CN103985261A - Traffic signal light control method and system based on vehicle queuing length measurement - Google Patents

Abstract

The invention provides a traffic signal light control method and system based on vehicle queuing length measurement. Vehicle flow information is divided into steady flow and combined flow by building a city road combined traffic flow model, and actual vehicle flow information can be accurately simulated. Pixel points in an original map of a digital graph can serve as road coordinates by carrying out digital graph collecting on a road, a sampling time interval is set, digital graph information of the road is collected on a sampling position again when it is detected that a vehicle on the road does not move forward any more in a road go-through cycle, a congestion starting position is obtained, a real-time vehicle queuing length can be calculated according to the distance from the congestion starting point to a detection point by means of a vehicle queuing length computational formula, the operation state of an upstream intersection signal light is controlled according to the real-time vehicle queuing length, and accordingly upstream intersection traffic congestion caused due to the fact that the upstream intersection vehicle enters the congested road is avoided.

Description

Based on method for controlling traffic signal lights and the system of vehicle queue length measuring and calculating

Technical field

The present invention relates to traffic lights control technology on a kind of road.Relate in particular to a kind of method for controlling traffic signal lights and system based on vehicle queue length measuring and calculating.

Background technology

Along with the continuous rising of the recoverable amount of vehicle, urban road blocks up day by day, thereby causes Urban Road Traffic Accidents to take place frequently.Once get congestion on road, will directly reduce the operational efficiency of road network, also easily bring out second accident.Reducing the effective way of the negative effect that brings of traffic hazard, is by the computing impact causing of blocking up in real time, and according to the time that can be calculated road and reach maximum queue length, in order to take effective measures, processing blocks up provides reliable theoretical foundation.

Chinese patent literature CN102034354A discloses a kind of Urban Road Traffic Accidents coverage based on fixed detector and has determined method.The method is based on the fixed detector arranging in road, in order to detect the rate of leaving away of vehicle, by adopting urban road combination traffic flow to describe the feature that vehicle arrives.According to the arrival rate of vehicle and the rate of leaving away, set up the queue length measuring method based on fixed detector, the time lasting according to traffic hazard again, calculate the maximum queue length that causes of traffic hazard the diffusion process of blocking up causing according to traffic hazard, determine the coverage of traffic hazard.The method can be calculated and occur in fixed detector and cause the vehicle queue length blocking up along the traffic hazard in vehicle heading front.And according to the feature of Traffic Signals in Urban Roads lamp, calculate the diffusion process of blocking up that traffic hazard causes.But in the time that traffic hazard occurs, blocking up that cause at crossing is cumulative, once there is locked situation in crossing, the normal traffic that can affect crossing, rear is dredged, and the disclosed method of above-mentioned patent documentation cannot be calculated the position that in reality, all collisions occur, and versatility is poor.Meanwhile, the disclosed method of above-mentioned patent documentation is the running status of all rear, position crossroad traffic signal lamps that bump in uncontrollable reality also, poor practicability.

Summary of the invention

For this reason, technical matters to be solved by this invention is only can calculate in prior art and occurs in the poor and poor practicability of versatility that fixed detector causes the vehicle queue length blocking up to bring along the traffic hazard in vehicle heading front.

For solving the problems of the technologies described above, technical scheme of the present invention is:

Based on the method for controlling traffic signal lights of vehicle queue length measuring and calculating, comprise the following steps:

S1: describe by setting up urban road combination traffic flow model the arrival feature that road is got on the bus, calculate the arrival rate of vehicle on described road, described arrival rate is the vehicle number that enters described road in the unit interval; Further comprising the steps:

S11: described combination traffic flow is divided into steady flow and discrete flow, the vehicle that sails into continuously that described steady flow is let pass by crossing, upstream Through Lane forms, discrete flow is made up of the vehicle that turn left in crossing, upstream and right-turn lane sails into, the time that crossing, upstream Through Lane is started to let pass is made as the start time in cycle, and on described road, the arrival rate of vehicle is:

$\stackrel{\‾}{\mathrm{\λ}}=\frac{g_1}{c_1}({\mathrm{\λ}}_1-{\mathrm{\λ}}_2)+{\mathrm{\λ}}_2$

Wherein, λ ₁for the arrival rate of steady flow, λ ₂for the arrival rate of discrete flow, g ₁for the duration that crossing, upstream Through Lane is let pass, c ₁for the combination traffic flow cycle, and combination equals crossing, the upstream signal period in the traffic flow cycle;

S2: choose in road a certain position as sampling location, the digitizing figure of road while gathering between two crossings of upstream and downstream without Vehicle Driving Cycle, original map using the digitizing figure getting as described road, the reference position in the corresponding road of the initial pixel downstream of described digitizing figure, the end position of the corresponding road of the pixel upstream that described digitizing figure finishes;

S3: on described road, select optional position as check point, detect the rate of leaving away of vehicle on described road every sampling interval Δ t, described in the rate of leaving away be in the unit interval, to leave the vehicle number of described road;

S4: described check point, in the time detecting that vehicle on described road does not readvance within the current cycle, gathers the digitizing figure information of described road again in described sampling location;

S5: by the digitizing figure again getting, compare with described original map, the difference of comparison two width digitizing figures, the start point distance that the occurs distance l from check point obtains blocking up ₀, and judge that the position of the generation of blocking up is positioned at upstream or the downstream of described check point;

S6: according to described distance l ₀, and the position getting congestion, and described check point detects the moment t that vehicle does not readvance within the current cycle _s, calculate real-time vehicle queue length by vehicle queue length measure formula;

S7: set early warning vehicle queue length, in the time that described vehicle queue length reaches described early warning vehicle queue length, judge that crossing, upstream indicates the traffic lights that enter the road that gets congestion whether in green light phase; Be, the traffic lights that instruction entered to the road that gets congestion become red light and keep the schedule time, and extend the green time of instruction vehicle pass-through to all the other directions; Otherwise, in setting-up time, continue to extend red time; Set and allow clearance queue length, in the time that described vehicle queue length reaches described permission clearance queue length, traffic lights are adjusted into the normal workweek phase.

In described step S5 by the digitizing figure again getting, be specially from the digitizing figure of described original map this step of comparing: the pixel that comparison two width figures are different, identify first different pixel from downstream to upstream, be the position getting congestion.

