CN103218921A - Quick bus signal priority cooperative control method of primary and secondary crossings - Google Patents
Quick bus signal priority cooperative control method of primary and secondary crossings Download PDFInfo
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Abstract
The invention discloses a quick bus signal priority cooperative control method of primary and secondary crossings, and is applied to a BRT (Bus Rapid Transit) system. The method comprises the steps that a plurality of detectors are arranged at setting positions of primary crossings for predicting the arrival time of buses in advance, the corresponding signal phase lengths of the crossings are adjusted in proportion, and the signal lamps of the crossings are controlled; and simultaneously, for the secondary crossings, the bus stop delay is converted into a space length, and cooperative control is carried out by amending the space distance in a path section and calculating green time difference. The method overcomes the disadvantage that a traditional signal priority control method does not consider crossing cooperation, and the total traffic efficiency of main line can be enabled to be optimal.
Description
Technical field
The invention belongs to bus signals control technology field, be used for bus rapid transit BRT system, relate to a kind of preferential cooperative control method of primary and secondary intersection signal that is used for bus rapid transit.
Background technology
Urban public transport is occupied critical role as the organic component of modern city traffic system in the urban transportation system.Along with The development in society and economy, urban transport problems is more and more protruded, and becomes the key factor that hinders socio-economic development gradually.Greatly developing public transport is the powerful measure that solves urban transport problems, also is a kind of technological means that improves the public transport operational efficiency for public transport provides signal priority.
In the existing fast public traffic system, owing to setting up of public transportation lane, the delay of bus on the highway section can be omitted and be disregarded; Yet bus is very restricted at the priority pass of crossing, and this operation that has increased bus is to a great extent incured loss through delay, and has reduced its traffic efficiency.Traditional bus signals method for controlling priority has only reduced the delay of bus in main crossing, does not consider collaborative with the minor cross mouth, and making accumulation incur loss through delay increases.Therefore, the proposition of primary and secondary intersection signal coordination technique has important value.
Traditional bus signals method for controlling priority has only been considered the control of single cross prong, do not consider the Collaborative Control of primary and secondary crossing, this makes public transport incur loss through delay in the accumulation of crossing constantly increases and has influence on the operation service quality of downstream public transport, does not improve the overall traffic efficiency of main line.
Summary of the invention
Technical matters: the invention provides a kind of primary and secondary crossing bus rapid transit signal priority cooperative control method that can improve the main line traffic efficiency.
Technical scheme: primary and secondary of the present invention crossing bus rapid transit signal priority cooperative control method, be applied to bus rapid transit BRT system, by being stopped to incur loss through delay, website is converted to space, highway section operating range, according to revised highway section space length, the green ripple computing method of employing main line redefine the green time difference number percent between the primary and secondary crossing, thereby realize the Collaborative Control between the primary and secondary crossing.Comprise the steps:
1) gathers initialize signal timing information, road information, telecommunication flow information, public transport facility and the operation information of each intersection signal lamp at the primary and secondary crossing;
2) setting of detecting device and activation:
The operating range place of 1～2 main crossing initialize signal cycle duration before main crossing inlet road stop line is provided with public transport and arrives detecting device, and definite public transport arrival detecting device to crossing entrance driveway 'STOP' line ahead is L; At minor cross mouth entrance driveway stop line place public transport is set and leaves detecting device, when first bus passed through main crossing inlet road stop line, public transport arrived detecting device and is activated, and was in the state of the current application of public traffic in priority that can receive follow-up bus.
