CN102930734A - Distributed traffic signal phase difference control structure and adjustment method - Google Patents
Distributed traffic signal phase difference control structure and adjustment method Download PDFInfo
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- CN102930734A CN102930734A CN2012104382504A CN201210438250A CN102930734A CN 102930734 A CN102930734 A CN 102930734A CN 2012104382504 A CN2012104382504 A CN 2012104382504A CN 201210438250 A CN201210438250 A CN 201210438250A CN 102930734 A CN102930734 A CN 102930734A
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Abstract
The invention provides a distributed traffic signal phase difference control structure and a phase difference adjustment method. Two functions of phase difference optimal computation and phase difference adjustment are separated, the phase difference optimal computation is completed by a central computer, the phase difference adjustment relevant to the state of each road junction is completed in a local road junction traffic signal controller, a phase difference adjuster is internally installed in each traffic signal controller, a phase difference generator of the central computer figures out target phase difference of each road junction, then the phase difference generator sends each target phase difference to the traffic signal controller of each road junction, and the traffic signal controllers of road junctions concurrently perform phase difference adjustment computation according to the current phase differences. The distributed traffic signal phase difference control structure and the phase difference adjustment method have the advantages that the central computer can be concentrated on acquisition of optimal phase difference, the phase difference generating algorithm can be carefully selected and optimized, the computing power of numerous road junction controllers can be fully utilized, and simultaneously the autonomous decision-making and autonomous control capabilities of road junctions are enhanced.
Description
Technical field
The present invention proposes the poor control structure of a kind of distributed Signal phase and method of adjustment, belong to road traffic signal control technology field.
Background technology
Road traffic signal control (traffic lights control) is to guarantee traffic safety and unimpeded important technical, and signal period (Cycle), split (Split) and phase differential (Offset) are the three basic timing parameters of coordinating the control traffic signals.Reasonably signal period length and split are the key factors that reduces single intersection green light lost time and stop delay, and phase differential control is the most important control parameter that realizes coordination control between the Multiple Intersections, reduces stop frequency and stop delay.
Distance when phase differential also claims the green light starting, refer to the mistiming (unit: second) of adjacent two crossing clearance green lights, good phase differential configuration can make vehicle not stop continuously by a plurality of crossings, reduce stop frequency, stop delay and reduction energy resource consumption, this also is the aims of systems of coordinating control of traffic signals.
The phase differential control structure comprises generation and two levels of adjusting offset of phase differential, the generation of phase differential refers to according to the current magnitude of traffic flow and traffic behavior calculation optimization target phase extent, the adjustment of phase differential refers on the basis of current phase differential, adopt certain method of adjustment, after half step distance is after a while adjusted, make the phase differential at two crossings reach target phase difference numerical value.
In actual applications, generally one group of adjacent crossing (about 2-10) is divided into a subarea, and to specify one of them crossing be key crossing, carry out offset optimization and adjustment take the subarea as unit, the green light start time of key crossing is as other crossing synchronizing signals in the subarea, the phase differential of key crossing is defined as 0, and other crossing green light start times are defined as the phase differential numerical value at this crossing in the subarea with respect to mistiming of key crossing (unit: second).
In the world, with Britain TRRL (Transport and Road Research Laboratory, Britain road traffic research institute) the SCOOT(Split Cycle Offset Optimizing Technique of development, split, cycle, the offset optimization technology) whistle control system and Australian RTA(Road and Traffic Authority, road traffic office) the SCATS(Sydney Coordinated Adaptive Traffic System of development, Sydney self-adaptation traffic control system) signal system is in the basic control system of representative, the generation of phase differential and the adjustment of phase differential are all finished by central computer, the center centralized control structure has also been adopted in phase differential control in the signal timing dial Optimization Software in first traffic signal control system-country " eight or five " emphasis key scientific and technological projects " urban traffic signal control system application technology " of China, as shown in Figure 1.