In described step S6, specifically comprise the following steps:

S61: the position that judgement gets congestion is positioned at upstream or the downstream of described check point;

S62: if the position getting congestion is positioned at the downstream of described check point, the position getting congestion and the distance of described check point are l ₀, and described check point detects the moment t that vehicle does not readvance within the current cycle _s, by vehicle queue length measure formula:

$L\left(t\right)=(N_1+[\frac{t-t_s}{c_1}]\stackrel{\‾}{\mathrm{\λ}}{c}_1+N_2-\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{q}_i\mathrm{\Δt})/k_j+l_0,$ Calculate vehicle queue length;

S63: if the position getting congestion is positioned at the upstream of described check point, the position getting congestion and the distance of described check point are l ₀, and described check point detects the moment t that vehicle does not readvance within the current cycle _s, by vehicle queue length measure formula:

$L\left(t\right)=(N_1+[\frac{t-t_s}{c_1}]\stackrel{\‾}{\mathrm{\λ}}{c}_1+N_2-\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{q}_i\mathrm{\Δt})/k_j+l_0,$ Calculate vehicle queue length;

Wherein, t is that described check point detects vehicle in the time not being moved within the road cycle or do not detect that vehicle passes through any time after described check point, N ₁and N ₂while being respectively vehicle arrival, combine traffic flow place Δ c excess time in cycle ₁when finishing, the vehicle number of interior arrival and the diffusion of blocking up combine traffic flow place Δ c excess time in cycle ₂the vehicle number of interior arrival; q _ibe the vehicle that detects in i the sampling time interval rate of leaving away, i is the sequence number in time interval of detecting of described check point, n be during to any time t described in the number of times that detected of check point; k _jfor section jam density, be generally taken as 100-150 car/kilometer;

N ₁: as Δ c ₁> c ₁-g ₁time, N ₁=λ ₁(Δ c ₁-c ₁+ g ₁)+λ ₂(c ₁-g ₁), wherein λ ₁(Δ c ₁-c ₁+ g ₁) combine traffic flow place Δ c excess time in cycle while arriving for vehicle ₁the interior vehicle number arriving with steady flow form, λ ₂(c ₁-g ₁) combine traffic flow place Δ c excess time in cycle while arriving for vehicle ₁the vehicle number arriving with interior discrete flow form; As Δ c ₁< c ₁-g ₁time, N ₁=λ ₂c ₁, now, vehicle combines traffic flow place Δ c excess time in cycle while arrival ₁inside only comprise discrete flow, and the vehicle number arriving is λ ₂Δ c ₁; N ₂: as Δ c ₂< g ₁time, N ₂=λ ₁Δ c ₂, now, when the diffusion of blocking up finishes, combine traffic flow place Δ c excess time in cycle ₂inside only comprise steady flow, and the vehicle number arriving is λ ₁Δ c ₂; As Δ c ₂> g ₁time, N ₂=λ ₁g ₁+ λ ₂(Δ c ₂-g ₁), wherein, λ ₁g ₁while end for the diffusion of blocking up, combine traffic flow place Δ c excess time in cycle ₂the interior vehicle number arriving with steady flow form, λ ₂(Δ c ₂-g ₁) combine traffic flow place Δ c excess time in cycle while finishing for the diffusion of blocking up ₂the interior vehicle number arriving with discrete flow form.

Check point described in described step S4 is detecting that the vehicle on described road does not readvance within the current cycle, and this step is specially:

Described check point detects in the given time when the vehicle in dead ahead is not moved within the road cycle or vehicle passing detection point do not detected.

Based on the traffic light control system of vehicle queue length measuring and calculating, comprise with lower module:

Module is set up in traffic flow: describe for setting up urban road combination traffic flow model the arrival feature that road is got on the bus, calculate the arrival rate of vehicle on described road, described arrival rate is the vehicle number that enters described road in the unit interval; Further comprise:

Arrival rate computing module, for described combination traffic flow is divided into steady flow and discrete flow, the vehicle that sails into continuously that described steady flow is let pass by crossing, upstream Through Lane forms, discrete flow is made up of the vehicle that turn left in crossing, upstream and right-turn lane sails into, the time that crossing, upstream Through Lane is started to let pass is made as the start time in cycle, and on described road, the arrival rate of vehicle is:

$\stackrel{\&OverBar;}{\mathrm{\&lambda;}}=\frac{g_1}{c_1}({\mathrm{\&lambda;}}_1-{\mathrm{\&lambda;}}_2)+{\mathrm{\&lambda;}}_2$

Wherein, λ ₁for the arrival rate of steady flow, λ ₂for the arrival rate of discrete flow, g ₁for the duration that crossing, upstream Through Lane is let pass, c ₁for the combination traffic flow cycle, and combination equals crossing, the upstream signal period in the traffic flow cycle;

Sampling module: choose in road a certain position as sampling location, gather between two crossings of upstream and downstream without Vehicle Driving Cycle time road digitizing figure, original map using the digitizing figure getting as described road, the reference position in the corresponding road of the initial pixel downstream of described digitizing figure, the end position of the corresponding road of the pixel upstream that described digitizing figure finishes;

Detection module: on described road, select optional position as check point, detect the rate of leaving away of vehicle on described road every sampling interval Δ t, described in the rate of leaving away be in the unit interval, to leave the vehicle number of described road;

Secondary acquisition module: described check point, in the time detecting that vehicle on described road does not readvance within the current cycle, gathers the digitizing figure of described road again in described sampling location;

Comparing module: by the digitizing figure again getting, compare with described original map, the difference of comparison two width digitizing figures, the start point distance that the occurs distance l from check point obtains blocking up ₀, and judge that the position of the generation of blocking up is positioned at upstream or the downstream of described check point;

Computing module: according to described distance l ₀, and the position getting congestion, and described check point detects the moment t that vehicle does not readvance within the current cycle _s, calculate real-time vehicle queue length by vehicle queue length measure formula;

Traffic signal control module: set early warning vehicle queue length, in the time that described vehicle queue length reaches described early warning vehicle queue length, judge that crossing, upstream indicates the traffic lights that enter the road that gets congestion whether in green light phase; Be, the traffic lights that instruction entered to the road that gets congestion become red light and keep the schedule time, and extend the green time of instruction vehicle pass-through to all the other directions; Otherwise, in setting-up time, continue to extend red time; Set and allow clearance queue length, in the time that described vehicle queue length reaches described permission clearance queue length, traffic lights are adjusted into the normal workweek phase.

In described comparing module, by the digitizing figure again getting, compare with described original map, be specially:

By the digitizing figure again getting, compare with the digitizing figure of described original map, mainly compare the different pixel of two width figures, identify first the different pixel from downstream to upstream, be the position getting congestion.