3) signal time distributing conception adjustment:
After public transport arrival detecting device detects follow-up bus, signal controlling machine judges whether to carry out the signal time distributing conception adjustment, in this way, then signal controlling machine generates the current application of public traffic in priority, carry out entering step 4) after the signal time distributing conception adjustment according to prediction type bus signals method for controlling priority, otherwise enter step 6);
4) carry out coordinating control based on the primary and secondary crossing bus signals that improves algebraic method, its idiographic flow is:
At first, signal controlling machine is stopped according to each website that collects and is incured loss through delay t
j, the public transport average overall travel speed
With the particular location of each bus station, calculate revised highway section space length,
Wherein, S ' is for revising space length between primary and secondary crossing, back, and S is a real space distance between the primary and secondary crossing,
Be public transport average overall travel speed, t
jFor bus is incured loss through delay in the average stop of website j;
Then, signal controlling machine is according to revised highway section space length S ', and the green ripple computing method of employing main line redefine the green time difference number percent between the crossing, carry out the adjustment of the green time difference of primary and secondary crossing.
5) temporary close public transport arrives detecting device, treat that public transport is left detecting device and detected this bus and leave after, open once more and enter step 6) after public transport arrives detecting device;
6) finish the preferential Collaborative Control flow process of bus signals of this bus, wait for the preferential Collaborative Control of bus signals that enters next bus.
Among the present invention, initialize signal timing information comprises primary and secondary crossing initialize signal cycle duration C, number of phases Z and each phase place duration, each phase place split λ
iAnd show that green time, each phase place green light interval I and amber light duration, road information comprise the maximum queuing of each phase place track, main crossing length l
i, main crossing pedestrian's street crossing lateral road length L
p, main each phase place queue length correction factor θ of crossing
i, between the primary and secondary crossing apart from S, telecommunication flow information comprises the maximum track flow Q of each phase place of main crossing
iAnd pedestrian's street crossing leg speed υ
p, public transport facility and operation information comprise the public transport average overall travel speed
The particular location of each bus station, each website are stopped and are incured loss through delay t
j
Adopt " prediction type " bus signals method for controlling priority to carry out the signal time distributing conception adjustment in the step 3) of the present invention, on content, be divided into crucial Cycle Length adjustment and signal period constraint condition two parts; On sequential, be divided into that the priority pass application is judged, the desirable time difference is determined, constraint condition check, penalty factor calculate, distribute the time difference by split.
Beneficial effect: the present invention compares with prior art, has the following advantages:
(1) traditional signal control method is not considered the interests of other modes of transportation as " prediction type " bus signals method for controlling priority, and this method proposes more clear and definite signal period length and phase lengths constraint, take into account many-sided interests, intention makes system obtain optimum implementation result.
(2) tradition " prediction type " bus signals method for controlling priority does not have working in coordination with between considering intersection, this method is converted to the space operating range by pulling in of bus incured loss through delay, the green ripple computing method of employing main line redefine the green time difference between the crossing, like this, will improve the main line operational efficiency greatly; In addition, because public transport green wave band speed is very fast, the green ripple control between the primary and secondary crossing can be served public vehicles equally.
Description of drawings
Fig. 1 is the process flow diagram of the inventive method;
Fig. 2 is a phase lengths extension method synoptic diagram;
Fig. 3 is a phase lengths compression method synoptic diagram;
Fig. 4 is expectation minimum delay synoptic diagram;
Fig. 5 is the highway section example schematic.
Embodiment
Below in conjunction with accompanying drawing the present invention is done further explanation.
Be a kind of method flow diagram of realizing primary and secondary crossing bus rapid transit (BRT) Collaborative Control as shown in Figure 1, further specify below in conjunction with example.