This phase differential center concentrates the method for optimizing and adjusting to have the following deficiency:
1) the central computer load is large.Because adjusting offset and optimizing process are all finished at central computer, when controlled crossing number was more, the central computer expense was larger, had restricted the further expansion of system scale.
2) response speed is slow.Because the expense of calculating and the communication resource, the centralized control structure response speed is slow.
3) fluctuation appears adjusting easily.The fluctuation here refers to occur phase differential in the adjustment process repeatedly, for example adjust to 30 from phase differential-10, desirable adjustment scheme should be that current phase differential rises to 30 from-10 dullnesses, but may occur-5,10,0,10,15 such adjustment processes have occurred repeatedly, the speed of the adjusting offset that slowed down.
4) the adjustment precision is relatively poor.Because above fluctuation, accurate realize target phase differential sometimes.
In the situation of known each crossing target phase difference, the adjusting offset method flow of conventional traffic whistle control system as shown in Figure 2.The cycle that central computer receives each crossing begins notice, then calculates the current phase differential in each crossing; If the current phase differential=target phase difference in crossing, then current period length is carried out at this crossing; If be not equal to, then according to total adjustment amount (second) at each crossing target phase difference and this crossing of current phase difference calculating, then according to the cycle adjustment amount in level and smooth principle calculating book cycle, at last the Cycle Length after each crossing adjustment sent to the crossing and carry out.
Summary of the invention
The present invention proposes a kind of distributed offset optimization and adjust control structure, and provided the adjusting offset method of a kind of phase fast response time, good stability.
According to technical scheme provided by the invention, described distributed traffic signal phase differential control structure is: two kinds of functions of the adjustment of the optimization calculating of phase differential and phase differential are separated, the optimization of phase differential is calculated and is finished by central computer, the adjusting offset relevant with each crossing state is placed in the traffic signal controlling machine of crossing finishes; Built-in adjusting offset device in every traffic signal controlling machine, after the phase differential maker of central computer calculates the target phase difference at each crossing, each target phase difference is sent to the traffic signal controlling machine at each crossing, and each crossing traffic signal controlling machine carries out concurrently adjusting offset according to current phase differential and calculates.
Information flow is: the traffic signal controlling machine loopback central computer green light of key crossing begins notice; The green light that central computer is transmitted crucial mouth to the traffic signal controlling machine at non-key crossing begins notice; Target phase difference, cycle and split after central computer is optimized to the traffic signal controlling machine notice at non-key crossing.
Described distributed traffic signal adjusting offset method comprises the steps:
The first step: central computer sends to each traffic signal controlling machine to the optimization aim split Pi at optimization aim cycle and each crossing;
Second step: the traffic signal controlling machine of key crossing begins notice to central computer loopback locking phase;
The 3rd one: central computer is transmitted the key crossing locking phase to the non-key crossing under the subarea and is begun notice;
The 4th step: central computer sends to each traffic signal controlling machine to each crossing optimization aim phase differential optimizeOffset;
The 5th step: each traffic signal controlling machine is according to the current phase differential currentOffset of key crossing locking phase notice calculating book crossing canonical representation; Computing method are: key crossing locking phase start time Tk, and locking phase start time in cycle Tm on this crossing, current phase differential=Tm-Tk then, standardization obtains currentOffset; Suppose that the subarea shared signal cycle is C second, phase differential numerical value [C/2 ,-phase differential in C/2) represents to be called normalized phase differential and represents;
The 6th step: when each traffic signal controlling machine began in per signal period, according to current phase differential currentOffset, target phase difference optimizeOffset, Cycle Length optimizeOffset and split Pi condition, total adjustment amount totalAdjust at calculating book crossing, totalAdjust=optimizeOffset-currentOffset;
The 7th step: total adjustment amount totalAdjust standardizes;
The 8th the step: if-2≤totalAdjust≤2 between, namely the error of the target phase difference of current phase differential and optimization is no more than 2 seconds, does not then adjust;
The 9th step: if totalAdjust≤-2 or totalAdjust 〉=2, the then adjustment amount in definite this cycle:
Adjust split and Cycle Length, namely adjust actual every phase time length of carrying out of this cycle;
Adjustment amount to each phase place is set as follows restrictive condition:
1) final phase place duration is not less than the minimum green of this phase place,
2) final phase place duration is not more than the maximum green of this phase place,
3) between second, namely in the situation that satisfies minimax an IOU issued by a post office spare, every phase place maximum can be adjusted 6 seconds to absolute adjustment amount at 0-6;
Adopt above-mentioned method of adjustment, through one or more signal periods (general 1-4) after same direction adjustment, reach the target phase difference that central computer optimization generates, realize that the green wave coordination at a plurality of crossings is controlled.