In described computing module, specifically comprise with lower module:

Position judging module: the position that judgement gets congestion is positioned at upstream or the downstream of described check point;

The first computing module: if the position getting congestion is positioned at the downstream of described check point, the position getting congestion and the distance of described check point are l ₀, and described check point detects the moment t that vehicle does not readvance within the current cycle _s, by vehicle queue length measure formula:

$L\left(t\right)=(N_1+[\frac{t-t_s}{c_1}]\stackrel{\&OverBar;}{\mathrm{\&lambda;}}{c}_1+N_2-\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}{q}_i\mathrm{\&Delta;t})/k_j+l_0,$ Calculate vehicle queue length;

The second computing module: if the position getting congestion is positioned at the upstream of described check point, the position getting congestion and the distance of described check point are l ₀, and described check point detects the moment t that vehicle does not readvance within the current cycle _s, by vehicle queue length measure formula:

$L\left(t\right)=(N_1+[\frac{t-t_s}{c_1}]\stackrel{\&OverBar;}{\mathrm{\&lambda;}}{c}_1+N_2-\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}{q}_i\mathrm{\&Delta;t})/k_j+l_0,$ Calculate vehicle queue length;

Wherein, t is that described check point detects vehicle in the time not being moved within the road cycle or any time after vehicle passing detection point, N do not detected ₁and N ₂while being respectively vehicle arrival, combine traffic flow place Δ c excess time in cycle ₁when finishing, the vehicle number of interior arrival and the diffusion of blocking up combine traffic flow place Δ c excess time in cycle ₂the vehicle number of interior arrival; q _ibe the vehicle that detects in i the sampling time interval rate of leaving away, i is the sequence number in time interval of detecting of described check point, n be during to any time t described in the number of times that detected of check point; k _jfor section jam density, be generally taken as 100-150 car/kilometer;

N ₁: as Δ c ₁> c ₁-g ₁time, N ₁=λ ₁(Δ c ₁-c ₁+ g ₁)+λ ₂(c ₁-g ₁), wherein λ ₁(Δ c ₁-c ₁+ g ₁) combine traffic flow place Δ c excess time in cycle while arriving for vehicle ₁the interior vehicle number arriving with steady flow form, λ ₂(c ₁-g ₁) combine traffic flow place Δ c excess time in cycle while arriving for vehicle ₁the vehicle number arriving with interior discrete flow form; As Δ c ₁< c ₁-g ₁time, N ₁=λ ₂c ₁, now, vehicle combines traffic flow place Δ c excess time in cycle while arrival ₁inside only comprise discrete flow, and the vehicle number arriving is λ ₂Δ c ₁; N ₂: as Δ c ₂< g ₁time, N ₂=λ ₁Δ c ₂, now, when the diffusion of blocking up finishes, combine traffic flow place Δ c excess time in cycle ₂inside only comprise steady flow, and the vehicle number arriving is λ ₁Δ c ₂; As Δ c ₂> g ₁time, N ₂=λ ₁g ₁+ λ ₂(Δ c ₂-g ₁), wherein, λ ₁g ₁while end for the diffusion of blocking up, combine traffic flow place Δ c excess time in cycle ₂the interior vehicle number arriving with steady flow form, λ ₂(Δ c ₂-g ₁) combine traffic flow place Δ c excess time in cycle while finishing for the diffusion of blocking up ₂the interior vehicle number arriving with discrete flow form.

Described check point in described secondary acquisition module is detecting that the vehicle on described road does not readvance within the current cycle, is specially:

Described check point detects in the given time when the vehicle in dead ahead is not moved within the road cycle or vehicle passing detection point do not detected.

Technique scheme of the present invention has the following advantages compared to existing technology:

1. method for controlling traffic signal lights and the system based on vehicle queue length measuring and calculating, by setting up urban road combination traffic flow model, is divided into steady flow and mix flow by information of vehicle flowrate, accurately simulating reality information of vehicle flowrate.By road being carried out to the collection of digitizing figure, can make pixel in the original map of the digitizing figure coordinate as road, set sampling time interval, carry out at set intervals described in sample detecting the rate of leaving away of vehicle on road, in the time detecting that vehicle on described road does not readvance within the road cycle, again gather the digitizing figure information of described road in described sampling location, identify in described digital figure information with described original map on different pixels point, acquisition block up occur start position, according to the distance of check point described in the start point distance that gets congestion, and detect that the moment that vehicle does not readvance within the current cycle can calculate real-time vehicle queue length by vehicle queue length computing formula, according to real-time vehicle queue length, control the running status of upstream belisha beacon, thereby avoiding crossing, upstream vehicle to enter the road that gets congestion causes upstream crossing traffic to stop up.

2. method for controlling traffic signal lights and the system based on vehicle queue length measuring and calculating, the digitizing figure information again getting and described original map are compared, by comparing the different pixel of two width figures, can identify because getting congestion, the variation producing in digitizing figure, thus determine the accurate location getting congestion.

3. method for controlling traffic signal lights and the system based on vehicle queue length measuring and calculating, the position getting congestion according to judgement, by vehicle queue length measure formula, after can calculating and getting congestion at an arbitrary position, causes the length of vehicle queue because blocking up.

4. method for controlling traffic signal lights and the system based on vehicle queue length measuring and calculating, check point can detect that vehicle is not moved within the road cycle, thereby judges on road and get congestion.

Brief description of the drawings

For content of the present invention is more likely to be clearly understood, below according to a particular embodiment of the invention and by reference to the accompanying drawings, the present invention is further detailed explanation, wherein

Fig. 1 is the process flow diagram of the method for controlling traffic signal lights based on vehicle queue length measuring and calculating of one embodiment of the invention;

Fig. 2 is the schematic diagram of a kind of situation that gets congestion of the method for controlling traffic signal lights based on vehicle queue length measuring and calculating of one embodiment of the invention;

Fig. 3 is the structured flowchart of the traffic light control system based on vehicle queue length measuring and calculating of one embodiment of the invention.

In figure, Reference numeral is expressed as: module is set up in 1-traffic flow; 2-sampling module; 3-detection module; 4-secondary acquisition module; 5-comparing module; 6-computing module; 7-Traffic signal control module.

Embodiment

Embodiment 1

As shown in Figure 1, as one embodiment of the present of invention, based on the method for controlling traffic signal lights of vehicle queue length measuring and calculating, comprise the following steps:

S1: describe by setting up urban road combination traffic flow model the arrival feature that road is got on the bus, calculate the arrival rate of vehicle on described road, described arrival rate is the vehicle number that enters described road in the unit interval; Further comprising the steps:

S11: described combination traffic flow is divided into steady flow and discrete flow, the vehicle that sails into continuously that described steady flow is let pass by crossing, upstream Through Lane forms, discrete flow is made up of the vehicle that turn left in crossing, upstream and right-turn lane sails into, the time that crossing, upstream Through Lane is started to let pass is made as the start time in cycle, and on described road, the arrival rate of vehicle is:

$\stackrel{\&OverBar;}{\mathrm{\&lambda;}}=\frac{g_1}{c_1}({\mathrm{\&lambda;}}_1-{\mathrm{\&lambda;}}_2)+{\mathrm{\&lambda;}}_2$

Wherein, λ ₁for the arrival rate of steady flow, λ ₂for the arrival rate of discrete flow, g ₁for the duration that crossing, upstream Through Lane is let pass, c ₁for the combination traffic flow cycle, and combination equals crossing, the upstream signal period in the traffic flow cycle.As a kind of specific implementation, the described steady flow in the present embodiment and discrete flow record by the multiple radar detedtors that are arranged on crossing, upstream.