1) gather initialize signal timing information, road information, telecommunication flow information, public transport facility and the operation information of each intersection signal lamp at the primary and secondary crossing:
The initialize signal timing information of primary and secondary intersection signal lamp comprises primary and secondary crossing initialize signal cycle duration C, number of phases Z and each phase place duration, each phase place split λ
iAnd show that green time, each phase place green light interval I and amber light duration, road information comprise the maximum queuing of each phase place track, main crossing length l
i, main crossing pedestrian's street crossing lateral road length L
p, each phase place queue length correction factor θ
i, between the primary and secondary crossing apart from S
i, telecommunication flow information comprises the maximum track flow Q of each phase place of main crossing
iAnd pedestrian's street crossing leg speed υ
p, public transport facility and operation information comprise the bus average overall travel speed
The particular location of each bus station, each website are stopped and are incured loss through delay t
j
In this example, initialize signal timing information, bus station particular location, road information, the telecommunication flow information of intersection signal lamp can take the on-site inspection method to obtain; Public transport average overall travel speed in the public transport operation information
Bus is incured loss through delay t in the stop of website j
j, can adopt the camera method collection, promptly by the relevant video of camera acquisition, and by special Video processing software (for example, the Premiere Pro2.0 of Adobe company) video information is handled, obtain the relevant trip data of bus;
2) setting of detecting device and activation
The operating range place of 1～2 main crossing initialize signal cycle duration before main crossing inlet road stop line is provided with public transport and arrives detecting device, and definite public transport arrival detecting device to crossing entrance driveway 'STOP' line ahead is L; At minor cross mouth entrance driveway stop line place public transport is set and leaves detecting device, when first bus passed through main crossing inlet road stop line, public transport arrived detecting device and is activated, and was in the state of the current application of public traffic in priority that can receive follow-up bus.
The layout of noting public transport arrival detecting device should keep certain distance with stop website and crossing, the influence of avoiding the public transport queuing to overflow.
3) signal time distributing conception adjustment
After public transport arrival detecting device detects follow-up bus, signal controlling machine judges whether to carry out the signal time distributing conception adjustment, in this way, then signal controlling machine generates the current application of public traffic in priority, carry out entering step 4) after the signal time distributing conception adjustment according to prediction type bus signals method for controlling priority, otherwise enter step 6);
Crucial Cycle Length adjustment:
Crucial cycle duration is meant the signal period duration of crucial crossing, also is the common period duration of coordinating the control crossing.When public transport arrival detecting device detects public transport, be detected t constantly according to bus
0, public transport arrives detecting device apart from main crossing inlet road 'STOP' line ahead L, bus average overall travel speed
Obtain the due in that bus arrives main crossing
Compare with the signal time distributing conception of main crossing, judge whether to take the signal adjustment, if the public transport due in is positioned at the green time of public transport right of way signal phase place, then the timing scheme in crucial cycle is constant, otherwise signal controlling machine generates the current application of public traffic in priority, carries out the signal adjustment.Preferential adjustment measure sub-signal phase lengths extends and compresses two kinds (each phase place is all adjusted a small amount of time), shown in the adjustment process accompanying drawing 3.
When bus need be taked the priority pass measure through the target crossing, calculate at first respectively the bus that extends and compress two kinds of phase adjusting methods estimate to arrive target intersection parking line constantly with the ideal time difference Δ t(Δ t of desirable due in (bus is estimated due in cycle of living in or the first 5s of public transport service phase place green time in the one-period afterwards)
ExtTotal regulated quantity and Δ t for the phase place extension method
ComTotal regulated quantity for the phase place compression method), but and determine that the adjustment cycle of two kinds of methods of adjustment counts N, but will ideal time difference be dispensed in the signal phase of each adjustment cycle by crucial each phase place split of cycle,
Wherein, N is the scalable periodicity, and T is a bus running time predicted value, and C is the intersection signal Cycle Length;
Δt
i＝Δt*λ
i/N
Wherein, Δ t
iBe the regulated quantity of scalable cycle i phase place, Δ t is that ideal time is poor, λ
iBe crucial cycle i phase place split;
Whether crucial each signal phase length of cycle satisfies the phase restriction condition after judging extension and compressing two kinds of method adjustment:
(1) when two kinds of adjusted each signal phase length of method all satisfy the constraint length of each phase place, calculate the penalty factor of extension and two kinds of Signal Regulation modes of press cycles:
Wherein, P is a penalty factor, Δ t
ExtFor phase place extension method ideal time poor, Δ t
ComFor phase place compression method ideal time poor;
General, signal phase length prolongation method is bigger to the traffic capacity influence of main road crossing than the phase lengths compression method, add extra penalty factor therefore when selecting signal adjusting method, for the phase place extension method, select the little method of penalty factor to carry out the adjustment of signal phase;
(2) when having only adjusted each the signal phase length of a kind of method to satisfy the constraint length of each phase place, select this kind signal phase method of adjustment to carry out the adjustment of signal phase;
(3) when two kinds of adjusted each phase lengths of method all do not satisfy the constraint length of each phase place, adopt expectation to incur loss through delay the maximum adjustment scheme of minimum signal phase and carry out the signal adjustment, as shown in Figure 4.