The adjustment amount that the 7th step operating specification represents represents it also is the adjustment amount of absolute value minimum, it is minimum that the adjustment amount of absolute value minimum makes cycle and split adjust on the one hand, also can make the fastest of adjustment on the other hand, can in minimum adjustment cycle, reach target phase difference; The positive justification scale shows must prolong the signal period, namely prolongs the phase place duration, and the negative justification scale shows and dwindles the signal period, namely shortens the phase place duration.
Advantage of the present invention is: two kinds of functions of the adjustment of the optimization calculating of phase differential and phase differential are separated, the optimization of phase differential is calculated and is finished by central computer, central computer can be absorbed in the poor problem of obtaining of optimum angle, meticulously choice and optimization phase differential generating algorithm like this.And adjusting offset relevant with each crossing state is placed on and finishes in the traffic signal controlling machine of crossing, all crossing controllers carry out concurrently adjusting offset and calculate, take full advantage of the computing power of numerous crossings controller, simultaneously strengthened also making decisions on one's own in the crossing and from the ability of main control.
Description of drawings
Fig. 1: the centralized control structure of traditional phase differential.
Fig. 2: traditional adjusting offset method flow diagram.
Fig. 3: phase differential distribution formula control structure.
Fig. 4: phase differential distribution formula control information flow graph shows.
Embodiment
The invention will be further described below in conjunction with drawings and Examples.
Core concept of the present invention is that two kinds of functions of the adjustment of the optimization calculating of phase differential and phase differential are separated, the optimization of phase differential is calculated and is finished by central computer, and adjusting offset relevant with each crossing state is placed on and finishes in the traffic signal controlling machine of crossing, and all traffic signal controlling machines carry out adjusting offset calculating concurrently.
The present invention does not relate to target phase difference and generates, i.e. the optimization computational problem of target phase difference, and the below describes the adjusting offset method that realizes in distributed phase differential control structure that the present invention proposes and the traffic signal controlling machine in detail.
As shown in Figure 3, built-in adjusting offset device (algoritic module) in every traffic signal controlling machine of the present invention, after the phase differential maker of central computer calculates the target phase difference at each crossing, each target phase difference is sent to each crossing, adjusting offset can be carried out concurrently according to current phase differential in each crossing, takes full advantage of the distribution computing power of many traffic signal controlling machines.
For discussing in detail the adjusting offset method that the present invention proposes, be defined as follows:
Positive phase difference:After the start time, then the phase differential at this non-key crossing is orientated positive phase difference as at the green light of key crossing the green light start time at non-key crossing in the subarea.For example: the phase differential at A crossing is 90 seconds, is illustrated in after the key crossing green light began 90 seconds, and the green light at A crossing begins.
Negative phase difference:Before the start time, then the phase differential at this non-key crossing is orientated negative phase difference as at the green light of key crossing the green light start time at non-key crossing in the subarea.For example: the phase differential at A crossing is-90 seconds, and the green light that is illustrated in the A crossing begins that the key crossing green light begins after 90 seconds.
Absolute phase difference:Above-mentioned with absolute time numerical value and represent to be called the absolute phase difference at crossing with the phase differential of "+", "-" number expression time order and function.