S2: choose in road a certain position as sampling location, the digitizing figure of road while gathering between two crossings of upstream and downstream without Vehicle Driving Cycle, original map using the digitizing figure getting as described road, the reference position in the corresponding road of the initial pixel downstream of described digitizing figure, the end position of the corresponding road of the pixel upstream that described digitizing figure finishes.As a kind of specific implementation, in the present embodiment by digitizing figure described in camera acquisition.

S3: on described road, select optional position as check point, detect the rate of leaving away of vehicle on described road every sampling interval Δ t, described in the rate of leaving away be in the unit interval, to leave the vehicle number of described road.As a kind of specific implementation, in the present embodiment by the rate of leaving away described in the collection of radar data acquisition device.

S4: described check point, in the time detecting that vehicle on described road does not readvance within the current cycle, gathers the digitizing figure information of described road again in described sampling location.

S5: by the digitizing figure again getting, compare with described original map, the difference of comparison two width digitizing figures, the start point distance that the occurs distance l from check point obtains blocking up ₀, and judge that the position of the generation of blocking up is positioned at upstream or the downstream of described check point.

S6: according to described distance l ₀, and the position getting congestion, and described check point detects the moment t that vehicle does not readvance within the current cycle _s, calculate real-time vehicle queue length by vehicle queue length measure formula.

S7: set early warning vehicle queue length, in the time that described vehicle queue length reaches described early warning vehicle queue length (the early warning queue length of setting can be: the start point distance occurring that blocks up deducts 5 meters from the distance at crossing, upstream), judge that crossing, upstream indicates the traffic lights that enter the road that gets congestion whether in green light phase; Be, the traffic lights that instruction entered to the road that gets congestion become red light and keep the schedule time, and extend the green time of instruction vehicle pass-through to all the other directions; Otherwise, in setting-up time, continue to extend red time (for example can extend green light displaying time, the time can be got any number as required); Set and allow clearance queue length (the permission direction queue length of setting can be: the start point distance occurring that blocks up deducts 25 meters from the distance at crossing, upstream), in the time that described vehicle queue length reaches described permission clearance queue length, traffic lights are adjusted into the normal workweek phase.

Based on the method for controlling traffic signal lights of vehicle queue length measuring and calculating, by setting up urban road combination traffic flow model, information of vehicle flowrate is divided into steady flow and mix flow, accurately simulating reality information of vehicle flowrate.By road being carried out to the collection of digitizing figure, can make pixel in the original map of the digitizing figure coordinate as road, set sampling time interval, carry out at set intervals described in sample detecting the rate of leaving away of vehicle on road, in the time detecting that vehicle on described road does not readvance within the road cycle, again gather the digitizing figure information of described road in described sampling location, identify in described digital figure information with described original map on different pixels point, acquisition block up occur start position, according to the distance of check point described in the start point distance that gets congestion, and detect that the moment that vehicle does not readvance within the current cycle can calculate real-time vehicle queue length by vehicle queue length computing formula, according to real-time vehicle queue length, control the running status of upstream belisha beacon, thereby avoiding crossing, upstream vehicle to enter the road that gets congestion causes upstream crossing traffic to stop up.

Embodiment 2

As one embodiment of the present of invention, on the basis of above-described embodiment 1, in described step S5 by the digitizing figure again getting, be specially from the digitizing figure of described original map this step of comparing: the pixel that comparison two width figures are different, identify first different pixel from downstream to upstream, be the position getting congestion.

Based on the method for controlling traffic signal lights of vehicle queue length measuring and calculating, the digitizing figure information again getting and described original map are compared, by comparing the different pixel of two width figures, can identify because getting congestion, the variation producing in digitizing figure, thus determine the accurate location getting congestion.

Embodiment 3

As one embodiment of the present of invention, on the basis of above-described embodiment 1 or 2, in described step S6, specifically comprise the following steps:

S61: the position that judgement gets congestion is positioned at upstream or the downstream of described check point; As shown in Figure 2, the position getting congestion is positioned at the downstream of described check point.

S62: if the position getting congestion is positioned at the downstream of described check point, and vehicle heading from upstream downstream; The position getting congestion and the distance of described check point are l ₀, and described check point detects the moment t that vehicle does not readvance within the current cycle _s, by vehicle queue length measure formula:

$L\left(t\right)=(N_1+[\frac{t-t_s}{c_1}]\stackrel{\&OverBar;}{\mathrm{\&lambda;}}{c}_1+N_2-\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}{q}_i\mathrm{\&Delta;t})/k_j+l_0,$ Calculate vehicle queue length.

S63: if the position getting congestion is positioned at the upstream of described check point, the position getting congestion and the distance of described check point are l ₀, and described check point detects the moment t that vehicle does not readvance within the current cycle _s, by vehicle queue length measure formula:

$L\left(t\right)=(N_1+[\frac{t-t_s}{c_1}]\stackrel{\&OverBar;}{\mathrm{\&lambda;}}{c}_1+N_2-\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}{q}_i\mathrm{\&Delta;t})/k_j+l_0,$ Calculate vehicle queue length;

Wherein, t is that described check point detects vehicle in the time not being moved within the road cycle or do not detect that vehicle passes through any time after described check point, N ₁and N ₂while being respectively vehicle arrival, combine traffic flow place Δ c excess time in cycle ₁when finishing, the vehicle number of interior arrival and the diffusion of blocking up combine traffic flow place Δ c excess time in cycle ₂the vehicle number of interior arrival; q _ibe the vehicle that detects in i the sampling time interval rate of leaving away, i is the sequence number in time interval of detecting of described check point, n be during to any time t described in the number of times that detected of check point; k _jfor section jam density, be generally taken as 100-150 car/kilometer;