D=a-Δ t
ExtOr b-Δ t
Com
Wherein, D incurs loss through delay for expectation, a is the time interval of target crossing bus expectation due in and the current phase place green time of this cycle public transport end 5s, and b is the time interval that due in and the first 5s of the current phase place green time of next cycle public transport are estimated in the public transport of target crossing.
When current public traffic in priority application finishes, public transport arrives detecting device and can close automatically and leave detecting device up to public transport and detect current public transport and pass through, and public transport arrives detecting device and is activated again.But when detecting device does not detect public transit vehicle arrival afterwards, main crossing cycle timing scheme will be recovered initial setting up by the next cycle in cycle in public transport, arrive detecting device until public transport and detect public transit vehicle arrival, according to the actual current demand of bus, carry out optimizing and revising of crucial cycle.
In order to take into account many-sided interests, signal period and phase restriction condition are in the step 3):
(1) security constraint
For guaranteeing the demand of pedestrian's street crossing, embody the theory that people-oriented, according to Shanghai City specifications of engineering construction " planning of urban road level-crossing and design discipline ", consider the required Minimum Green Time g of pedestrian's street crossing
Min:
Wherein, g
MinBe each phase place pedestrian's street crossing required Minimum Green Time in the crucial cycle, L
pBe main crossing pedestrian's street crossing lateral road length, υ
pBe pedestrian's street crossing leg speed (desirable 1.2m/s) that I is a green light interval; (2) physical condition constraint
(2) physical condition constraint
Long obstruction is turned left or the right-hand rotation car enters its dedicated Lanes in order to avoid excessive cycle to cause Through Lane to be lined up, and therefore, must consider physical constraint condition, and the peak signal cycle of crossing is C
Max:
Wherein, C
MaxBe main crossing timing peak signal periodic quantity, l
iBe the maximum queuing of main each phase place of crossing track length, Q
iBe the maximum track of each phase place, main crossing flow, λ
iBe each phase place split of main crossing, θ
iBe each phase place queue length correction factor of main crossing;
(3) public transport green wave coordination control constraint
Do not destroying on the coordination control basis, crossing, guaranteeing that the system belt speed of bus between the crossing is in a certain fast speeds interval, guaranteeing that promptly public transport is in operation high efficiency and the stability coordinated between the control crossing.Simultaneously, the travel speed of belt speed and highway section public vehicles is close faster, and the green ripple of the coordination between the crossing can be served the public transport wagon flow and also can be served social wagon flow like this.The coordination control constraint condition of this research is based on the improvement algebraic method of coordinating control, and the coordination control constraint condition between the crossing is:
Wherein, C is the common period value that control is coordinated in the crossing, and S is an ideal signal location gap value, υ
1And υ
2Upper and lower bound for bus system belt speed interval.
4) carry out coordinating control based on the primary and secondary crossing bus signals that improves algebraic method, its idiographic flow is:
At first, signal controlling machine is stopped according to each website that collects and is incured loss through delay t
j, the public transport average overall travel speed
With the particular location of each bus station, calculate revised highway section space length
Wherein, S ' is for revising the space length of primary and secondary crossing, back, and S is the real space distance of highway section i,
Be highway section i bus average overall travel speed, t
jFor bus h incurs loss through delay in the average stop of website j;
Then, signal controlling machine is according to revised highway section space length S ' and public transport average overall travel speed
Calculate primary and secondary crossing phase differential
Thereby finish the Collaborative Control of primary and secondary intersection signal lamp.
