opposite tramcar reaches the crossing timeThe then request of new tramcar signal priority and opposite tramcar signal conflict, define the 4th punching
It is prominent.
Further, S6 is specifically in the following way:
S61: if Lothrus apterus, to the tramcar signal priority strategy newly initiated, the comprehensive maximum row in intersection is selected
Team leader's degree least way, i.e., such as Qmax(Δtr,b)≤Qmax(Δtr,e), then the red phase time started is delayed in selection, such as
Qmax(Δtr,b)>Qmax(Δtr,e), then selection shifts to an earlier date the red phase end time；
S62: if it is the first conflict, then adjustment is current newly enters tramcar speed, it is made to reach the crossing timeIfIt sets up, then without carrying out signal adjustment；If not, then design the red light time started
The amount of delaying is
S63: if it is the second conflict: then adjustment is current newly enters tramcar speed, it is made to reach the crossing timeIfIt sets up, then the end time of red phase in preceding signal circulation is carried out
In advance, lead isIf not, then without carrying out signal adjustment；
S64: if it is third conflict: then adjusting opposite tramcar speed, it is made to reach the crossing timeIfIt sets up, then provides signal priority to opposite tramcar, i.e., to currently following
The end time of red phase is shifted to an earlier date in ring, and lead isIf not, then without into
The adjustment of row signal；
S65: if it is the 4th conflict: then adjusting opposite tramcar speed, it is made to reach the crossing time
S66: ifIt sets up, then provides signal priority to opposite tramcar, i.e., to latter signal
It is delayed at the beginning of red phase in circulation, lead isIf not, then it is not necessarily to
Carry out signal adjustment.
By adopting the above-described technical solution, a kind of intersection double-circuit rail based on car networking provided by the invention
Electric car signal priority control method, this method are predicted intersection vehicles queuing using discrete traffic model and are assessed not
Same signal priority strategy.Using the calculation for carrying out discrete iteration based on real-time acquisition traffic information, do not need to utilize
A large amount of statistical data is trained study or fitting traffic flow distribution.It therefore can be to the real-time change of traffic flow in application
More accurately reflected.Simultaneously, due to being predicted by the way of numerical value calculating, with discrete iteration step-length
Shorten, the accuracy of prediction can be continuously improved, so that the present invention still has good control in traffic environment variable at random
Effect.
In addition this method has comprehensively considered the passage demand of tramcar and public vehicles, comprehensive by selection public vehicles
The shortest strategy of intersection queue length, to reduce influence of the signal priority strategy for public vehicles.Simultaneously, of the invention
The solution for devising a kind of new opposite route tramcar signal priority conflict, by assessment conflict type, in conjunction with not
With arrival time of tramcar adjust and suggest, enable opposite tramcar under the premise that security is guaranteed, respectively smoothly
It is not parking to pass through intersection.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The some embodiments recorded in application, for those of ordinary skill in the art, without creative efforts,
It is also possible to obtain other drawings based on these drawings.
Fig. 1 is the setting of double-circuit tramcar crossroad signal override requests area and crossing traffic schematic diagram；
Fig. 2 is double-circuit tramcar signal priority control strategy flow chart；
Fig. 3 is the comprehensive maximum queue length calculation flow chart in intersection；
Specific embodiment
To keep technical solution of the present invention and advantage clearer, with reference to the attached drawing in the embodiment of the present invention, to this
Technical solution in inventive embodiments carries out clear and complete description:
A kind of intersection double-circuit tramcar signal priority control method based on car networking as shown in Figure 1, tool
Body the following steps are included:
S1: in two street railways, setting signal override requests area:
It is R that signal priority, which requests section length, and covering track-bound is at the stop line s of crossing to apart from crossing stop line
At S+R.Tramcar can send signal priority request from when driving into signal priority request area at a distance.And tramcar is driven out to
Signal priority request area after, it is determined that signal priority request will not change again.The signal of opposite tramcar conflict is excellent
It first requests to request to be handled in area in signal priority.If the length setting of S and R guarantees that opposite tramcar has run out letter
Number override requests area, then the tramcar in new entering signal override requests area will not be clashed with it.