N ₁: as Δ c ₁> c ₁-g ₁time, N ₁=λ ₁(Δ c ₁-c ₁+ g ₁)+λ ₂(c ₁-g ₁), wherein λ ₁(Δ c ₁-c ₁+ g ₁) combine traffic flow place Δ c excess time in cycle while arriving for vehicle ₁the interior vehicle number arriving with steady flow form, λ ₂(c ₁-g ₁) combine traffic flow place Δ c excess time in cycle while arriving for vehicle ₁the vehicle number arriving with interior discrete flow form; As Δ c ₁< c ₁-g ₁time, N ₁=λ ₂c ₁, now, vehicle combines traffic flow place Δ c excess time in cycle while arrival ₁inside only comprise discrete flow, and the vehicle number arriving is λ ₂Δ c ₁; N ₂: as Δ c ₂< g ₁time, N ₂=λ ₁Δ c ₂, now, when the diffusion of blocking up finishes, combine traffic flow place Δ c excess time in cycle ₂inside only comprise steady flow, and the vehicle number arriving is λ ₁Δ c ₂; As Δ c ₂> g ₁time, N ₂=λ ₁g ₁+ λ ₂(Δ c ₂-g ₁), wherein, λ ₁g ₁while end for the diffusion of blocking up, combine traffic flow place Δ c excess time in cycle ₂the interior vehicle number arriving with steady flow form, λ ₂(Δ c ₂-g ₁) combine traffic flow place Δ c excess time in cycle while finishing for the diffusion of blocking up ₂the interior vehicle number arriving with discrete flow form.

Based on the method for controlling traffic signal lights of vehicle queue length measuring and calculating, by above-mentioned steps, the position getting congestion according to judgement, by vehicle queue length measure formula, after can calculating and getting congestion at an arbitrary position, causes the length of vehicle queue because blocking up.

Embodiment 4

As one embodiment of the present of invention, on the basis of the arbitrary embodiment of above-mentioned 1-3, check point described in described step S4 is detecting that vehicle on described road does not readvance within the current cycle, and this step is specially: described check point detects when the vehicle in dead ahead is not moved within the road cycle or vehicle passing detection point do not detected within the schedule time (choose in the present embodiment in the current cycle first 20 seconds as the schedule time).Also the time that can choose as required other numerical value, as the schedule time, is realized object of the present invention equally.

Based on the method for controlling traffic signal lights of vehicle queue length measuring and calculating, check point can detect the situation that vehicle is not moved within the road cycle in the given time, thereby judges on road and get congestion.

Embodiment 5

As shown in Figure 3, as one embodiment of the present of invention, based on the traffic light control system of vehicle queue length measuring and calculating, comprise with lower module:

Module 1 is set up in traffic flow: describe for setting up urban road combination traffic flow model the arrival feature that road is got on the bus, calculate the arrival rate of vehicle on described road, described arrival rate is the vehicle number that enters described road in the unit interval; Further comprise:

Arrival rate computing module, for described combination traffic flow is divided into steady flow and discrete flow, the vehicle that sails into continuously that described steady flow is let pass by crossing, upstream Through Lane forms, discrete flow is made up of the vehicle that turn left in crossing, upstream and right-turn lane sails into, the time that crossing, upstream Through Lane is started to let pass is made as the start time in cycle, and on described road, the arrival rate of vehicle is:

$\stackrel{\&OverBar;}{\mathrm{\&lambda;}}=\frac{g_1}{c_1}({\mathrm{\&lambda;}}_1-{\mathrm{\&lambda;}}_2)+{\mathrm{\&lambda;}}_2$

Wherein, λ ₁for the arrival rate of steady flow, λ ₂for the arrival rate of discrete flow, g ₁for the duration that crossing, upstream Through Lane is let pass, c ₁for the combination traffic flow cycle, and combination equals crossing, the upstream signal period in the traffic flow cycle.As a kind of specific implementation, the described steady flow in the present embodiment and discrete flow record by the multiple radar detedtors that are arranged on crossing, upstream.

Sampling module 2: choose in road a certain position as sampling location, gather between two crossings of upstream and downstream without Vehicle Driving Cycle time road digitizing figure, original map using the digitizing figure getting as described road, the reference position in the corresponding road of the initial pixel downstream of described digitizing figure, the end position of the corresponding road of the pixel upstream that described digitizing figure finishes.As a kind of specific implementation, in the present embodiment by digitizing figure described in camera acquisition.

Detection module 3: on described road, select optional position as check point, detect the rate of leaving away of vehicle on described road every sampling interval Δ t, described in the rate of leaving away be in the unit interval, to leave the vehicle number of described road.As a kind of specific implementation, in the present embodiment by the rate of leaving away described in radar detedtor collection.

Secondary acquisition module 4: described check point, in the time detecting that vehicle on described road does not readvance within the current cycle, gathers the digitizing figure of described road again in described sampling location.

Comparing module 5: by the digitizing figure again getting, compare with described original map, the difference of comparison two width digitizing figures, the start point distance that the occurs distance l from check point obtains blocking up ₀, and judge that the position of the generation of blocking up is positioned at upstream or the downstream of described check point.

Computing module 6: according to described distance l ₀, and the position getting congestion, and described check point detects the moment t that vehicle does not readvance within the current cycle _s, calculate real-time vehicle queue length by vehicle queue length measure formula.

Traffic signal control module 7: set early warning vehicle queue length, in the time that described vehicle queue length reaches described early warning vehicle queue length (the early warning queue length of setting can be: the start point distance occurring that blocks up deducts 5 meters from the distance at crossing, upstream), judge that crossing, upstream indicates the traffic lights that enter the road that gets congestion whether in green light phase; Be, will indicate the traffic lights that enter the road that gets congestion become red light and keep the schedule time by intersection annunciator, and extend the green time of instruction vehicle pass-through to all the other directions; Otherwise, in setting-up time, continue to extend red time (for example can extend green light displaying time, the time can be got any number as required) by intersection annunciator; Set and allow clearance queue length (the permission direction queue length of setting can be: the start point distance occurring that blocks up deducts 25 meters from the distance at crossing, upstream), in the time that described vehicle queue length reaches described permission clearance queue length, traffic lights are adjusted into the normal workweek phase.

Based on the traffic light control system of vehicle queue length measuring and calculating, be all arranged in controller and by controller and specifically realize.By setting up urban road combination traffic flow model, information of vehicle flowrate is divided into steady flow and mix flow, accurately simulating reality information of vehicle flowrate.By road being carried out to the collection of digitizing figure, can make pixel in the original map of the digitizing figure coordinate as road, set sampling time interval, carry out at set intervals described in sample detecting the rate of leaving away of vehicle on road, in the time detecting that vehicle on described road does not readvance within the road cycle, again gather the digitizing figure information of described road in described sampling location, identify in described digital figure information with described original map on different pixels point, acquisition block up occur start position, according to the distance of check point described in the start point distance that gets congestion, and detect that the moment that vehicle does not readvance within the current cycle can calculate real-time vehicle queue length by vehicle queue length computing formula, according to real-time vehicle queue length, control the running status of upstream belisha beacon, thereby avoiding crossing, upstream vehicle to enter the road that gets congestion causes upstream crossing traffic to stop up.

