CN104408944A

CN104408944A - Lamp group based mixed traffic flow signal timing optimization method

Info

Publication number: CN104408944A
Application number: CN201410628155.XA
Authority: CN
Inventors: 赵巍; 郑利; 申婵; 马红伟; 柯水平; 韩敏; 张志学; 杨志超; 徐汉清
Original assignee: Tianjin Municipal Engineering Design and Research Institute
Current assignee: Tianjin Municipal Engineering Design and Research Institute
Priority date: 2014-11-10
Filing date: 2014-11-10
Publication date: 2015-03-11
Anticipated expiration: 2034-11-10
Also published as: CN104408944B

Abstract

The present invention provides a method for optimizing the timing of mixed traffic flow signals based on lamp groups, which includes the following steps: numbering each lamp group; The objective function to be solved is to satisfy the shortest period or the objective function to be solved with the maximum traffic capacity; set the constraint conditions of the objective function; write the nonlinear optimization solution program according to the objective function and the constraint conditions, and finally obtain the optimal timing result. The present invention The advantages and positive effects are: the signal timing scheme can be flexibly adjusted according to the flow requirements of different light groups, the concept of phase is not used, the lighting of the light group is no longer affected by other traffic flows in the same phase, and it can flexibly connect different traffic flows In order to maximize the traffic benefit of the intersection; it can effectively ensure the traffic safety of non-motor vehicles and pedestrians, and the solution is simple.

Description

A lighting group-based timing optimization method for mixed traffic flow signals

技术领域technical field

本发明属于定时信号优化配时技术领域，尤其是涉及一种基于灯组的混合交通流信号配时优化方法。The invention belongs to the technical field of timing signal optimization timing, and in particular relates to a method for optimizing the timing of mixed traffic flow signals based on lamp groups.

背景技术Background technique

一些城市道路交叉口的非机动车和行人数量较多，在交叉口交通组成中的占有的比例较大，且各种方式交通流之间的相互干扰严重，具有混合交通流的特征。特别是近年来电动自动车和助力自行车的迅速增长使得城市道路交叉口交通流的速度区间进一步扩大，涵盖了3～5km/h的行人交通流速度、10～35km/h的非机动车交通流速度以及50～80km/h的机动车交通流速度，这使得交叉口的信号控制更加复杂。There are many non-motorized vehicles and pedestrians in some urban road intersections, which account for a relatively large proportion of the traffic composition at the intersection, and the mutual interference between various modes of traffic flow is serious, which has the characteristics of mixed traffic flow. Especially in recent years, the rapid growth of electric vehicles and power-assisted bicycles has further expanded the speed range of traffic flow at urban road intersections, covering pedestrian traffic flow speeds of 3-5km/h and non-motor vehicle traffic flow speeds of 10-35km/h. Speed and 50 ~ 80km/h motor vehicle traffic flow speed, which makes the signal control of the intersection more complicated.

现有技术中，一般认为在设置有非机动车信号灯时，非机动车绿灯时长等于机动车绿灯时长减去机动车绿灯间隔时间与非机动车绿灯间隔时间的差值。然而，这种非机动车绿灯时间的计算方法没有考虑非机动车的实际通行需求，并不适用于非机动车交通量较大时的情况。而且，从实际运行情况来看，很少有设置非机动车专用信号的交叉口。由于运行特性的差异，非机动车与机动车在绿灯末尾清空时各自所需的绿灯间隔时间存在较大的差异。尤其是对于左转非机动车和机动车而言，由于清空距离较大，绿灯间隔时间的差异更为明显。在这种情况下，仍然采用非机动车与机动车共用相位时，绿灯结束后非机动车无法在相应的绿灯间隔时间内通过，从而造成安全隐患。In the prior art, it is generally believed that when non-motor vehicle signal lights are installed, the green light duration of non-motor vehicles is equal to the green light duration of motor vehicles minus the difference between the green light intervals of motor vehicles and the green light intervals of non-motor vehicles. However, this method of calculating the green light time of non-motor vehicles does not consider the actual traffic demand of non-motor vehicles, and is not suitable for the situation when the traffic volume of non-motor vehicles is large. Moreover, from the point of view of actual operation, there are very few intersections with special signals for non-motor vehicles. Due to the difference in operating characteristics, there is a large difference in the green light interval time required by non-motor vehicles and motor vehicles when they clear at the end of the green light. Especially for left-turning non-motor vehicles and motor vehicles, due to the large clearance distance, the difference in green light interval time is more obvious. In this case, when non-motor vehicles and motor vehicles still use the same phase, non-motor vehicles cannot pass through the corresponding green light interval after the green light ends, thus causing potential safety hazards.