Whether S2: having the tramcar in new entering signal override requests area in real-time detection two lines road, does not have newly such as
Rail electric car enters, and Intersection Controlling Fashion is according to set timing strategy:
Two lines road has detected whether that new tramcar enters its signal priority and requests area simultaneously, and such as absolutely not rail is electric
Vehicle is close to intersection, i.e., no signal priority request has been initiated and do not responded, and the specific lane signal in intersection is that fixation is matched
When strategy.When not responding when the signal priority request finally determined there are tramcar, then set timing strategy is solid
Determine the superposition of timing strategy and has determined that signal priority strategy.If only one current line direction tramcar initiates signal priority
Request, and do not applied for that the opposite tramcar signal priority not responded requests (indicating with p), then currently initiate line direction
Lane phase sequence is intersection signal main phase sequence.And when having applied for the tramcar signal priority not responded request in the presence of opposite direction,
It then determines existing and does not respond car-track lane direction signal phase sequence as main phase sequence.One red green circulation is a period.It is wherein green
Form and aspect position duration indicates that red phase duration is indicated with r with g.
S3: after detecting tramcar entering signal override requests area, corresponding signal priority strategy is designed for it: letter
The design of number preference strategy is to shorten newly to enter tramcar in fixed timing strategy and correspond to a certain signal cycle of track direction
Red phase lengths.Including two ways, i) the red phase time started is delayed；Ii) by the red phase end time
In advance.If being newly into the time that tramcar reaches crossingIf according to set timing strategy, ttramMoment falls
In red phase, then modelled signal preference strategy is needed.If the starting of red phase is with the end time in acquired signal timing
tr,b, tr,e, then the red phase time started amount of delaying be
Δtr,b=ttram-tr,b+σ
And red phase end time lead is
Δtr,e=tr,b-ttram+σ
Wherein, σ is a set time constant, it is ensured that tramcar can pass through intersection.
And if according to set timing strategy, ttramMoment falls within green phase, it is determined that signal priority strategy amplitude is
Zero, i.e. Δ tr,b=Δ tr,e=0
S4: the road public vehicles driving information at acquisition signal priority request moment: excellent in new tramcar entering signal
When first requesting area, the information of public vehicles in all lanes, including position, speed, acceleration and phase are collected based on car networking
Hope speed.
S5: intersection discrete traffic model, prediction intersection society under the unlike signal preference strategy of design are based on
The synthesis maximum queue length of vehicle:
Initially set up intersection discrete traffic model, in discrete traffic flow the driving status of vehicle be with reference to vehicle it
Between spacing.When front is limited without other vehicles or signal lamp, the speed of vehicle desirably is travelled；When vehicle and front truck
Vehicle headway is decreased to (h when minimum safe spacingmin), vehicle is switched to from the state for travelling on desired speed follows front
The state of car speed, and minimum safe spacing is kept with front vehicles.Minimum safe spacing is defined as, and front vehicles are urgent
When braking, vehicle from present speed speed is reduced as zero with the acceleration of a safety required for distance,
hmin=α v+ β v2+δ
α in formula, β and δ are all based on road safety and limit the model parameter being determined.α indicates driver's average response
Time, β are the steady deceleration of vehicle, the safe distance in two workshops when δ is parking
Then, the comprehensive maximum queue length in intersection is determined according to above-mentioned model.
Determine two kinds of signal priority strategy (Δ t needed for newly entering tramcarr,b, Δ tr,e).Then pass through set letter
Number timing, obtains the signal specific circulation that tramcar reaches intersection, and by this signal cycle discretization.Corresponding two kinds of signals
Preference strategy, determine all track directions in intersection in the intersection signal information at each iterative discrete moment,Η is all lane set in intersection.Signal follows t=0 thus
Ring initial time.
Vehicle in a certain lane in intersection (kth lane) is numbered, the traffic flow according to claim 5 is discrete
Model, vehicle i+1 (Δ t under a certain signal priority strategy in current laner,b) different iterative discrete moment speed and position
Calculating it is as follows:
I) i+1 vehicle front is signal lamp, and the traveling of vehicle only needs contrast signal lamp state, therefore vehicle changes next
Velocity and acceleration calculating for discrete instants is as follows,
In formula, lstopFor current lane parking line position.For vehicle in iterative discrete period [t, t+ Δ t] to
Hope the operating range of speed when driving,vd(t+ Δ t) is vehicle with the usual rate of decelerationAfter deceleration
Speed, i.e.,When current iteration discrete instants signal lamp is green light, i.e. tlsk(t|Δtr,b)
=0, hmin(vi+1(t)) setting is negative infinite, i.e., the traveling of vehicle is travelled only according to itself desired speed.vdes,i+1It (t) is vehicle
The t iterative discrete moment desired speed.And when signal lamp is red light, tlsk(t|Δtr,b)=1, hmin(vi+1(t))=
α·vi+1(t)+β·vi+1(t)2+ δ, then vehicle can be with the rate of decelerationGradually slow down and finally stops.