Embodiment 6

As one embodiment of the present of invention, on the basis of above-described embodiment 5, the digitizing figure again getting in described comparing module 5, compares with described original map, is specially:

After bumping, again obtain the digitizing figure of a road (digitizing figure is taking pixel as unit in same place, pixel can be treated as coordinate simultaneously), compare with the digitizing figure of described original map, compare the different pixel of two width figures, identify first different pixel from downstream to upstream, be the position getting congestion.

Based on the traffic light control system of vehicle queue length measuring and calculating, the digitizing figure information again getting and described original map are compared, by comparing the different pixel of two width figures, can identify because getting congestion, the variation producing in digitizing figure, thus determine the accurate location getting congestion.

Embodiment 7

As one embodiment of the present of invention, on the basis of above-described embodiment 5 or 6, in described computing module 6, specifically comprise with lower module:

Position judging module: the position that judgement gets congestion is positioned at upstream or the downstream of described check point;

The first computing module: if the position getting congestion is positioned at the downstream of described check point, and vehicle heading from upstream downstream; The position getting congestion and the distance of described check point are l ₀, and described check point detects the moment t that vehicle does not readvance within the current cycle _s, by vehicle queue length measure formula:

$L\left(t\right)=(N_1+[\frac{t-t_s}{c_1}]\stackrel{\&OverBar;}{\mathrm{\&lambda;}}{c}_1+N_2-\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}{q}_i\mathrm{\&Delta;t})/k_j+l_0,$ Calculate vehicle queue length;

The second computing module: if the position getting congestion is positioned at the upstream of described check point, and vehicle heading from upstream downstream; The position getting congestion and the distance of described check point are l ₀, and described check point detects the moment t that vehicle does not readvance within the current cycle _s, by vehicle queue length measure formula:

$L\left(t\right)=(N_1+[\frac{t-t_s}{c_1}]\stackrel{\&OverBar;}{\mathrm{\&lambda;}}{c}_1+N_2-\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}{q}_i\mathrm{\&Delta;t})/k_j+l_0,$ Calculate vehicle queue length;

Wherein, t is that described check point detects vehicle in the time not being moved within the road cycle or any time after vehicle passing detection point, N do not detected ₁and N ₂while being respectively vehicle arrival, combine traffic flow place Δ c excess time in cycle ₁when finishing, the vehicle number of interior arrival and the diffusion of blocking up combine traffic flow place Δ c excess time in cycle ₂the vehicle number of interior arrival; q _ibe the vehicle that detects in i the sampling time interval rate of leaving away, i is the sequence number in time interval of detecting of described check point, n be during to any time t described in the number of times that detected of check point; k _jfor section jam density, be generally taken as 100-150 car/kilometer;

N ₁: as Δ c ₁> c ₁-g ₁time, N ₁=λ ₁(Δ c ₁-c ₁+ g ₁)+λ ₂(c ₁-g ₁), wherein λ ₁(Δ c ₁-c ₁+ g ₁) combine the vehicle number arriving with steady flow form in Δ c1 excess time in cycle of traffic flow place, λ while arriving for vehicle ₂(c ₁-g ₁) combine traffic flow place Δ c excess time in cycle while arriving for vehicle ₁the vehicle number arriving with interior discrete flow form; As Δ c ₁< c ₁-g ₁time, N ₁=λ ₂c ₁, now, vehicle combines traffic flow place Δ c excess time in cycle while arrival ₁inside only comprise discrete flow, and the vehicle number arriving is λ ₂Δ c ₁; N ₂: as Δ c ₂< g ₁time, N ₂=λ ₁Δ c ₂, now, when the diffusion of blocking up finishes, combine traffic flow place Δ c excess time in cycle ₂inside only comprise steady flow, and the vehicle number arriving is λ ₁Δ c ₂; As Δ c ₂> g ₁time, N ₂=λ ₁g ₁+ λ ₂(Δ c ₂-g ₁), wherein, λ ₁g ₁while end for the diffusion of blocking up, combine traffic flow place Δ c excess time in cycle ₂the interior vehicle number arriving with steady flow form, λ ₂(Δ c ₂-g ₁) combine traffic flow place Δ c excess time in cycle while finishing for the diffusion of blocking up ₂the interior vehicle number arriving with discrete flow form.

Based on the traffic light control system of vehicle queue length measuring and calculating, by above-mentioned module, the position getting congestion according to judgement, by vehicle queue length measure formula, after can calculating and getting congestion at an arbitrary position, causes the length of vehicle queue because blocking up.

Embodiment 8

As one embodiment of the present of invention, on the basis of the arbitrary embodiment of above-mentioned 5-7, state check point and detecting that the vehicle on described road does not readvance within the current cycle, is specially:

Described check point detects when the vehicle in dead ahead is not moved within the road cycle or vehicle passing detection point do not detected in (choosing in the present embodiment interior first 20 seconds of current cycle as the schedule time) in the given time.Also the time that can choose as required other numerical value, as the schedule time, is realized object of the present invention equally.

Based on the traffic light control system of vehicle queue length measuring and calculating, check point can detect the situation that vehicle is not moved within the road cycle in the given time, thereby judges on road and get congestion.。

Obviously, above-described embodiment is only for example is clearly described, and the not restriction to embodiment.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here without also giving exhaustive to all embodiments.And the apparent variation of being extended out thus or variation are still among the protection domain in the invention.