此外，关于机非分离条件下信号优化模型的研究往往先确定相位结构，再进行相序的优化，这样大大限制了优化方案的范围。In addition, the research on the signal optimization model under the condition of machine and non-separation often determines the phase structure first, and then optimizes the phase sequence, which greatly limits the scope of the optimization scheme.

发明内容Contents of the invention

本发明要解决的问题是提供一种基于灯组的混合交通流信号配时优化方法，以城市道路信号控制交叉口混合交通流作为研究对象，重点分析如何合理设计混合交通交叉口的时间资源配置，提高交叉口的通行效率。The problem to be solved by the present invention is to provide a method for optimizing the timing of mixed traffic flow signals based on light groups, taking the mixed traffic flow at urban road signal control intersections as the research object, and focusing on analyzing how to rationally design the time resource allocation of mixed traffic intersections , to improve traffic efficiency at intersections.

为解决上述技术问题，本发明采用的技术方案是：In order to solve the problems of the technologies described above, the technical solution adopted in the present invention is:

一种基于灯组的混合交通流信号配时优化方法，包含如下步骤：A method for optimizing timing of mixed traffic flow signals based on light groups, comprising the following steps:

1)对各灯组进行编号；1) Number each light group;

2)设定求解目标函数：2) Set the solution objective function:

目标函数为以满足周期最短为求解目标的目标函数或是以满足延误最小为求解的目标函数或是以通行能力最大为求解的目标函数；The objective function is the objective function to satisfy the shortest cycle, or the objective function to satisfy the minimum delay, or the objective function to solve the maximum capacity;

3)设置目标函数的约束条件；3) Set the constraints of the objective function;

4)根据目标函数和约束条件编写非线性优化求解程序，最终得出优化配时结果。4) Write a nonlinear optimization solution program according to the objective function and constraints, and finally obtain the optimal timing result.

所述的基于灯组的混合交通流信号配时优化方法，具体包含如下步骤：The described method for optimizing timing of mixed traffic flow signals based on light groups specifically includes the following steps:

1)对各灯组进行编号：1) Number each light group:

灯组是交叉口信号控制中最小的独立控制单元，可将各进口道中不同流向的机动车、非机动车和行人分别定义为一个灯组，并按顺时针或者逆时针进行编号；The light group is the smallest independent control unit in the intersection signal control, which can define motor vehicles, non-motor vehicles and pedestrians in different flow directions in each entrance as a light group, and number them clockwise or counterclockwise;

2)设定求解目标函数：2) Set the solution objective function:

以满足周期最短为求解目标，目标函数如下：To meet the shortest period as the solution goal, the objective function is as follows:

f＝min C (1)f=min C (1)

式中：f为目标函数；C为周期时长，单位秒；In the formula: f is the objective function; C is the cycle time, in seconds;

或者是以机动车和非机动车的周期延误最小为求解目标，目标函数如下：Or take the minimum cycle delay of motor vehicles and non-motor vehicles as the solution objective, the objective function is as follows:

$Z=min Z=min (({Σ Σ}_{i i = = 11}^{M m} {d d}_{Mi Mi} + + {Σ Σ}_{i i = = 11}^{N N} {d d}_{Bi Bi})) - - - - - - ((22))$

式中：dMi为机动车灯组i的延误，单位秒；dBi为非机动车灯组i的延误，单位秒；i为灯组编号；M为机动车灯组总数；N为非机动车灯组总数；In the formula: dMi is the delay of motor vehicle lamp group i, unit second; dBi is the delay of non-motor vehicle lamp group i, unit second; i is the lamp group number; M is the total number of motor vehicle lamp groups; N is non-motor vehicle lamp group total;

对于任意不饱和机动车车流或者灯组车流，都可用公式(3)计算周期延误：For any unsaturated motor vehicle traffic flow or light group traffic flow, formula (3) can be used to calculate the cycle delay:

${d d}_{Mi Mi} = = 0.9 0.9 ((\frac{{s the s}_{i i} {((11 - - {Λ Λ}_{i i}))}^{22} \times \times C C}{22 (({s the s}_{i i} - - {q q}_{i i}))} + + \frac{{q q}_{i i}}{22 {s the s}_{i i} {Λ Λ}_{i i} (({s the s}_{i i} {Λ Λ}_{i i} - - {q q}_{i i}))})) - - - - - - ((33))$

式中：si为饱和流量，单位辆/秒；C为周期时长，单位秒；qi为灯组所对应的流量，单位辆/秒；Λ_i为有效绿灯时间与周期时长的比值；即，In the formula: si is the saturated flow rate, unit vehicle/second; C is cycle duration, unit second; qi is the flow rate corresponding to the light group, unit vehicle/second; Λ _i is the ratio of effective green light time to cycle duration; that is,

${Λ Λ}_{i i} = = \frac{{g g}_{i i} + + e e}{C C} - - - - - - ((44))$

式中：gi为任意机动车灯组i的绿灯时长，单位秒；e为黄灯时长与启动损失时间的差值，单位秒；In the formula: gi is the green light duration of any motor vehicle light group i, in seconds; e is the difference between the amber light duration and the start-up loss time, in seconds;

对于非机动车的延误，可用公式(5)计算得出：For the delay of non-motor vehicles, the formula (5) can be used to calculate:

${d d}_{Bi Bi} = = \frac{0.5 0.5 C C {((11 - - \frac{{g g}_{i i}}{C C}))}^{22}}{11 - - [[\frac{{g g}_{i i}}{C C} min min ((\frac{{q q}_{i i}}{{s the s}_{i i}},, 11))]]} - - - - - - ((55))$

式中：参数意义同上；In the formula: the meaning of the parameters is the same as above;

或者是以通行能力最大为求解目标，目标函数如下公式(6)表示：Or take the maximum traffic capacity as the solution goal, and the objective function is expressed in the following formula (6):

$f=max f=max {Σ Σ}_{i i = = 11}^{M m + + N N} {s the s}_{i i} (({g g}_{i i} + + e e)) - - - - - - ((66))$

3)上述目标函数求解时，应给予以下约束条件：3) When solving the above objective function, the following constraints should be given:

①绿灯启亮时间约束① Time limit for turning on the green light

$\begin{matrix} C C &GreaterEqual; &Greater Equal; g g {b b}_{i i} &GreaterEqual; &Greater Equal; 00 & &ForAll; &ForAll; i i = = 1,2 1,2,, . . . . . .,, M m + + N N - - - - - - ((77)) \end{matrix}$

式中：gbi为任一灯组i在某周期内的绿灯启亮时刻距周期起始时刻的时间差，单位秒；In the formula: gbi is the time difference between the moment when the green light of any lamp group i turns on in a certain cycle and the start time of the cycle, in seconds;

②最小绿灯时长约束:② Minimum green light duration constraints:

对于混合交通交叉口，行人和非机动车等慢行交通是本发明需要特别考虑的交通主体,因此，本发明必须满足行人过街的需求，保证行人绿灯时间不小于行人通过交叉口的最短时间:For mixed traffic intersections, slow-moving traffic such as pedestrians and non-motor vehicles is the traffic subject that needs special consideration in the present invention. Therefore, the present invention must meet the needs of pedestrians crossing the street, and ensure that the green light time for pedestrians is not less than the shortest time for pedestrians to pass through the intersection:

$C C > > {g g}_{i i} &GreaterEqual; &Greater Equal; {g g}_{min min} &ForAll; &ForAll; i i = = 1,2 1,2,, . . . . . .,, M m + + N N - - - - - - ((88))$

式中:gmin为行人通过交叉口所需的最短时间，单位秒；In the formula: gmin is the minimum time required for pedestrians to pass through the intersection, in seconds;

③各车道组的通行能力约束③ Capacity constraints of each lane group

在进行信号配时时，还需要注意各灯组的绿灯时长需要满足该灯组所对应的交通量需求；即：各灯组任一周期内的通行能力都必须大于等于灯组所的流量需求,具体计算如公式(9)所示：When performing signal timing, it is also necessary to pay attention to the green light duration of each light group to meet the traffic volume demand corresponding to the light group; that is, the traffic capacity of each light group in any period must be greater than or equal to the traffic demand of the light group. The specific calculation is shown in formula (9):

