CN109584583B - Intelligent refined control system and method for same-phase right-turn vehicles and street-crossing pedestrians - Google Patents
Intelligent refined control system and method for same-phase right-turn vehicles and street-crossing pedestrians Download PDFInfo
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Abstract
The invention relates to an intelligent and fine control system for the same-phase right-turn vehicles and street-crossing pedestrians, which comprises a right-turn signal lamp and a pedestrian signal lamp which are arranged at an intersection, wherein the right-turn signal lamp and the pedestrian signal lamp are controlled by a signal controller, and the green lamp of a straight lane in the same direction, which is referred by the original green lamp setting of the pedestrian signal lamp, is defined as a green lamp according to the straight-going condition, and the intelligent and fine control system is characterized by also comprising: a signal phase detection device; the right-turn vehicle detection device is used for detecting the queuing length of the vehicles on the right-turn lane; a pedestrian detection apparatus. The invention further provides an intelligent fine control method for the same-phase right-turn vehicles and the street pedestrians. According to the invention, the time length of straight-going time timing according to the green light is finely divided, and right-turning vehicles and street-crossing pedestrians are reasonably given right of way, so that the street-crossing requirements and safety of the pedestrians are ensured, and the passing efficiency of the right-turning vehicles is also considered.
Description
Technical Field
The invention relates to an intelligent and fine control system and method for the same-phase right-turn vehicles and street-crossing pedestrians.
Background
With the continuous development of social economy, the holding capacity of motor vehicles is continuously increased, the problem of pedestrian and vehicle lane-grabbing and disordering at urban intersections is increasingly prominent, on one hand, pedestrians and right-turning vehicles conflict in space and time, and traffic accidents are easily caused frequently; on the other hand, motor vehicles are forced to stop frequently in accordance with policies of courtesy pedestrians and the positions of vulnerable groups of pedestrians, so that the traffic capacity is influenced, and therefore, the pedestrian and vehicle overtaking disorder not only harms the life safety of people, but also reduces the traffic efficiency.
At present, a signal control system of an urban intersection mainly makes a signal timing scheme from the perspective of a motor vehicle, and under a general condition, a right-turn lane of the intersection is not controlled by a signal lamp and can complete right-turn to enter a corresponding exit lane at any time; when crossing signal timing is performed for pedestrians (crossing pedestrians at the exit road zebra crossing corresponding to the right-turn vehicle, the same method is used below), the general method is as follows: and setting the pedestrian green light duration according to the green light duration of the same-direction straight-going lane, and defining the green light duration of the same-direction straight-going lane referred by the setting of the pedestrian green light duration as the straight-going green light duration. However, the green time of the pedestrians under the method is relatively fixed, so that the fluctuation rule of the pedestrian street crossing number cannot be well matched; and in the green light phase, the right-turn vehicles and the street pedestrians have serious road right conflict.
The existing signal timing scheme for right-turn vehicles and pedestrians has the following problems: (1) when a pedestrian signal lamp is turned on, a large number of pedestrians waiting for crossing the street intensively cross the street, the difficulty of crossing the street through the gaps of the pedestrians by the right-turning vehicles is high, and the personal safety of the pedestrians crossing the street is endangered by the forced passing of the individual right-turning vehicles; (2) pedestrian's signal lamp green light later stage period, it is less to cross the street pedestrian, and the motor vehicle easily forms continuous traffic flow this moment, and few pedestrian cross the street and break the continuous traffic flow of the right-turn car on the one hand, reduce the current capacity of the right-turn car, on the other hand crisis pedestrian self safety.
Disclosure of Invention
The technical problem solved by the invention is as follows: under the common condition, the right-turn vehicles at the entrance road of the intersection conflict with the pedestrians crossing the street at the zebra crossing corresponding to the exit road in time and space, and the passing efficiency of the right-turn vehicles and the personal safety of the pedestrians crossing the street in danger are often influenced.