Claims (8)

1. the method for controlling traffic signal lights based on vehicle queue length measuring and calculating, is characterized in that, comprises the following steps:

S1: describe by setting up urban road combination traffic flow model the arrival feature that road is got on the bus, calculate the arrival rate of vehicle on described road, described arrival rate is the vehicle number that enters described road in the unit interval; Further comprising the steps:

S11: described combination traffic flow is divided into steady flow and discrete flow, the vehicle that sails into continuously that described steady flow is let pass by crossing, upstream Through Lane forms, discrete flow is made up of the vehicle that turn left in crossing, upstream and right-turn lane sails into, the time that crossing, upstream Through Lane is started to let pass is made as the start time in cycle, and on described road, the arrival rate of vehicle is:

$\stackrel{\&OverBar;}{\mathrm{\&lambda;}}=\frac{g_1}{c_1}({\mathrm{\&lambda;}}_1-{\mathrm{\&lambda;}}_2)+{\mathrm{\&lambda;}}_2$

Wherein, λ ₁for the arrival rate of steady flow, λ ₂for the arrival rate of discrete flow, g ₁for the duration that crossing, upstream Through Lane is let pass, c ₁for the combination traffic flow cycle, and combination equals crossing, the upstream signal period in the traffic flow cycle;

S2: choose in road a certain position as sampling location, the digitizing figure of road while gathering between two crossings of upstream and downstream without Vehicle Driving Cycle, original map using the digitizing figure getting as described road, the reference position in the corresponding road of the initial pixel downstream of described digitizing figure, the end position of the corresponding road of the pixel upstream that described digitizing figure finishes;

S3: on described road, select optional position as check point, detect the rate of leaving away of vehicle on described road every sampling interval Δ t, described in the rate of leaving away be in the unit interval, to leave the vehicle number of described road;

S4: described check point, in the time detecting that vehicle on described road does not readvance within the current cycle, gathers the digitizing figure information of described road again in described sampling location;

S5: by the digitizing figure again getting, compare with described original map, the difference of comparison two width digitizing figures, the start point distance that the occurs distance l from check point obtains blocking up ₀, and judge that the position of the generation of blocking up is positioned at upstream or the downstream of described check point;

S6: according to described distance l ₀, and the position getting congestion, and described check point detects the moment t that vehicle does not readvance within the current cycle _s, calculate real-time vehicle queue length by vehicle queue length measure formula;

S7: set early warning vehicle queue length, in the time that described vehicle queue length reaches described early warning vehicle queue length, judge that crossing, upstream indicates the traffic lights that enter the road that gets congestion whether in green light phase; Be, the traffic lights that instruction entered to the road that gets congestion become red light and keep the schedule time, and extend the green time of instruction vehicle pass-through to all the other directions; Otherwise, in setting-up time, continue to extend red time; Set and allow clearance queue length, in the time that described vehicle queue length reaches described permission clearance queue length, traffic lights are adjusted into the normal workweek phase.

2. the method for controlling traffic signal lights based on vehicle queue length measuring and calculating according to claim 1, it is characterized in that, in described step S5 by the digitizing figure again getting, be specially from the digitizing figure of described original map this step of comparing: the pixel that comparison two width figures are different, identify first different pixel from downstream to upstream, be the position getting congestion.

3. the method for controlling traffic signal lights based on vehicle queue length measuring and calculating according to claim 1 and 2, is characterized in that, in described step S6, specifically comprises the following steps:

S61: the position that judgement gets congestion is positioned at upstream or the downstream of described check point;

S62: if the position getting congestion is positioned at the downstream of described check point, the position getting congestion and the distance of described check point are l ₀, and described check point detects the moment t that vehicle does not readvance within the current cycle _s, by vehicle queue length measure formula:

$L\left(t\right)=(N_1+[\frac{t-t_s}{c_1}]\stackrel{\&OverBar;}{\mathrm{\&lambda;}}{c}_1+N_2-\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}{q}_i\mathrm{\&Delta;t})/k_j+l_0,$ Calculate vehicle queue length;

S63: if the position getting congestion is positioned at the upstream of described check point, the position getting congestion and the distance of described check point are l ₀, and described check point detects the moment t that vehicle does not readvance within the current cycle _s, by vehicle queue length measure formula:

$L\left(t\right)=(N_1+[\frac{t-t_s}{c_1}]\stackrel{\&OverBar;}{\mathrm{\&lambda;}}{c}_1+N_2-\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}{q}_i\mathrm{\&Delta;t})/k_j+l_0,$ Calculate vehicle queue length;

Wherein, t is that described check point detects vehicle in the time not being moved within the road cycle or do not detect that vehicle passes through any time after described check point, N ₁and N ₂while being respectively vehicle arrival, combine traffic flow place Δ c excess time in cycle ₁when finishing, the vehicle number of interior arrival and the diffusion of blocking up combine traffic flow place Δ c excess time in cycle ₂the vehicle number of interior arrival; q _ibe the vehicle that detects in i the sampling time interval rate of leaving away, i is the sequence number in time interval of detecting of described check point, n be during to any time t described in the number of times that detected of check point; k _jfor section jam density, be generally taken as 100-150 car/kilometer;

N ₁: as Δ c ₁> c ₁-g ₁time, N ₁=λ ₁(Δ c ₁-c ₁+ g ₁)+λ ₂(c ₁-g ₁), wherein λ ₁(Δ c ₁-c ₁+ g ₁) combine traffic flow place Δ c excess time in cycle while arriving for vehicle ₁the interior vehicle number arriving with steady flow form, λ ₂(c ₁-g ₁) combine traffic flow place Δ c excess time in cycle while arriving for vehicle ₁the vehicle number arriving with interior discrete flow form; As Δ c ₁< c ₁-g ₁time, N ₁=λ ₂c ₁, now, vehicle combines traffic flow place Δ c excess time in cycle while arrival ₁inside only comprise discrete flow, and the vehicle number arriving is λ ₂Δ c ₁; N ₂: as Δ c ₂< g ₁time, N ₂=λ ₁Δ c ₂, now, when the diffusion of blocking up finishes, combine the traffic flow place cycle surplus

Remaining time Δ c ₂inside only comprise steady flow, and the vehicle number arriving is λ ₁Δ c ₂; As Δ c ₂> g ₁time, N ₂=λ ₁g ₁+ λ ₂(Δ c ₂-g ₁), wherein, λ ₁g ₁while end for the diffusion of blocking up, combine traffic flow place Δ c excess time in cycle ₂the interior vehicle number arriving with steady flow form, λ ₂(Δ c ₂-g ₁) combine traffic flow place Δ c excess time in cycle while finishing for the diffusion of blocking up ₂the interior vehicle number arriving with discrete flow form.

4. according to the arbitrary described method for controlling traffic signal lights based on vehicle queue length measuring and calculating of claim 1-3, it is characterized in that, check point described in described step S4 is detecting that the vehicle on described road does not readvance within the current cycle, and this step is specially:

Described check point detects in the given time when the vehicle in dead ahead is not moved within the road cycle or vehicle passing detection point do not detected.