The standardization phase differential:Because the signal period at a crossing is a periodic process that circulation is carried out, so add on the basis of absolute phase difference or phase differential that the integral multiple of subtraction signal Cycle Length obtains represents that the control effect with original phase differential is equivalent, in this sense, the expression of crossing phase differential is not unique.Suppose that the subarea shared signal cycle is C(second), phase differential numerical value is in that [C/2 ,-phase differential in C/2) represents to be called normalized phase differential and represents.A crossing standardization phase differential represents it is unique.
Suppose subarea shared signal cycle C(second), the phase differential at certain crossing is that offset (tape symbol, unit: second) phase differential normalization method can be following with similar C language description (wherein "=" number represent assignment):
The first step: if offset〉C, then offset=offset-C;
Second step: if offset≤C, then next step otherwise repeats the first step;
The 3rd step: if offset＜-C, then offset=offset+C;
The 4th step: if offset 〉=-C, then next step otherwise repeated for the 3rd step;
The 5th step: if offset〉C/2, then offset=offset-C;
The 6th step: if offset≤-C/2, then offset=offset+C;
By above six the step can obtain [C/2 ,-C/2) the normalized phase differential of scope represents.
As shown in Figure 4, the information flow of distributed phase differential control structure is as follows: key crossing loopback central computer green light begins notice; Central computer is transmitted green light from crucial mouth to non-key crossing begins notice; Target phase difference, cycle and split after central computer is optimized to non-key crossing notice.
On the basis of above-mentioned definition, the method for adjustment of distributed phase differential is described below.
Adjusting offset is finished in the traffic signal controlling machine at crossing, and step can be described below:
The first step: central computer is the optimization aim split Pi at optimization aim cycle optimizeCycle and each crossing, (i=1,2 ..., N) send to each traffic signal controlling machine.Pi is the number percent that this phase place duration accounts for Cycle Length, and N represents the number of this crossing phase place, general 2≤N≤16.Split Pi can be converted into phase place duration t when concrete the execution
i(unit: second) represent.
Second step: key crossing begins notice to central computer loopback locking phase.
The 3rd one: central computer is transmitted the key crossing locking phase to the non-key crossing under the subarea and is begun notice.
The 4th step: central computer sends to each traffic signal controlling machine to each crossing optimization aim phase differential optimizeOffset.
The 5th step: each traffic signal controlling machine is according to the current phase differential currentOffset of key crossing locking phase notice calculating book crossing canonical representation.
Computing method: key crossing locking phase start time T
k, locking phase start time in cycle T on this crossing
m, current phase differential=T then
m-T
k, standardization obtains currentOffset.
The 6th step: when each traffic signal controlling machine began in per signal period, according to current phase differential currentOffset, target phase difference optimizeOffset, Cycle Length optimizeOffset and split { Pi=t
i(i=1,2 ..., N) condition, total adjustment amount totalAdjust at calculating book crossing.
totalAdjust=optimizeOffset-currentOffset。
The 7th step: standardization totalAdjust.
Total be exactly the adjustment amount of the totalAdjust that herein obtains.The adjustment amount that operating specification represents represents it also is the adjustment amount of absolute value minimum.It is minimum that the adjustment amount of absolute value minimum makes cycle and split adjust on the one hand, avoid timing parameter acutely to shake, also can make the fastest of adjustment on the other hand, can in minimum adjustment cycle, reach target phase difference, manifest as early as possible and coordinate the control effect, this is the basic goal of the phase differential that represents of operating specification.The positive justification scale shows must prolong the signal period (also just prolonging the phase place duration), and the negative justification amount is dwindled the signal period (namely shortening the phase place duration).
The 8th the step: if-2≤totalAdjust≤2 between, then do not adjust (not carrying out for the 9th step).
If the error of the target phase difference of current phase differential and optimization is no more than 2 seconds, then do not adjust, because the time overhead of communication and the time synchronization error of different crossings controller, actual phase difference generally can not reach in full accord with target phase, and the control of herein error range can be avoided the frequent small adjustment in crossing and cause the shake of system and unstable.
The 9th step: if totalAdjust≤-2 or totalAdjust 〉=2, the then adjustment amount in definite this cycle.