In order to solve the above technical problems, the present invention provides an intelligent and fine control system for the same-phase right-turn vehicles and the pedestrians crossing the street, which includes a right-turn signal lamp and a pedestrian signal lamp arranged at the intersection, the right-turn signal lamp and the pedestrian signal lamp are controlled by a signal controller, and the green lamp of the straight lane in the same direction, referred to by the original green lamp setting of the pedestrian signal lamp, is defined as a straight green lamp according to the straight line, and the intelligent and fine control system for the same-phase right-turn vehicles and the pedestrians crossing the street is characterized by further comprising:
the signal phase detection equipment is used for detecting whether the phases of the right turn signal lamp and the pedestrian signal lamp are the turning-on time of the straight going green light;
the right-turn detection equipment is used for detecting the vehicle queuing length on a right-turn lane, the right-turn detection equipment sends the vehicle queuing length to the signal controller, and the signal controller determines a pedestrian interval threshold value according to the vehicle queuing length;
and the pedestrian detection equipment is used for detecting the entering time of the pedestrian entering the zebra crossing and calculating the arrival interval time (if the arrival interval time exists) between the entering time of the current pedestrian and the entering time of the pedestrian entering the zebra crossing, sending the entering time and the arrival interval time to the signal controller, and comparing the received entering time or the arrival interval time with the pedestrian interval threshold value by the signal controller to obtain the phase control strategy of the right turn signal lamp and the pedestrian signal lamp of the next green light period.
Preferably, the straight line is divided into three phase states according to the green light phase: the first phase state is a concentrated street crossing time period: when the pedestrian signal lamp is in the first phase state, the right turn signal lamp gives the right of way to the pedestrian, and when the right turn signal lamp is in the first phase state, the right turn vehicle is prohibited from passing; phase state two is a discrete arrival period: giving the right of way to the pedestrians when the pedestrian signal lamp is in the phase state two, and giving the right of way to the right-turning vehicles when the right-turning signal lamp is in the phase state two; phase state three is the sporadic arrival phase: and when the pedestrian signal lamp is in the phase state III, the pedestrian is prohibited from crossing the street, and when the right turn signal lamp is in the phase state III, the right turn vehicle is given right of way.
The invention also provides an intelligent fine control method of the same-phase right-turn vehicles and street-crossing pedestrians, which is characterized by comprising the following steps of:
step 2, detecting whether the current running phases of the right turn signal lamp and the pedestrian signal lamp are the turn-on time of the straight-going green light of the right turn vehicle and the street pedestrian by using signal phase detection equipment, if so, enabling the right turn signal lamp and the pedestrian signal lamp to enter a phase state one, and entering a step 3; if the current operation phases of the right turn signal lamp and the pedestrian signal lamp are at other moments in the period of going straight according to the green light, keeping the current phase state, and entering the step 5; if the current operation phases of the right turn signal lamp and the pedestrian signal lamp are not in the straight-going green-light-based phase, the right turn signal lamp and the pedestrian signal lamp are in a red light state, and the signal phase detection equipment continues to monitor;
Step 5, recognizing the turn-on time T of the straight-going green light by the signal phase detection equipmentgreenAnd then the pedestrian detection equipment detects the entering time T of the pedestrian entering the zebra crossing and calculates the time T between the pedestrian and the pedestrian entering the zebra crossinggap(if any), and real-time entering time T and inter-arrival time TgapSending the data to a signal controller;
Preferably, the step 4 comprises the steps of:
step 4.1, presetting different vehicle queuing lengths LcarDifferent right-turn vehicle right-turn left-turn right-turncarThe corresponding relation between the right-turn right-carWith different adjacent pedestrian spacing thresholds GThaAnd GThbThe corresponding relation between the two is two;
step 4.2, the signal controller queues the length L according to the received vehiclecarSearching the corresponding relation I to obtain the corresponding right-turn right-turncarThen according to the searched right turn right pass right proportion RcarFinding the corresponding relation II to obtain the corresponding adjacent pedestrian interval threshold value GThaAnd GThb。
Preferably, in step 6, adjusting the phase strategy comprises the following steps
Step 6.1, if (the current time of the system-the entering time T)>Adjacent pedestrian spacing threshold GThaOr inter-arrival time Tgap>Adjacent pedestrian spacing threshold GThaThe right turn signal lamp and the pedestrian signal lamp enter a phase state two according to the lighting time TgreenAnd the entering time T of the pedestrian entering the zebra crossing obtain a dividing point Cutpoint 1;
if (System present time-enter time T)>Adjacent pedestrian spacing threshold GThbOr inter-arrival time Tgap>Adjacent pedestrian spacing threshold GThbThe right turn signal lamp and the pedestrian signal lamp enter a phase state III according to the lighting time TgreenAnd the entering time T of the pedestrian entering the zebra crossing obtain a dividing point Cutpoint 2;
in other cases, the right turn signal light and the pedestrian signal light enter the phase state one.