5) temporary close public transport arrives detecting device, treat that public transport is left detecting device and detected this bus and leave after, open once more and enter step 6) after public transport arrives detecting device;
6) finish the preferential Collaborative Control flow process of bus signals of this bus, wait for that the bus signals that enters next bus preferentially coordinates control.
Adjust the intersection signal timing according to said method, can obtain a kind of primary and secondary crossing bus rapid transit signal priority cooperative control method, realize the priority pass of public transit vehicle under the BRT pattern.
In order to verify validity of the present invention, below in conjunction with certain city BRT public transport main line factual survey data and microscopic simulation software VISSIM, the present invention is further illustrated.
If certain bar major trunk roads has 4 crossings successively, number consecutively is 1,2,3,4.Wherein, No. 3 crossings are main crossing, and No. 4 crossings are the minor cross mouth.Detector arrangement is before No. 1 crossing before a segment distance place and No. 3 crossing inlet road stop lines.As shown in Figure 5:
(1) by the collection of basic data, the gained result is as follows:
Main crossing and minor cross mouth signal cycle are respectively 140s and 150s in the set of Collaborative Control crossing, and yellow time all is 3s.Number of phases all is 4.Each phase place of each crossing initialize signal timing scheme shows that green time is as shown in table 1:
Table 1 crossing original signal timing table
| The crossing type | Phase place 1(s) | Phase place 2(s) | Phase place 3(s) | Phase place 4(s) |
| Mainly | 60 | 17 | 27 | 24 |
| Less important | 16 | 23 | 21 | 78 |
Each crossing peak hour motor vehicle flow of survey region and each entrance driveway steering flow numerical value are as shown in table 2 below:
Each entrance driveway flow of 15min crossing, table 2 peak
The BRT circuit of this research is B1, B16, three public transport backbones of B19, every the circuit departure time-table that provides according to Changzhou public transport company, three public bus networks are set with respect to the initial frequency (being the fixedly departure interval between each bar public bus network) in the initial moment of emulation (0s) is: 120s, 600s, 480s, the departure interval is 480s, 360s, 600s.Because Changzhou public transport company fails in time to provide the GPS locator data of studying the circuit public transit vehicle, detect the actual measured value of highway section public transit vehicle running time in this research and get the present situation simulated measurement value of studying highway section VISSIM, satisfy the bus of application condition and detect highway section running time occurrence shown in table 4-2-5:
Table 3 satisfies bus and the highway section running time measured value in vissim of application condition
(2) optimize the timing result
It is as shown in the table that signal timing dial is optimized the result:
The crucial cycle adjusted value of table 4
Scheme is adjusted in the main intersection signal timing of table 5
Table 6 minor cross mouth signal timing adjustment form
(3) simulation result and evaluation analysis
Utilization VISSIM carries out simulative example emulation, mainly by to whether taking to compare between the resulting effect of Collaborative Control, illustrates that this method is in the validity aspect Collaborative Control minimizing main line total delay.
(31) public transport intersection delay
The public transport intersection delay mainly is because signal controlling makes bus Reduced Speed Now or parking cause.Therefore, the public transport intersection delay is one of important indicator of estimating the preferential control strategy quality of bus signals, also is that the preferential control strategy of bus signals of this research is the strongest, one of the most effective argument.Whether take between the primary and secondary crossing to work in coordination with between each crossing incur loss through delay as shown in table 7 below:
Each crossing inlet road delay value of table 7 bus
| Contextual model | Main crossing (s) | Minor cross mouth (s) | Add up to (s) |
| Pre-induction | 13.6 | 12.2 | 15.8 |
| Pre-induction is coordinated | 8.8 | 2.8 | 11.6 |
Can see that two kinds of topmost gaps of control mode are embodied in crossing, just minor cross mouth No. 4.Take the Collaborative Control measure, No. 4 intersection delay has descended 77%, and promptly the green ripple of the public transport between the crossing has reduced the public transport accumulation delay of crossing, downstream.