Adjust split and Cycle Length, namely adjust actual every phase time length of carrying out of this cycle.
Adjustment amount to each phase place is set as follows restrictive condition:
(1) to be not less than this phase place minimum green for final phase place duration.
(2) final phase place duration is not more than the maximum green of this phase place.
(3) absolute adjustment amount is at 0-6 between second.In the situation that satisfies maximum, minimum an IOU issued by a post office spare, the maximum capable of regulating of every phase place 6 seconds.
Adopt above-mentioned method of adjustment, generally can reach the target phase difference that central computer optimization generates after adjusting through the dullness (same direction) of 1-4 signal period, realize the green wave coordination control at a plurality of crossings.
These three timing parameters of cycle, split and phase differential are inter-related, certain parameter generally can cause the variation of two other parameter in the middle of changing, take adjusting offset as example, reach target phase difference in order to adjust, must adjust each multiphase traffic time allocation duration, also just cause the variation in split and cycle.
The excessive adjustment of amplitude can cause the violent shake of timing and affect the continuity of wagon flow, and the adjustment of crossing by a small margin makes the adjustment overlong time, coordinates the control effect and occurs slow.Adjust duration and be set in 1-4 signal period and can determine preferably effect, and the rear continuation of adjusting to the right place recovers to carry out and has echo signal cycle and an optimization aim split.
Find out that thus the adjustment of phase differential is a dynamic process, in fact the maintenance of phase differential also is a dynamic process.From dynamic adjustment process, optimizing continually phase differential does not have practical value.Such as phase differential of each cycle optimization, because generally can't within a signal period, finish the adjustment process (avoiding under the condition of the violent shake of timing) of phase differential.General about 10-20 signal period according to new flow and average vehicle speed data, carry out once new offset optimization process, can between phase differential is controlled the fast adaptability of the stability of effect and traffic flow variation, obtain preferably balance.
Claims (5)
1. distributed traffic signal phase differential control structure, it is characterized in that: two kinds of functions of the adjustment of the optimization calculating of phase differential and phase differential are separated, the optimization of phase differential is calculated and is finished by central computer, the adjusting offset relevant with each crossing state is placed in the traffic signal controlling machine of crossing finishes; Built-in adjusting offset device in every traffic signal controlling machine, after the phase differential maker of central computer calculates the target phase difference at each crossing, each target phase difference is sent to the traffic signal controlling machine at each crossing, and each crossing traffic signal controlling machine carries out concurrently adjusting offset according to current phase differential and calculates.
2. distributed traffic signal phase differential control structure as claimed in claim 1 is characterized in that information flow is: the traffic signal controlling machine loopback central computer green light of key crossing begins notice; The green light that central computer is transmitted crucial mouth to the traffic signal controlling machine at non-key crossing begins notice; Target phase difference, cycle and split after central computer is optimized to the traffic signal controlling machine notice at non-key crossing.