And 6.2, forming a new phase strategy based on the adjusted phase state, the segmentation point Cutpoint1 and the segmentation point Cutpoint 2.
The invention finely divides the time length according to the time distribution, reasonably gives the right-turn car and the pedestrian crossing the street right, ensures the requirement and the safety of the pedestrian crossing the street, and simultaneously considers the passing efficiency of the right-turn car.
Drawings
FIG. 1 is a schematic diagram of an intelligent control composition;
FIG. 2 is a schematic view of an intersection equipment installation;
FIG. 3 is a system logic flow diagram;
fig. 4 is a diagram of an optimized signal timing scheme.
Detailed Description
The invention will be further illustrated with reference to the following specific examples. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and such equivalents may fall within the scope of the present invention as defined in the appended claims.
In the invention, the green light of the same-direction straight lane referred by the original green light setting of the pedestrian signal lamp is defined as the straight-going green light.
With reference to fig. 1 and 2, the intelligent and fine control system for the same-phase right-turn vehicles and the pedestrians crossing the street, provided by the invention, comprises a right-turn signal lamp 6 and pedestrian signal lamps 7-1 and 7-2 arranged at the intersection. The right turn signal lamp 6 and the pedestrian signal lamps 7-1 and 7-2 are controlled by a signal controller 5. When the signal controller 5 controls the right turn signal lamp 6 and the pedestrian signal lamps 7-1 and 7-2, the intersection signal machine 3 receives a signal change instruction generated by the signal controller 5 and sends the signal change instruction to the right turn signal lamp 6 and the pedestrian signal lamps 7-1 and 7-2.
The invention also comprises right-turn vehicle detection equipment for detecting the queuing length of the vehicles on the right-turn lane, and the right-turn vehicle detection equipment can be realized by adopting a ground induction loop coil, a video detector, geomagnetism and the like. In the present embodiment, the right-turn detection device is implemented by a plurality of ground induction toroidal coils 1 continuously arranged on the right-turn lane, and a certain distance is left between two adjacent ground induction toroidal coils 1.
And the pedestrian detection equipment 2-1 and 2-2 is used for detecting the entering time of the pedestrian entering the zebra crossing, calculating the arrival interval time (if any) between the pedestrian and the pedestrian entering the zebra crossing, sending the entering time and the arrival interval time to the signal controller, and comparing the received entering time or the arrival interval time with a pedestrian interval threshold value by the signal controller to obtain the phase control strategy of the right turn signal lamp and the pedestrian signal lamp of the next green light period.
And the signal phase detection device 4 is used for detecting whether the phases of the right turn signal lamp 6 and the pedestrian signal lamps 7-1 and 7-2 are the lighting time of the straight going green light.