(32) social wagon flow intersection delay
Society's wagon flow intersection delay refers to public vehicles by the crossing time, the crossing inlet road stop delay that brings owing to signal controlling.It is preferential and signal timing dial that bring changes the influence to crossing society wagon flow that this research intersection delay is mainly analyzed bus signals.Below be the concrete outcome of social wagon flow intersection parking delay in survey region:
Each crossing inlet road delay value of table 8 public vehicles
| Contextual model | Main crossing (s) | Minor cross mouth (s) | Add up to (s) |
| Pre-induction | 54.8 | 18.4 | 73.2 |
| Pre-induction is coordinated | 46.6 | 16.2 | 62.8 |
As can be seen, compare with pre-induced signal mode of priority, the pre-preferential coodination modes of induced signal is littler to social wagon flow intersection delay influence, and this also demonstrates fully the advantage of coordinating control.
The above only is a preferred implementation of the present invention; be noted that for those skilled in the art; under the prerequisite that does not break away from the principle of the invention, can also make the some improvements and modifications that can expect, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (2)
1. primary and secondary crossing bus rapid transit signal priority cooperative control method is characterized in that considering the Collaborative Control of primary and secondary crossing, and this method may further comprise the steps:
1) gathers initialize signal timing information, road information, telecommunication flow information, public transport facility and the operation information of each intersection signal lamp at the primary and secondary crossing;
2) setting of detecting device and activation:
The operating range place of 1～2 main crossing initialize signal cycle duration before main crossing inlet road stop line is provided with public transport and arrives detecting device, and definite public transport arrival detecting device to crossing entrance driveway 'STOP' line ahead is L; At minor cross mouth entrance driveway stop line place public transport is set and leaves detecting device, when first bus passed through main crossing inlet road stop line, public transport arrived detecting device and is activated, and was in the state of the current application of public traffic in priority that can receive follow-up bus.
3) signal time distributing conception adjustment:
After public transport arrival detecting device detects follow-up bus, signal controlling machine judges whether to carry out the signal time distributing conception adjustment, in this way, then signal controlling machine generates the current application of public traffic in priority, carry out entering step 4) after the signal time distributing conception adjustment according to " prediction type " bus signals method for controlling priority, otherwise enter step 6);
4) carry out coordinating control based on the primary and secondary crossing bus signals that improves algebraic method, its idiographic flow is:
At first, signal controlling machine is stopped according to each website that collects and is incured loss through delay t
j, the public transport average overall travel speed
With the particular location of each bus station, calculate revised highway section space length,
Wherein, S ' is for revising the space length of primary and secondary crossing, back, and S is a real space distance between the primary and secondary crossing,
Be public transport average overall travel speed, t
jFor bus is incured loss through delay in the average stop of website j
Then, signal controlling machine is according to revised highway section space length S ', and the green ripple computing method of employing main line redefine the green time difference between the crossing, carry out the adjustment of the green time difference of primary and secondary crossing;
5) temporary close public transport arrives detecting device, treat that public transport is left detecting device and detected this bus and leave after, open once more and enter step 6) after public transport arrives detecting device;
6) finish the preferential Collaborative Control flow process of bus signals of this bus, wait for the preferential Collaborative Control of bus signals that enters next bus.
2. primary and secondary according to claim 1 crossing bus rapid transit signal priority cooperative control method, it is characterized in that the initialize signal timing information in the described step 1) comprises primary and secondary crossing initialize signal cycle duration C, number of phases Z and each phase place duration, each phase place split λ
iAnd show that green time, each phase place green light interval I and amber light duration, road information comprise the maximum queuing of each phase place track, main crossing length l
i, main crossing pedestrian's street crossing lateral road length L
p, main each phase place queue length correction factor θ of crossing
i, between the primary and secondary crossing apart from S, telecommunication flow information comprises the maximum track flow Q of each phase place of main crossing
iAnd pedestrian's street crossing leg speed υ
p, public transport facility and operation information comprise the public transport average overall travel speed
The particular location of each bus station, each website are stopped and are incured loss through delay t
j
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