$\begin{matrix} (({g g}_{i i} + + e e)) {s the s}_{i i} \times \times 0.9 0.9 &GreaterEqual; &Greater Equal; {q q}_{i i} \times \times C C & &ForAll; &ForAll; i i,, j j = = 1,2 1,2,, . . . . . .,, M m + + N N - - - - - - ((99)) \end{matrix}-$

④绿灯间隔时间约束④Green light interval time constraint

绿灯间隔时间是指任意两个存在冲突的灯组之间所必须设置的最小时间间隔,在进行信号配时计算时，必须保证两个冲突灯组之间的时间差必须大于等于绿灯间隔时间,该约束可用公式(10)表示：The green light interval time refers to the minimum time interval that must be set between any two conflicting light groups. When calculating the signal timing, it must be ensured that the time difference between the two conflicting light groups must be greater than or equal to the green light interval time. The constraint can be expressed by formula (10):

gb_i+g_i+I_ij≤gb_j (10)gb _i +g _i +I _ij ≤gb _j (10)

式中：Iij为两任意灯组之间的绿灯间隔时间，单位秒；In the formula: Iij is the green light interval time between two arbitrary light groups, in seconds;

⑤周期时长C的约束⑤Constraints on cycle duration C

在进行信号配时设计时，需要对周期时长设置一定的范围，在交通量较小时，可以将周期时长的上限值调低；反之则调高，该约束可用公式(11)表示：When designing signal timing, it is necessary to set a certain range for the period length. When the traffic volume is small, the upper limit of the period length can be lowered; otherwise, it can be increased. The constraint can be expressed by formula (11):

C_min≤C≤C_max (11)C _min ≤ C ≤ C _max (11)

式中，Cmin为设置的周期时长最小值，单位秒；Cmax为设置的周期时长最大值，单位秒；其余参数同上；In the formula, Cmin is the minimum value of the set cycle duration, in seconds; Cmax is the maximum value of the set cycle duration, in seconds; the rest of the parameters are the same as above;

4)求解：4) Solving:

根据上述目标函数与约束条件，编写非线性优化求解程序，最终得出优化配时结果。According to the above objective function and constraint conditions, a nonlinear optimization solution program is written, and finally the optimal timing result is obtained.

本发明具有的优点和积极效果是：The advantages and positive effects that the present invention has are:

(1)提出一种基于灯组的混合交通流信号配时优化技术，该技术可以分别求解周期最小、延误最小以及通行能力最大时的混合交通流的信号配时优化方案；(1) Propose a signal timing optimization technology for mixed traffic flow based on light groups, which can solve the signal timing optimization scheme for mixed traffic flow when the period is the smallest, the delay is the smallest, and the capacity is the largest;

(2)所使用的基于灯组的信号配时优化技术能够针对不同灯组的流量需求灵活调整信号配时方案，没有使用相位的概念，灯组的启亮不再受到同一相位其他车流的影响，能够灵活地衔接不同车流的绿灯启亮时间，以达到交叉口通行效益的最大化；(2) The signal timing optimization technology based on light groups can flexibly adjust the signal timing scheme according to the traffic demand of different light groups. There is no concept of phase, and the lighting of light groups is no longer affected by other traffic flows in the same phase. , can flexibly connect the green light turn-on time of different traffic flows, so as to maximize the traffic efficiency of the intersection;

(3)本发明能有效保证非机动车和行人的通行安全，求解简便。(3) The present invention can effectively guarantee the traffic safety of non-motor vehicles and pedestrians, and the solution is simple and convenient.

附图说明Description of drawings

图1是本发明的方法流程图；Fig. 1 is method flowchart of the present invention;

图2是本发明一实施例交叉口的几何空间布局及进口道车道功能划分渠化图；Fig. 2 is the geometric space layout of the intersection of an embodiment of the present invention and the channelization diagram of the functional division of the entrance road lane;

图3是本发明一实施例以满足周期最短为求解的目标得到的信号配时方案示意图。FIG. 3 is a schematic diagram of a signal timing scheme obtained by satisfying the shortest period as the solution goal according to an embodiment of the present invention.