Ii) i+1 vehicle front is vehicle i, and the traveling of vehicle is travelled only referring to front vehicles i, therefore following iteration is discrete
The speed at moment and position calculate as follows:
J is subjected to traversal search from 1 to M, searching meets inequalityJ value, then Numin
(t+ Δ t | t)=j-1 is to reach its vehicle for being lined up tail portion in the current kth lane [t, t+ Δ t] within a discrete iteration period
Number.
Queuing team head vehicle in kth lane in discrete iteration moment t is n, and j is carried out traversal search from 1 to M, is found
Meet inequality ln+j(t+Δt)<lstopJ value, then Numout(t+ Δ t | t)=j-1 be within a discrete iteration period [t,
T+ Δ t] its vehicle number for being lined up head is left in current kth lane.
Queue length cumulative calculation is as follows in current kth lane,
Qk(t+Δt|Δtr,b)=Qk(t|Δtr,b)+Numin(t+Δt|t)-Numout(t+Δt|t)
From current kth lane Qk(t) in discrete series, we can obtain current kth lane in signal priority strategy
Under maximum queue length Qmax,k(Δtr,b).The maximum queue length of a plurality of lane in intersection (k ∈ Η) is calculated in turn
And sum it up, obtain (Δ t under two kinds of signal priority strategiesr,b, Δ tr,e) the comprehensive maximum queue length in intersection, Qmax(Δtr,b) with
Qmax(Δtr,e)。
S6: judgement is new to initiate whether signal priority strategy requests to send out with tramcar signal priority existing in opposite route
Raw conflict, and determine conflict type:
The first step judges whether new tramcar signal priority request with existing does not respond tramcar signal priority
Request (Or) responded in the identical signal cycle in intersection, if yes then enter in next step, otherwise it is determined as nothing
Conflict.
Second step judges new tramcar signal priority strategy (Δ tr,b, Δ tr,e) whether amplitude be zero, if it is non-
Zero enters in next step, is otherwise determined as Lothrus apterus.
Whether third step judges new tramcar signal priority request by existing opposite tramcar signal priority strategy
Cause, if it is does following judgement, be otherwise determined as Lothrus apterus.
If existing opposite direction tramcar signal priority strategy is to delay a certain red phase time started, the amount of delaying isAnd newly enters tramcar and reach the crossing timeThen new tramcar signal priority request with
Existing opposite direction signal priority request collision, conflict type are 1.
If existing opposite direction tramcar signal priority strategy is to shift to an earlier date a certain red phase end time, lead isAnd newly enters tramcar and reach the crossing timeThen new tramcar signal priority request with
Existing opposite direction signal priority request collision, conflict type are 2.
If existing opposite direction tramcar signal priority amplitude is zero, and opposite tramcar reaches the crossing timeThen the request of new tramcar signal priority and opposite tramcar signal conflict, conflict type are 3.
If existing opposite direction tramcar signal priority amplitude is zero, and opposite tramcar reaches the crossing timeThen the request of new tramcar signal priority and opposite tramcar signal conflict, conflict type are 4.
S7: determining double-circuit signal priority policy sequence, and executes after updating set timing strategy:
If Lothrus apterus, new tramcar signal priority policy selection of initiating is so that intersection integrates maximum length of queue
Spend the smallest strategy.That is, such as Qmax(Δtr,b)≤Qmax(Δtr,e), then the red phase time started is delayed in selection.Such as Qmax
(Δtr,b)>Qmax(Δtr,e), then selection shifts to an earlier date the red phase end time.
If the type that conflicts is 1, adjusts and currently newly enter tramcar speed, it is made to reach the crossing timeIfIt is whether true, then without carrying out signal adjustment；If not, it then designs red light and opens
Begin the time amount of delaying be
If the type that conflicts is 2, adjusts and currently newly enter tramcar speed, it is made to reach the crossing timeIfIt sets up, then it will be to the end time of red phase in preceding signal circulation
Shifted to an earlier date, lead isIf not, then without carrying out signal adjustment.
If the type that conflicts is 3, opposite tramcar speed is adjusted, it is made to reach the crossing timeIfIt sets up, then provides signal priority to opposite tramcar, i.e., to currently following
The end time of red phase is shifted to an earlier date in ring, and lead isIf not, then without into
The adjustment of row signal.