5. the traffic light control system based on vehicle queue length measuring and calculating, is characterized in that, comprises with lower module:

Module is set up in traffic flow: describe for setting up urban road combination traffic flow model the arrival feature that road is got on the bus, calculate the arrival rate of vehicle on described road, described arrival rate is the vehicle number that enters described road in the unit interval; Further comprise:

Arrival rate computing module, for described combination traffic flow is divided into steady flow and discrete flow, the vehicle that sails into continuously that described steady flow is let pass by crossing, upstream Through Lane forms, discrete flow is made up of the vehicle that turn left in crossing, upstream and right-turn lane sails into, the time that crossing, upstream Through Lane is started to let pass is made as the start time in cycle, and on described road, the arrival rate of vehicle is:

$\stackrel{\&OverBar;}{\mathrm{\&lambda;}}=\frac{g_1}{c_1}({\mathrm{\&lambda;}}_1-{\mathrm{\&lambda;}}_2)+{\mathrm{\&lambda;}}_2$

Wherein, λ ₁for the arrival rate of steady flow, λ ₂for the arrival rate of discrete flow, g ₁for the duration that crossing, upstream Through Lane is let pass, c ₁for the combination traffic flow cycle, and combination equals crossing, the upstream signal period in the traffic flow cycle;

Sampling module: choose in road a certain position as sampling location, gather between two crossings of upstream and downstream without Vehicle Driving Cycle time road digitizing figure, original map using the digitizing figure getting as described road, the reference position in the corresponding road of the initial pixel downstream of described digitizing figure, the end position of the corresponding road of the pixel upstream that described digitizing figure finishes;

Detection module: on described road, select optional position as check point, detect the rate of leaving away of vehicle on described road every sampling interval Δ t, described in the rate of leaving away be in the unit interval, to leave the vehicle number of described road;

Secondary acquisition module: described check point, in the time detecting that vehicle on described road does not readvance within the current cycle, gathers the digitizing figure of described road again in described sampling location;

Comparing module: by the digitizing figure again getting, compare with described original map, the difference of comparison two width digitizing figures, the start point distance that the occurs distance l from check point obtains blocking up ₀, and judge that the position of the generation of blocking up is positioned at upstream or the downstream of described check point;

Computing module: according to described distance l ₀, and the position getting congestion, and described check point detects the moment t that vehicle does not readvance within the current cycle _s, calculate real-time vehicle queue length by vehicle queue length measure formula;

Traffic signal control module: set early warning vehicle queue length, in the time that described vehicle queue length reaches described early warning vehicle queue length, judge that crossing, upstream indicates the traffic lights that enter the road that gets congestion whether in green light phase; Be, the traffic lights that instruction entered to the road that gets congestion become red light and keep the schedule time, and extend the green time of instruction vehicle pass-through to all the other directions; Otherwise, in setting-up time, continue to extend red time; Set and allow clearance queue length, in the time that described vehicle queue length reaches described permission clearance queue length, traffic lights are adjusted into the normal workweek phase.

6. the traffic light control system based on vehicle queue length measuring and calculating according to claim 5, is characterized in that, in described comparing module, by the digitizing figure again getting, compares with described original map, is specially:

By the digitizing figure again getting, compare with the digitizing figure of described original map, mainly compare the different pixel of two width figures, identify first the different pixel from downstream to upstream, be the position getting congestion.

7. according to the traffic light control system based on vehicle queue length measuring and calculating described in claim 5 or 6, it is characterized in that, in described computing module, specifically comprise with lower module:

Position judging module: the position that judgement gets congestion is positioned at upstream or the downstream of described check point;

The first computing module: if the position getting congestion is positioned at the downstream of described check point, the position getting congestion and the distance of described check point are l ₀, and described check point detects the moment t that vehicle does not readvance within the current cycle _s, by vehicle queue length measure formula:

$L\left(t\right)=(N_1+[\frac{t-t_s}{c_1}]\stackrel{\&OverBar;}{\mathrm{\&lambda;}}{c}_1+N_2-\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}{q}_i\mathrm{\&Delta;t})/k_j+l_0,$ Calculate vehicle queue length;

The second computing module: if the position getting congestion is positioned at the upstream of described check point, the position getting congestion and the distance of described check point are l ₀, and described check point detects the moment t that vehicle does not readvance within the current cycle _s, by vehicle queue length measure formula:

$L\left(t\right)=(N_1+[\frac{t-t_s}{c_1}]\stackrel{\&OverBar;}{\mathrm{\&lambda;}}{c}_1+N_2-\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}{q}_i\mathrm{\&Delta;t})/k_j+l_0,$ Calculate vehicle queue length;

Wherein, t is that described check point detects vehicle in the time not being moved within the road cycle or any time after vehicle passing detection point, N do not detected ₁and N ₂while being respectively vehicle arrival, combine traffic flow place Δ c excess time in cycle ₁when finishing, the vehicle number of interior arrival and the diffusion of blocking up combine traffic flow place Δ c excess time in cycle ₂the vehicle number of interior arrival; q _ibe the vehicle that detects in i the sampling time interval rate of leaving away, i is the sequence number in time interval of detecting of described check point, n be during to any time t described in the number of times that detected of check point; k _jfor section jam density, be generally taken as 100-150 car/kilometer;

N ₁: as Δ c ₁> c ₁-g ₁time, N ₁=λ ₁(Δ c ₁-c ₁+ g ₁)+λ ₂(c ₁-g ₁), wherein λ ₁(Δ c ₁-c ₁+ g ₁) combine traffic flow place Δ c excess time in cycle while arriving for vehicle ₁the interior vehicle number arriving with steady flow form, λ ₂(c ₁-g ₁) combine traffic flow place Δ c excess time in cycle while arriving for vehicle ₁the vehicle number arriving with interior discrete flow form; As Δ c ₁< c ₁-g ₁time, N ₁=λ ₂c ₁, now, vehicle combines traffic flow place Δ c excess time in cycle while arrival ₁inside only comprise discrete flow, and the vehicle number arriving is λ ₂Δ c ₁; N ₂: as Δ c ₂< g ₁time, N ₂=λ ₁Δ c ₂, now, when the diffusion of blocking up finishes, combine traffic flow place Δ c excess time in cycle ₂inside only comprise steady flow, and the vehicle number arriving is λ ₁Δ c ₂; As Δ c ₂> g ₁time, N ₂=λ ₁g ₁+ λ ₂(Δ c ₂-g ₁), wherein, λ ₁g ₁while end for the diffusion of blocking up, combine traffic flow place Δ c excess time in cycle ₂the interior vehicle number arriving with steady flow form, λ ₂(Δ c ₂-g ₁) combine traffic flow place Δ c excess time in cycle while finishing for the diffusion of blocking up ₂the interior vehicle number arriving with discrete flow form.

8. according to the arbitrary described traffic light control system based on vehicle queue length measuring and calculating of claim 5-7, it is characterized in that, described check point in described secondary acquisition module is detecting that the vehicle on described road does not readvance within the current cycle, is specially:

Described check point detects in the given time when the vehicle in dead ahead is not moved within the road cycle or vehicle passing detection point do not detected.