具体实施方式Detailed ways

本发明针对现有的信号配时方法没有充分考虑非机动车和行人的通行需要和清空安全等问题，开发一种基于灯组的混合交通流信号配时优化方法，来弥补现有方法无法合理解决复杂的混合交通流信号配时方法。本发明的核心思想是通过建立非线性优化求解模型，综合考虑机动车、非机动和行人的流量需求、绿灯间隔时间、周期时长等约束，对混合交通流的信号配时进行优化求解。In view of the fact that the existing signal timing method does not fully consider the traffic needs of non-motor vehicles and pedestrians and the safety of emptying, a light group-based mixed traffic flow signal timing optimization method is developed to make up for the unreasonableness of the existing method. Solve complex mixed traffic flow signal timing methods. The core idea of the present invention is to optimize and solve the signal timing of mixed traffic flow by establishing a nonlinear optimization solution model and comprehensively considering the traffic requirements of motor vehicles, non-motor vehicles and pedestrians, the interval time between green lights, and the cycle duration.

下面结合附图对本发明的实施例做详细说明。Embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

本发明一实施例以如图2所示的某地一存在混合交通流的信号控制交叉口的配时优化为例，图1所示为本实施例交叉口的几何空间布局及进口道车道功能划分状况图，可以看出，四个进口道皆有非机动车道存在；且存在一个转角三角岛，交叉口的交通流运行较为复杂。现状条件下，信号周期C为240秒，为典型的Webster方法计算的四相位信号设置。One embodiment of the present invention takes the timing optimization of a signal-controlled intersection with mixed traffic flow in a certain place as shown in FIG. 2 as an example. FIG. 1 shows the geometric space layout of the intersection of this embodiment and the function of the entrance lane. Dividing the status map, it can be seen that there are non-motorized vehicle lanes in all four entrances; and there is a corner triangle island, and the traffic flow at the intersection is relatively complicated. Under current conditions, the signal period C is 240 seconds, which is set for a typical four-phase signal calculated by the Webster method.

本实施例中，采用录像观测的方法对各流向的交通流量的进行采集和统计。并通过记录各灯组在运行过程中的饱和车头时距来进行饱和流量的计算。In this embodiment, the method of video observation is used to collect and count the traffic flow in each flow direction. And calculate the saturated flow by recording the saturated headway of each lamp group during operation.

本发明的基于灯组的混合交通流信号配时优化方法，如图1所示，包括如下步骤：The mixed traffic flow signal timing optimization method based on light groups of the present invention, as shown in Figure 1, includes the following steps:

步骤1，对各灯组进行编号：Step 1, number each light group:

本实施例的交叉口由于不存在直右车道，故灯组划分较为简单，每个进口道各流向的机动车和非机动车各自为一个灯组；由于右转非机动车只与其侧向的行人有冲突，且非机动车车速较慢，故不对其实施信号控制，即不对其进行灯组编号；具体灯组编号如图1所示，灯组用K表示；Because there is no straight right lane in the intersection of the present embodiment, so the light group division is comparatively simple, and the motor vehicle and the non-motor vehicle of each flow direction of each entrance road are respectively a light group; Pedestrians have conflicts and the speed of non-motorized vehicles is relatively slow, so no signal control is implemented for them, that is, no numbering of light groups is performed on them; the specific number of light groups is shown in Figure 1, and the light group is represented by K;

步骤2，设定求解目标函数，根据实际需求的不同可以选择以满足周期最短为求解目标或者是以机动车和非机动车的周期延误最小为求解目标或者是以通行能力最大为求解目标，具体方法如下：Step 2, set the solution objective function, according to different actual needs, you can choose to meet the shortest period as the solution goal or take the minimum cycle delay of motor vehicles and non-motor vehicles as the solution goal or take the maximum traffic capacity as the solution goal, specifically Methods as below:

f＝min C (1)f=min C (1)

式中：f为目标函数；C为周期时长，单位秒，其中周期时长的公式可选择现有的对定时信号配时的方法中的计算公式；In the formula: f is the objective function; C is the cycle duration, unit second, wherein the formula of the cycle duration can select the calculation formula in the existing method for timing signal timing;

$Z = min Z = min (({Σ Σ}_{i i = = 11}^{M m} {d d}_{Mi Mi} + + {Σ Σ}_{i i = = 11}^{N N} {d d}_{Bi Bi})) - - - - - - ((22))$

${Λ Λ}_{i i} = = \frac{{g g}_{i i} + + e e}{C C} - - - - - - ((44))$

对于非机动车的延误，可用公式(5)计算得出：For the delay of non-motor vehicles, formula (5) can be used to calculate:

$f = max f = max {Σ Σ}_{i i = = 11}^{M m + + N N} {s the s}_{i i} (({g g}_{i i} + + e e)) - - - - - - ((66))$

步骤3，上述目标函数求解时，应给予以下约束条件：Step 3, when solving the above objective function, the following constraints should be given:

①绿灯启亮时间约束① Time limit for turning on the green light

式中：gb_i为任一灯组i在某周期内的绿灯启亮时刻距周期起始时刻的时间差，单位秒；In the formula: gb _i is the time difference between the moment when the green light of any lamp group i turns on in a certain cycle and the start time of the cycle, in seconds;

②最小绿灯时长约束:② Minimum green light duration constraints:

式中:gmin为行人通过交叉口所需的最短时间，根据具体的人行过街长度而定，单位秒；In the formula: gmin is the minimum time required for pedestrians to pass through the intersection, which is determined according to the specific pedestrian crossing length, and the unit is second;

③各车道组的通行能力约束③ Capacity constraints of each lane group

在进行信号配时时，还需要注意各灯组的绿灯时长需要满足该灯组所对应的交通量需求；即：各灯组任一周期内的通行能力都必须大于等于灯组所对应车道组的流量需求,具体计算如公式(9)所示：When performing signal timing, it is also necessary to pay attention to the fact that the green light duration of each light group needs to meet the corresponding traffic volume requirements of the light group; that is, the traffic capacity of each light group in any cycle must be greater than or equal to the lane group corresponding to the light group. Flow demand, the specific calculation is shown in formula (9):

④绿灯间隔时间约束④Green light interval time constraint

gb_i+g_i+I_ij≤gb_j (10)gb _i +g _i +I _ij ≤gb _j (10)

式中：Iij为两任意灯组之间的绿灯间隔时间，单位秒；gbj为冲突灯组在某周期内的绿灯启亮时刻距周期起始时刻的时间差，单位秒；In the formula: Iij is the green light interval time between two arbitrary light groups, in seconds; gbj is the time difference between the green light on time of the conflicting light group in a certain cycle and the cycle start time, in seconds;

⑤周期时长C的约束⑤Constraints on cycle duration C

在进行信号配时设计时，需要对周期时长设置一定的范围，在交通量较小时，可以将周期时长的上限值调低；反之则调高，该约束可用公式(11)When designing signal timing, it is necessary to set a certain range for the period length. When the traffic volume is small, the upper limit of the period length can be lowered; otherwise, it can be increased. The constraint can be used in formula (11)

表示：express:

C_min≤C≤C_max (11)C _min ≤ C ≤ C _max (11)

式中，Cmin为设置的周期时长最小值，单位秒；Cmax为设置的周期时长最大值，单位秒；其余参数同上；本实施例中Cmin取120秒，Cmax取240秒；In the formula, Cmin is the minimum value of the set cycle duration, in seconds; Cmax is the maximum value of the set cycle duration, in seconds; the rest of the parameters are the same as above; in this embodiment, Cmin is 120 seconds, and Cmax is 240 seconds;

步骤4，求解：Step 4, solve:

根据上述目标函数与约束条件，编写非线性优化求解程序，可采用matlab求解非线性方程，最终得出优化配时结果；According to the above objective function and constraint conditions, write a nonlinear optimization solution program, use matlab to solve the nonlinear equation, and finally obtain the optimal timing result;

本实施例中目标函数中的各灯组所对应的流量和饱和流量数据如下表所示：The flow and saturation flow data corresponding to each lamp group in the objective function in this embodiment are shown in the following table:

表1各灯组的流量及饱和流量(单位，辆/小时)Table 1 Flow and saturation flow of each lamp group (unit, vehicle/hour)

灯组编号Light group number 11 22 33 44 55 66 77 88 99 1010 1111 1212 流量qiTraffic Qi 162162 936936 612612 180180 852852 126126 315315 15331533 144144 738738 13651365 200200 饱和流量siSaturation flow si 32003200 60006000 18001800 16001600 36003600 18001800 16001600 54005400 16001600 32003200 54005400 16001600 灯组编号Light group number 1313 1414 1515 1616 1717 1818 1919 2020 21twenty one 22twenty two 23twenty three 24twenty four 流量qiTraffic Qi 300300 400400 300300 400400 300300 400400 300300 400400 200200 200200 200200 200200