If the type that conflicts is 4, opposite tramcar speed is adjusted, it is made to reach the crossing time
If (tr,b+Δtr,b+σ)>tr,eIt sets up, then provides signal priority to opposite tramcar, i.e., latter signal is followed
It is delayed at the beginning of red phase in ring, lead isIf not, then without into
The adjustment of row signal.
After determining double-circuit tramcar signal priority strategy, signal priority strategy is superimposed with set timing strategy
Afterwards, it is executed by Intersections.
Embodiment:
Direction, which is driven into, along double-circuit tramcar in intersection sets gradually request signal area, the length in request signal area
For R, the distance apart from intersection stop line is S.Rail tram detection device is installed, to obtain tramcar in request signal area
Position And Velocity information etc., and the request of tramcar signal priority is sent to Signal on Highway Cross controller.Tramcar is special
It is laid on the right side of road with track, as depicted in figs. 1 and 2.
(1) whether request signal area real-time detection has the new tramcar for entering request area, believes if not according to traffic
Number set timing strategyIntersection control is carried out, wherein i=0 indicates current demand signal phase, enters
(12).If any tramcar is newly entered, then the distance according to its travel speed and apart from intersection is electric to calculate the rail
Vehicle reaches the time of intersection,Then, into (2).
(2) judge ttramWhether fall in red phase, i.e. ttram∈(tr,b,0,tr,e,0)∪(tr,b,1,tr,e,1)∪,…。
If ttram∈(tr,b,0,tr,e,0)∪(tr,b,1,tr,e,1) ∪ ... establishment, then need to carry out the design of signal optimisation strategy, into
Enter (3).Otherwise, without carrying out the design of signal priority strategy, Δ tr,b,j=Δ tr,e,j=0 enters (13).
(3) t is settram∈(tr,b,j,tr,e,j), then strategy, the red of signal cycle j are delayed according to the red phase time started
The phase time started amount of delaying is Δ tr,b,j=ttram-tr,b,j+σ.And strategy is shifted to an earlier date according to the red phase end time, signal follows
The red phase time started amount of delaying of ring j is Δ tr,e,j=tr,e,j-ttram+σ.Then, into (4).
(4) according to two kinds of signal priority strategies, two kinds of new signal timing dial strategies are obtainedWithAnd
Maximum queue length, Q are integrated using intersection under the intersection discrete traffic model signal timing dial strategy new for two kindsmax
(Δtr,b,j) and Qmax(Δtr,e,j), as shown in Figure 3.Then, into (5).
(5) it is judged whether or not initiated and do not respond opposite tramcar signal priority request, (Or).If i ≠ j is determined as Lothrus apterus, into (9).Otherwise enter (6).
(6) judge whether new tramcar signal priority request is drawn by existing object tramcar signal priority strategy
Hair.If so, i.e.Then enter (7).Otherwise enter (9).
(7) ifAndThen the existing opposite tramcar signal priority strategy of explanation is by signal cycle
It is delayed at the beginning of i, if conflict type is judged as 1.AndThe then existing opposite tramcar letter of explanation
Number preference strategy is to shift to an earlier date a certain red phase end time, and conflict type is judged as 2.
(8) ifAnd I.e. existing opposite rail
Electric car will receive the current new influence for entering tramcar signal priority strategy.WhenWhen, conflict type
It is judged as 3. and works asThen the type that then conflicts is judged as 4., into (10).If above situation is equal
It is unsatisfactory for, is then judged as Lothrus apterus, into (9).
(9) the tramcar signal priority policy selection newly initiated is, such as Qmax(Δtr,b)≤Qmax(Δtr,e), then it selects
The red phase time started is delayed, Δ tr,e,j=0.Such as Qmax(Δtr,b)>Qmax(Δtr,e), then selection terminates red phase
Time advance, Δ tr,b,j=0.Subsequently into (11).
(10) it if conflict type is 1, adjusts and currently newly enters tramcar speed, it is made to reach the crossing timeArrival time variable quantity isIfIt is whether true, then without
It need to carry out signal adjustment, Δ tr,b,j=Δ tr,e,j=0；If not, then designing the red light time started amount of delaying is
If the type that conflicts is 2, adjusts and currently newly enter tramcar speed, it is made to reach the crossing timeArrival time variable quantity isIfIt sets up,
The end time of red phase shifts to an earlier date in then recycling to preceding signal, and lead is
If not, then without carrying out signal adjustment, Δ tr,b,j=Δ tr,e,j=0.