The invention also provides an intelligent and fine control method for the same-phase right-turn vehicles and street-crossing pedestrians, which comprises the following steps in combination with the step shown in the figure 3:
step 2, detecting whether the current running phases of the right turn signal lamp and the pedestrian signal lamp are the turn-on time of the straight-going green light of the right turn vehicle and the street pedestrian by using signal phase detection equipment, if so, enabling the right turn signal lamp and the pedestrian signal lamp to enter a phase state one, and entering a step 3; if the current operation phases of the right turn signal lamp and the pedestrian signal lamp are at other moments in the period of going straight according to the green light, keeping the current phase state, and entering the step 5; if the current operation phases of the right turn signal lamp and the pedestrian signal lamp are not in the straight-going green-light-based phase, the right turn signal lamp and the pedestrian signal lamp are in a red light state, and the signal phase detection equipment continues to monitor;
step 4.1, presetting different vehicle queuing lengths LcarDifferent right-turn vehicle right-turn left-turn right-turncarThe corresponding relation between the right-turn right-carWith different adjacent pedestrian spacing thresholds GThaAnd GThbThe corresponding relation between the two is two;
in this embodiment, the corresponding relationship is shown in table 1:
TABLE 1 corresponding relationship between queuing length and right of way ratio of right-turn car
The second correspondence is shown in table 2:
TABLE 2 right-turn left-turn right-turn left-turn right-left-turn right-left-turncarSpacing threshold GTh from adjacent pedestrianaAnd GThbRelation table
Step 4.2, signal controllerAccording to the received vehicle queue length LcarSearching the corresponding relation I to obtain the corresponding right-turn right-turncarThen according to the searched right turn right pass right proportion RcarFinding the corresponding relation II to obtain the corresponding adjacent pedestrian interval threshold value GThaAnd GThb。
Step 5, recognizing the turn-on time T of the straight-going green light by the signal phase detection equipmentgreenAnd then the pedestrian detection equipment detects the entering time T of the pedestrian from the fixed position of the sidewalk to the zebra crossing and calculates the arrival interval time T between the pedestrian and the pedestrian entering the zebra crossinggap(if any), and real-time entering time T and inter-arrival time TgapSending the data to a signal controller;
Step 6.1, if (the current time of the system-the entering time T)>Adjacent pedestrian spacing threshold GThaOr inter-arrival time Tgap>Adjacent pedestrian spacing threshold GThaThe corresponding signal lamp enters a flashing state for T seconds, then the color of the signal lamp is changed, the right turn signal lamp and the pedestrian signal lamp enter a phase state two, and the signal lamp and the pedestrian signal lamp enter a phase state for two according to the lighting time TgreenAnd the pedestrian entering time T to obtain a segmentation point Cutpoint 1;
if (System present time-enter time T)>Adjacent pedestrian spacing threshold GThbOr inter-arrival time Tgap>Adjacent pedestrian spacing threshold GThbThe corresponding signal lamp enters a flashing state for T seconds, then the color of the signal lamp is changed, the right turn signal lamp and the pedestrian signal lamp enter a phase state III, and the signal lamp and the pedestrian signal lamp enter a phase state III according to the lighting time TgreenAnd the pedestrian entering time T to obtain a segmentation point Cutpoint 2;
under other conditions, the right turn signal lamp and the pedestrian signal lamp enter a phase state I;
step 6.2, forming a new phase strategy based on the adjusted phase state and the segmentation point Cutpoint1 and the segmentation point Cutpoint2 is shown in fig. 4.
Claims (2)
1. An intelligent fine control method for the same-phase right-turn vehicles and street-crossing pedestrians is characterized by comprising the following steps:
step 1, defining the same-direction straight lane green light referred by the green light of the pedestrian signal light as a straight green light according to the phase, and dividing the straight green light according to the phase into three phase states: the first phase state is a concentrated street crossing time period: when the pedestrian signal lamp is in the phase state I, the right turn signal lamp gives the right of passing to the pedestrian, and when the right turn signal lamp is in the phase state I, the right turn vehicle is prohibited from passing; phase state two is a discrete arrival period: giving the pedestrian right of way when the pedestrian signal lamp is in the phase state two, and giving the right-turn vehicle right of way when the right-turn signal lamp is in the phase state two; phase state three is the sporadic arrival phase: when the pedestrian signal lamp is in the phase state III, the pedestrian is prohibited from crossing the street, and when the right turn signal lamp is in the phase state III, the right turn vehicle is given right of way; a division point exists between the first phase state and the second phase stateCutpoint1, there is a division point between the second phase state and the third phase stateCutpoint2；