饱和流量siSaturation flow si 30003000 30003000 30003000 30003000 30003000 30003000 30003000 30003000 50005000 50005000 50005000 50005000

本实施例中各冲突灯组间的绿灯间隔Iij矩阵如表2所示；The green light interval Iij matrix between each conflict light group in the present embodiment is as shown in table 2;

表2 绿灯间隔矩阵(单位，秒)Table 2 Green light interval matrix (unit, second)

通常状况下，黄灯时长和启动损失时间的差值e为2秒，本实施例中也取该值。Normally, the difference e between the duration of the yellow light and the start-up loss time is 2 seconds, and this value is also taken in this embodiment.

本实施例以满足周期最短为求解的目标函数结合约束条件编写非线性优化求解程序，目标函数中仅有一个变量，即周期C，其余约束条件中的变量都是需要求解的，因为这个方法所要得到的结果不单单是一个周期取值，还需要得到相应灯组的起始时间和绿灯时长；本实施例是在满足各约束条件的前提下求得的最小取值，优化求解得到周期minC为203秒，具体信号配时方案如图3所示。In this embodiment, the objective function to satisfy the shortest period is to be solved and the nonlinear optimization solution program is written in combination with the constraint conditions. There is only one variable in the objective function, that is, the period C, and the variables in the remaining constraints all need to be solved, because this method requires The result obtained is not only a cycle value, but also the start time of the corresponding light group and the duration of the green light; this embodiment is the minimum value obtained under the premise of satisfying various constraints, and the cycle minC obtained by optimizing the solution is 203 seconds, the specific signal timing scheme is shown in Figure 3.

本实施例的交叉口由于东进口直行和左转的流量比大于西进口，优化方案将西进口直行与东进口直行进行搭接处理，即，①西进口直行和东进口先同时放行，②在西进口直行结束后，东进口直行继续与东进口左转同时放行，③东进口直行结束，东西左转同时放行。At the intersection of this embodiment, since the flow ratio of going straight at the east entrance and turning left is greater than that at the west entrance, the optimization plan overlaps the straight going at the west entrance and the straight going at the east entrance. After the end of the straight line at the west entrance, the straight line at the east entrance continues and the left turn at the east entrance is released at the same time.

本发明信号配时优化方法没有使用相位的概念，灯组的启亮不再受到同一相位其他车流的影响，因而配时更加灵活。而传统的Webster信号配时方法需要事先确定相位及相序，与之相比，基于灯组的信号优化方法能够灵活地衔接不同车流的绿灯启亮时间，以达到交叉口通行效益的最大化。The signal timing optimization method of the present invention does not use the concept of phase, and the lighting of the lamp group is no longer affected by other traffic flows in the same phase, so the timing is more flexible. Compared with the traditional Webster signal timing method, which needs to determine the phase and phase sequence in advance, the signal optimization method based on the light group can flexibly connect the green light turn-on time of different traffic flows, so as to maximize the traffic efficiency of the intersection.

以上对本发明的实施例进行了详细说明，但所述内容仅为本发明的较佳实施例，不能被认为用于限定本发明的实施范围。凡依本发明申请范围所作的均等变化与改进等，均应仍归属于本发明的专利涵盖范围之内。The embodiments of the present invention have been described in detail above, but the content described is only a preferred embodiment of the present invention, and cannot be considered as limiting the implementation scope of the present invention. All equivalent changes and improvements made according to the application scope of the present invention shall still belong to the scope covered by the patent of the present invention.

Claims

1., based on a mixed traffic flow signal timing optimization method for lamp group, it is characterized in that comprising following steps:

1) each lamp group is numbered;

2) setting solves objective function:

Objective function is meet cycle the shortest objective function for solving target or with the minimum objective function for solving of satisfied delay or be the objective function solved with Maximum Traffic Capacity;

3) constraint condition of Offered target function;

4) write nonlinear optimization solver according to objective function and constraint condition, finally draw and optimize timing result.