If the type that conflicts is 3, opposite tramcar speed is adjusted, it is made to reach the crossing timeArrival time variable quantity isIfAt
It is vertical, then signal priority is provided to opposite tramcar, i.e., the end time of phase red in previous cycle is shifted to an earlier date, in advance
Amount isIf not, then without carrying out signal adjustment,
If the type that conflicts is 4, opposite tramcar speed is adjusted, it is made to reach the crossing timeArrival time variable quantity isIf (tr,b,j+Δtr,b,j+σ)>tr,e,jAt
It is vertical, then provide signal priority to opposite tramcar, i.e., to red phase in latter signal circulation at the beginning of delay,
Lead isIf not, then without carrying out signal adjustment,
(11) it will be calculatedΔtr,b,j, Δ tr,e,jRespectively at fixed duration signal control strategy into
Row superposition, obtains final crossroad signal control strategy, subsequently into (12)
(12) according to tramcar arrival time variable quantity, speed governing strategy is calculated.
IfThen the new travel speed of opposite tramcar is,
IfThen the new travel speed of opposite tramcar is,
IfThen the new travel speed of current tramcar is,
IfThen the new travel speed of current tramcar is,
(13) crossroad signal control strategy and tramcar speed governing strategy are executed.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (7)
1. a kind of intersection double-circuit tramcar signal priority control method based on car networking, characterized by comprising:
S1: signal priority request area is respectively set in two street railways；
S2: the tramcar in new entering signal override requests area whether initiates signal in two street railways of real-time detection
Override requests, using the passage of existing crossing signals timing scheme control tramcar if not；
S3: after detecting that new tramcar initiates signal priority request, corresponding signal priority strategy is designed for it；
S4: each lane public vehicles driving information at acquisition signal priority request moment, the discrete traffic in intersection based on foundation
The synthesis maximum queue length of flow model prediction intersection public vehicles under signal priority strategy；
S5: judge whether current demand signal override requests rush with tramcar signal priority existing in opposite route request
It dashes forward, determine conflict type in case of conflicting:
S6: determining double-circuit signal priority policy sequence and executes after updating existing crossing signals timing scheme.
2. the intersection double-circuit tramcar signal priority control method according to claim 1 based on car networking,
It is further characterized in that: each lane public vehicles driving information includes position, speed, acceleration and the desired speed of automobile
Information.
3. the intersection double-circuit tramcar signal priority control method according to claim 1 based on car networking,
It is characterized in that, the signal priority strategy is to shorten the red for newly corresponding to a certain signal cycle of track direction into tramcar
Phase lengths, wherein being shortened using two ways, first way is to delay the red phase time started, second
Mode are as follows: shift to an earlier date the red phase end time；
If being newly into the time that tramcar reaches crossingIf according to set timing strategy, ttramMoment falls
In red phase, then need modelled signal preference strategy, if in acquired signal timing the red phase the starting and ending time
Respectively tr,b, tr,e, then the red phase time started amount of delaying be
Δtr,b=ttram-tr,b+σ
And red phase end time lead is
Δtr,e=tr,e-ttram+σ
Wherein, σ is a set time constant, it is ensured that tramcar can pass through intersection；
If according to set timing strategy, ttramMoment falls within green phase, it is determined that signal priority strategy amplitude is zero, i.e. Δ
tr,b=Δ tr,e=0.
4. the intersection double-circuit tramcar signal priority control method according to claim 1 based on car networking,
It is further characterized in that: intersection discrete traffic model is established in the following way:
If when speed traveling of the front without other vehicles or signal lamp limitation, vehicle desirably；When the vehicle of vehicle and front truck
Between distance be decreased to minimum safe spacing hminWhen, vehicle switches to from the state for travelling on desired speed and follows front vehicles
The state of speed, and minimum safe spacing, wherein minimum safe spacing are kept with front vehicles is defined as: front vehicles are urgent
When braking, vehicle from present speed speed is reduced to zero with safe acceleration required for distance；
hmin=α v+ β v2+δ
V is vehicle real-time speed in formula, and α indicates driver's average reaction time, and β is the steady deceleration of vehicle, when δ is parking
The safe distance in two workshops.