Step 2, detecting whether the current running phases of the right turn signal lamp and the pedestrian signal lamp are the turn-on time of the straight-going green light of the right turn vehicle and the street pedestrian by using signal phase detection equipment, if so, enabling the right turn signal lamp and the pedestrian signal lamp to enter a phase state one, and entering a step 3; if the current operation phases of the right turn signal lamp and the pedestrian signal lamp are at other moments in the period of going straight according to the green light, keeping the current phase state, and entering the step 5; if the current operation phases of the right turn signal lamp and the pedestrian signal lamp are not in the straight-going green-light-based phase, the right turn signal lamp and the pedestrian signal lamp are in a red light state, and the signal phase detection equipment continues to monitor;
step 3, the right-turn vehicle detection equipment acquires the queuing length of the vehicles on the right-turn laneL car And queue the vehicles for a long timeL car Sending the vehicle queue length to a signal controller which judges the vehicle queue lengthL car Whether the signal light exceeds a preset threshold value or not, if so, entering a step 4, and if not, executing the existing phase strategy by a right turn signal light and a pedestrian signal light;
step 4, the signal controller is used for queuing according to the length of the vehicleL car Determining adjacent pedestrian spacing thresholdGTh a AndGTh b wherein, the adjacent pedestrians are two pedestrians which enter the zebra crossing in the front-back adjacent way,GTh a ＜GTh b ；
step 5, identifying the lighting time of the straight-going green light by the signal phase detection equipmentT greenAnd then the pedestrian detection equipment detects the entering time of the pedestrian entering the zebra crossingTAnd calculating the time interval between the arrival of the pedestrian and the previous pedestrian entering the zebra crossingT gapAnd enter time in real timeTAnd inter-arrival timeT gapSending the data to a signal controller;
step 6, the signal controller is based on the entering timeTThreshold value of interval with adjacent pedestrianGTh a AndGTh b contrast-adjusted phase strategy or inter-arrival timeT gapThreshold value of interval with adjacent pedestrianGTh a AndGTh b the comparison phase adjustment strategy comprises the following steps that the right turn signal lamp and the pedestrian signal lamp execute the adjusted phase strategy:
step 6.1, if the system is at the current time-the time of entryT>Adjacent pedestrian interval thresholdGTh a Or inter-arrival timeT gap>Adjacent pedestrian interval thresholdGTh a The right turn signal lamp and the pedestrian signal lamp enter a phase state II according to the lighting timeT greenAnd pedestrian entry timeTObtaining a division pointCutpoint1；
If the system is at the current time-the time of entryT >Adjacent pedestrian interval thresholdGTh b Or inter-arrival timeT gap>Adjacent pedestrian interval thresholdGTh b Right turn signal lamp and pedestrian signalThe signal lamp enters a phase state III according to the lighting timeT greenAnd pedestrian entry timeTObtaining a division pointCutpoint2；
Under other conditions, the right turn signal lamp and the pedestrian signal lamp enter a phase state I;
step 6.2, based on the adjusted phase state and the division pointCutpoint1. Dividing pointCutpoint2 to form a new phase strategy.
2. The intelligent fine control method for the same-phase right-turn car and the street pedestrian as claimed in claim 1, wherein the step 4 comprises the following steps:
step 4.1, presetting different vehicle queuing lengthsL car Different right-turn rightR carThe corresponding relation between the right turn right car right-turn right-R carWith different adjacent pedestrian spacing thresholdsGTh a AndGTh b the corresponding relation between the two is two;
step 4.2, the signal controller queues the length according to the received vehicleL car Searching the corresponding relation I to obtain the corresponding right-turn right-of-way ratioR carThen according to the right turn right pass right proportion foundR carSearching the corresponding relation II to obtain the corresponding adjacent pedestrian interval threshold valueGTh a AndGTh b 。
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| CN113593259A (en) * | 2021-01-05 | 2021-11-02 | 上海图丽信息技术有限公司 | Traffic safety system |
| CN112991778B (en) * | 2021-02-07 | 2022-02-08 | 江苏航天大为科技股份有限公司 | Intersection signal control system for lane sharing of right-turn motor vehicle and non-motor vehicle |
| CN113362623B (en) * | 2021-06-04 | 2022-03-01 | 哈尔滨工业大学 | A left-turn non-motor vehicle traffic organization system and signal control method at a continuous flow intersection |
| CN115311872A (en) * | 2022-07-11 | 2022-11-08 | 浙江中控信息产业股份有限公司 | Right turn signal optimization method under intelligent holographic intersection scene |
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