2. the mixed traffic flow signal timing optimization method based on lamp group according to claim 1, is characterized in that comprising following steps:

1) each lamp group is numbered:

Lamp group is independent control unit minimum in integrative design intersection, can by various flows in each entrance driveway to motor vehicle, bicycle and pedestrian be defined as a lamp group respectively, and by being numbered clockwise or counterclockwise;

2) setting solves objective function:

The shortest in solving target to meet the cycle, objective function is as follows:

f＝min C (1)

In formula: f is objective function; C is cycle duration, unit second;

Or minimum for solving target with the cycle delay of motor vehicle and bicycle, objective function is as follows:

Z = \min (Σ_{i = 1}^{M} d_{Mi} + Σ_{i = 1}^{N} d_{Bi}) - - - (2)

In formula: dMi is the delay of automotive lamp group i, unit second; DBi is the delay of non-maneuver car light group i, unit second; I is lamp group #; M is automotive lamp group sum; N is non-maneuver car light group sum;

For any unsaturated motor vehicle wagon flow or lamp group wagon flow, formula (3) computation period all can be used to incur loss through delay:

d_{Mi} = 0.9 (\frac{s_{i} {(1 - Λ_{i})}^{2} \times C}{2 (s_{i} - q_{i})} + \frac{q_{i}}{2 s_{i} Λ_{i} (s_{i} Λ_{i} - q_{i})}) - - - (3)

In formula: si is saturation volume, unit/second; C is cycle duration, unit second; The flow of qi corresponding to lamp group, unit/second; Λ _ifor the ratio of effective green time and cycle duration; That is,

Λ_{i} = \frac{g_{i} + e}{C} - - - (4)

In formula: gi is the long green light time of any automotive lamp group i, unit second; E is amber light duration and the difference starting lost time, unit second;

For the delay of bicycle, available formula (5) calculates:

d_{Bi} = \frac{0.5 C {(1 - \frac{g_{i}}{C})}^{2}}{1 - [\frac{g_{i}}{C} \min (\frac{q_{i}}{s_{i}}, 1)]} - - - (5)

In formula: parameter meaning is the same;

Or with Maximum Traffic Capacity for solving target, the following formula of objective function (6) represents:

f = \max Σ_{i = 1}^{M + N} s_{i} (g_{i} + e) - - - (6)

In formula: parameter meaning is the same;

3), when above-mentioned objective function solves, following constraint condition should be given:

1. green light opens bright time-constrain

C &GreaterEqual; {gb}_{i} &GreaterEqual; 0, &ForAll; i = 1,2, . . ., M + N - - - (7)

In formula: gbi is that the green light of arbitrary lamp group i within certain cycle opens bright moment apart from mistiming of period start time, unit second;

2. minimum long green light time constraint:

For mixed traffic crossing, the slow-moving traffics such as pedestrian and non motorized vehicle are that the present invention needs the special traffic main body considered, therefore, the present invention must meet the demand of pedestrian's street crossing, ensures that pedestrian's green time is not less than the shortest time of pedestrian by crossing:

C > g_{i} &GreaterEqual; g_{\min}, &ForAll; i = 1,2, . . ., M + N - - - (8)

In formula: gmin for pedestrian is by the shortest time needed for crossing, unit second;

3. the Capacity Constraints of each track group

When carrying out signal timing dial, also should be noted that this volume of traffic demand corresponding to lamp group of long green light time demand fulfillment of each lamp group; That is: the traffic capacity in each lamp group arbitrary cycle all must be more than or equal to lamp group traffic demand, specifically calculate as shown in formula (9):

(g_{i} + e) s_{i} \times 0.9 &GreaterEqual; q_{i} \times C, &ForAll; i, j = 1,2, . . ., M + N - - - (9)

4. copper sulfate basic constraint

Copper sulfate basic refers to that any two exist the minimum interval that must arrange between the lamp group of conflict, when carrying out signal timing dial and calculating, must ensure that the mistiming between two conflict lamp groups must be more than or equal to copper sulfate basic, the available formula of this constraint (10) represents:

gb _i+g _i+I _ij≤gb _j(10)

In formula: Iij is the copper sulfate basic between two any lamp groups, unit second;

5. the constraint of cycle duration C

When carrying out singnal configuration design, needing to arrange certain scope to cycle duration, when the volume of traffic is less, the higher limit of cycle duration can be turned down; Otherwise then heighten, the available formula of this constraint (11) represents:

C _min≤C≤C _max(11)

In formula, Cmin is the cycle duration minimum value arranged, unit second; Cmax is the cycle duration maximal value arranged, unit second; All the other parameters are the same;

4) solve:

According to above-mentioned objective function and constraint condition, write nonlinear optimization solver, finally draw and optimize timing result.