5. the intersection double-circuit tramcar signal priority control method according to claim 1 based on car networking,
It is further characterized in that: S4 specifically in the following way:
S41: according to two kinds of signal priority strategy Δ tr,b、Δtr,eIt is overlapped, obtains with existing crossing signals timing scheme respectively
The crossing signals timing scheme new to two kinds；
S42: under two kinds of new crossing signals timing schemes, vehicle in each lane in intersection is numbered, according to intersection
It is as follows that discrete traffic model respectively obtains in each lane the variation of public vehicles queue length Discrete Dynamic,
Qk(t+Δt|Δtr,b)=Qk(t|Δtr,b)+Numin(t+Δt|t,Δtr,b)-Numout(t+Δt|t,Δtr,b), k ∈
Η
Qk(t+Δt|Δtr,e)=Qk(t|Δtr,e)+Numin(t+Δt|t,Δtr,e)-Numout(t+Δt|t,Δtr,e), k ∈
Η
S43: maximum queue length Q of each lane under two kinds of new signal priority strategies is obtainedmax,k(Δtr,b)、Qmax,k(Δ
tr,e), k ∈ Η；
S44: the maximum queue length in all lanes is added, (Δ t under two kinds of signal priority strategies is obtainedr,b, Δ tr,e) intersect
The comprehensive maximum queue length Q of mouthmax(Δtr,b) and Qmax(Δtr,e)。
6. the intersection double-circuit tramcar signal priority control method according to claim 1 based on car networking,
It is further characterized in that: S5 specifically in the following way:
S51: judge new tramcar signal priority request whether with it is existing do not respond the request of tramcar signal priority (Or) responded in the identical signal cycle in intersection, if yes then enter in next step, otherwise it is determined as Lothrus apterus；
S52: judge new tramcar signal priority strategy (Δ tr,b, Δ tr,e) whether amplitude be zero, if it is non-zero then into
Enter in next step, is otherwise determined as Lothrus apterus；
S53: judging whether new tramcar signal priority request is caused by existing opposite tramcar signal priority strategy, such as
Fruit is to do following judgement, is otherwise determined as Lothrus apterus；
If existing opposite direction tramcar signal priority strategy is to delay a certain red phase time started, the amount of delaying is
And newly enters tramcar and reach the crossing timeThen new tramcar signal priority is requested and is had
Opposite signal priority request collision defines the first conflict；
If existing opposite direction tramcar signal priority strategy is to shift to an earlier date a certain red phase end time, lead is
And newly enters tramcar and reach the crossing timeThen new tramcar signal priority is requested and is had
Opposite signal priority request collision defines the second conflict；
If existing opposite direction tramcar signal priority amplitude is zero, and opposite tramcar reaches the crossing timeThe then request of new tramcar signal priority and opposite tramcar signal conflict, define third punching
It is prominent；
If existing opposite direction tramcar signal priority amplitude is zero, and opposite tramcar reaches the crossing timeThe then request of new tramcar signal priority and opposite tramcar signal conflict, define the 4th punching
It is prominent.
7. the intersection double-circuit tramcar signal priority control method according to claim 6 based on car networking,
It is further characterized in that: S6 specifically in the following way:
S61: if Lothrus apterus, to tramcar signal priority strategy, the comprehensive maximum length of queue in selection intersection newly initiated
Least way is spent, i.e., such as Qmax(Δtr,b)≤Qmax(Δtr,e), then the red phase time started is delayed in selection, such as Qmax(Δ
tr,b)>Qmax(Δtr,e), then selection shifts to an earlier date the red phase end time；
S62: if it is the first conflict, then adjustment is current newly enters tramcar speed, it is made to reach the crossing timeIfIt sets up, then without carrying out signal adjustment；If not, then design the red light time started
The amount of delaying is
S63: if it is the second conflict: then adjustment is current newly enters tramcar speed, it is made to reach the crossing timeIfIt sets up, then the end time of red phase in preceding signal circulation is carried out
In advance, lead isIf not, then without carrying out signal adjustment；
S64: if it is third conflict: then adjusting opposite tramcar speed, it is made to reach the crossing timeIfIt sets up, then provides signal priority to opposite tramcar, i.e., to currently following
The end time of red phase is shifted to an earlier date in ring, and lead isIf not, then without into
The adjustment of row signal；
S65: if it is the 4th conflict: then adjusting opposite tramcar speed, it is made to reach the crossing time
S66: if (tr,b+Δtr,b+σ)>tr,eIt sets up, then provides signal priority to opposite tramcar, i.e., latter signal is followed
It is delayed at the beginning of red phase in ring, lead isIf not, then without into
The adjustment of row signal.
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