3. distributed traffic signal adjusting offset method is characterized in that, comprises the steps:
The first step: central computer sends to each traffic signal controlling machine to the optimization aim split Pi at optimization aim cycle and each crossing;
Second step: the traffic signal controlling machine of key crossing begins notice to central computer loopback locking phase;
The 3rd one: central computer is transmitted the key crossing locking phase to the non-key crossing under the subarea and is begun notice;
The 4th step: central computer sends to each traffic signal controlling machine to each crossing optimization aim phase differential optimizeOffset;
The 5th step: each traffic signal controlling machine is according to the current phase differential currentOffset of key crossing locking phase notice calculating book crossing canonical representation; Computing method are: key crossing locking phase start time T
k, locking phase start time in cycle T on this crossing
m, current phase differential=T then
m-T
k, standardization obtains currentOffset; Suppose that the subarea shared signal cycle is C second, phase differential numerical value [C/2 ,-phase differential in C/2) represents to be called normalized phase differential and represents;
The 6th step: when each traffic signal controlling machine began in per signal period, according to current phase differential currentOffset, target phase difference optimizeOffset, Cycle Length optimizeOffset and split Pi condition, total adjustment amount totalAdjust at calculating book crossing, totalAdjust=optimizeOffset-currentOffset;
The 7th step: total adjustment amount totalAdjust standardizes;
The 8th the step: if-2≤totalAdjust≤2 between, namely the error of the target phase difference of current phase differential and optimization is no more than 2 seconds, does not then adjust;
The 9th step: if totalAdjust≤-2 or totalAdjust 〉=2, the then adjustment amount in definite this cycle:
Adjust split and Cycle Length, namely adjust actual every phase time length of carrying out of this cycle;
Adjustment amount to each phase place is set as follows restrictive condition:
1) final phase place duration is not less than the minimum green of this phase place,
2) final phase place duration is not more than the maximum green of this phase place,
3) between second, namely in the situation that satisfies minimax an IOU issued by a post office spare, every phase place maximum can be adjusted 6 seconds to absolute adjustment amount at 0-6;
Adopt above-mentioned method of adjustment, that passes through one or more signal periods reaches the target phase difference that central computer optimization generates after same direction adjustment, realizes the green wave coordination control at a plurality of crossings.
4. distributed traffic signal adjusting offset method as claimed in claim 3 is characterized in that, described one or more signal periods in the 9th step are 1-4 signal period.
5. distributed traffic signal adjusting offset method as claimed in claim 3, it is characterized in that, the adjustment amount that the 7th step operating specification represents represents it also is the adjustment amount of absolute value minimum, it is minimum that the adjustment amount of absolute value minimum makes cycle and split adjust on the one hand, also can make the fastest of adjustment on the other hand, can in minimum adjustment cycle, reach target phase difference; The positive justification scale shows must prolong the signal period, namely prolongs the phase place duration, and the negative justification scale shows and dwindles the signal period, namely shortens the phase place duration.
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| CN106652528A (en) * | 2017-02-15 | 2017-05-10 | 东南大学 | Microscopic traffic signal control data quality detection method and microscopic traffic signal control data quality detection system |
| CN107730922A (en) * | 2017-09-11 | 2018-02-23 | 北方工业大学 | Unidirectional trunk line green wave coordination control self-adaptive adjustment method |
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| CN109615892A (en) * | 2018-12-13 | 2019-04-12 | 盐城工业职业技术学院 | Transportation Strategies analysis method and system based on distributed computing |
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| CN111081041A (en) * | 2019-12-13 | 2020-04-28 | 连云港杰瑞电子有限公司 | Traffic flow direction-oriented region coordination control method |
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| CN106530767A (en) * | 2016-12-12 | 2017-03-22 | 东南大学 | Vehicle-following method-based main line signal coordinating and optimizing method |
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| WO2021051213A1 (en) * | 2019-09-17 | 2021-03-25 | 孟卫平 | Out-of-phase wave mode control method for traffic signal |
| CN110634310A (en) * | 2019-09-17 | 2019-12-31 | 孟卫平 | Traffic signal out-phase wave mode control method |
| CN111081041A (en) * | 2019-12-13 | 2020-04-28 | 连云港杰瑞电子有限公司 | Traffic flow direction-oriented region coordination control method |
| CN111223310A (en) * | 2020-01-09 | 2020-06-02 | 阿里巴巴集团控股有限公司 | Information processing method and device and electronic equipment |
| CN111223310B (en) * | 2020-01-09 | 2022-07-15 | 阿里巴巴集团控股有限公司 | Information processing method and device and electronic equipment |
| CN111862636A (en) * | 2020-08-10 | 2020-10-30 | 长春理工大学 | Traffic signal control method and system |
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| CN112037546B (en) * | 2020-09-07 | 2021-09-14 | 青岛海信网络科技股份有限公司 | Traffic signal control method and device |
| WO2022077131A1 (en) * | 2020-10-12 | 2022-04-21 | 孟卫平 | Traffic signal stable guide control method |
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Application publication date: 20130213 |