CN-116913110-B - Intersection signal control method considering truck start and following delay

Abstract

The invention provides a control method of intersection signals considering truck start and following delay, comprising the following steps of respectively analyzing the truck start delay in undersaturation state and oversaturation state and establishing a truck start delay model; the method comprises the steps of establishing a truck following delay model according to a mobile bottleneck theory and truck following delay definition, establishing a truck following delay model based on a truck starting delay model and the truck following delay model, reestablishing a delay minimum signal period calculation model by considering truck starting delay and truck following delay factors on the basis of a traditional delay minimum signal period calculation model, and controlling signal lamps at an intersection according to the delay minimum signal period calculation model. The invention utilizes the delay minimum signal period calculation method to reduce the vehicle delay of the intersection and improve the intersection oral administration level.

Inventors

• SUN CHAO
• CHEN WEIYU
• ZHAO LEI
• ZHANG PENG

Assignees

• 江苏大学

Dates

Publication Date

20260512

Application Date

20230714

Claims (3)

1. 1. A control method of intersection signal considering truck start and delay of following is characterized by comprising the following steps: establishing a truck start delay model by respectively analyzing the undersaturation state and the oversaturation state truck start delay; establishing a truck following delay model according to a mobile bottleneck theory and truck following delay definition; based on a truck start delay model and a truck following delay model, on the basis of a traditional delay minimum signal period calculation model, taking truck start delay and truck following delay factors into consideration, and reestablishing a delay minimum signal period calculation model; According to the delay minimum signal period calculation model, controlling signal lamps at the intersection; According to the influence degree of truck mixing on an undersaturated intersection, the truck start delay in an undersaturated state is divided into two situations of truck start delay in an undersaturated state and truck start delay in a supersaturated state, and the two situations are respectively analyzed to establish a truck start delay calculation model, wherein the calculation model specifically comprises the following steps: in the undersaturation state, the total delay of the vehicles in a traffic signal period when the vehicles are not in the queuing state is analyzed, and the calculation formula of the total delay and the average delay of the vehicles is corrected: Vehicle total delay in traffic signal period The calculation formula is modified as follows: , delay of vehicles in traffic signal period The calculation formula is modified as follows: , Wherein: c represents the nth cycle time, r represents the red light time in the nth cycle; s represents the vehicle dissipation saturation flow rate when the vehicle does not exist in the nth period and the vehicle/hour; Representing the number of vehicles which are not dissipated in the n-1 th period; When the first constraint condition is met, all the queuing vehicles affected by the trucks at the intersection under the undersaturation state are dissipated when the green light is finished, wherein the first constraint condition is that: , Wherein: Representing the number of the vehicles in the queuing in the nth period, which are in subsequent queuing at the starting time of the first truck; Indicating the number of vehicles which are not dissipated in the nth period, g indicating the green light time in the nth period, and the dissipation rate being ; Representation of To the point of Average number of vehicles arrived over a period of time; The calculation formula of (2) is as follows: , wherein: x represents the position of the first truck in the queuing traffic flow in the nth period, and according to the assumption condition of truck start delay, the value probability function of x is as follows: , Wherein: representing the value of x; The truck arrival rate in the period; for the dissipation time of all queuing vehicles before the first truck of the fleet in the nth period, the calculation formula is as follows: , Wherein: Represent the first The maximum number of vehicles in the entrance way queuing in each period; in a coordinate system, a triangle is formed by the driving off line, the driving off line and the traffic arrival line which are affected by the truck, the area of the triangle is the extra delay time generated by the traffic of the intersection which is affected by the truck, and the calculation formula is as follows: , , Wherein: representing a truck start delay value when the truck still maintains the undersaturated state after being mixed in the undersaturated state; Indicating that in the undersaturated state, the truck delays when the undersaturated state is still maintained after the truck is mixed; When the first constraint condition is not met and the second constraint condition is met, queuing vehicles affected by trucks at the intersection in an undersaturated state cannot be completely dissipated when the green light is finished, and part of vehicles need to be secondarily queued to pass through the intersection, wherein the second constraint condition is as follows: , In a coordinate system, a closed area is defined by a driving off line, an original driving off line, a traffic flow arrival line and a green light termination line, wherein the closed area is a truck start delay time when a queuing vehicle with an intersection affected by a truck cannot be completely dissipated when the green light is ended, and the calculation formula is as follows: , The starting delay value of the truck when the intersection is in a supersaturated state after the truck is mixed in the undersaturated state is shown; establishing an x critical value according to the first constraint condition and the second constraint condition The calculation formula is as follows: , If it is Indicating that trucks exist at any position in the traffic flow queued at the intersection, wherein all the queued vehicles can be completely dissipated in the green light period, namely the intersection always keeps an undersaturated state, if Indicating that trucks exist at any position in the traffic flow queued at the intersection, wherein all the queued vehicles cannot be completely dissipated in the green light period, namely the intersection is in a supersaturated state, if Under the undersaturation state, the calculation formula of the starting delay average expected value of the monocycle truck is as follows: ; Wherein: indicating that the position of the first truck in the queuing stream is in the undersaturation state When the green light ends, the queuing vehicles affected by the trucks can still dissipate the truck start delay value completely; indicating that the position of the first truck in the queuing stream is in the undersaturation state When the green light ends, the queuing vehicles affected by the trucks after the trucks are mixed cannot be completely dissipated; Calculating the truck start delay time in the oversaturated state, namely, under the oversaturated state, all queuing vehicles at the intersection cannot be completely dissipated without being influenced by the truck, namely, the first constraint condition and the second constraint condition are not met, and establishing a third constraint condition for the oversaturated state truck start delay: ; under the supersaturation state, the intersection vehicle delay calculation formula is: , Under the supersaturation state, the total delay calculation formula of the intersection vehicle is as follows: , in the coordinate system, the triangle area surrounded by the original driving off line, the driving off line influenced by the truck and the green light termination line is a truck start delay value in a supersaturated state, and the calculation formula of the supersaturated state truck start delay value is as follows: , Wherein: A truck start delay value indicating when a truck exists in the oversaturated state intersection queuing vehicle; under the supersaturation state, the calculation formula of the number of vehicles in the queue at the starting moment of the first truck in the flow is as follows: , The calculation formula of the average expected value of the truck start delay in a single period under the supersaturation state is as follows: , Wherein: Representing an average expected value of a truck start delay; Indicating that the position of the first truck in the queuing stream is in the oversaturation state A truck start delay value; analyzing the states of intersections in a plurality of continuous periods, and establishing a state judgment model of the states of the intersections in each period: , Wherein: Representing a sign function, wherein when the values in brackets are negative numbers, 0 and positive numbers, the corresponding values are-1, 0 and 1 respectively; The state of the nth period of the intersection is represented, when the value of the state is-1, the intersection is in an undersaturated state, when the value of the state is 0, the intersection is in a critical saturated state, and when the value of the state is 1, the intersection is in a supersaturated state; the method is used for judging the influence degree of the truck start on the intersection under the undersaturation state, wherein if the value is 1, the intersection becomes supersaturated after the truck is mixed, otherwise, the intersection still keeps the undersaturation state after the truck is mixed; Analyzing delay states of a plurality of cycle intersections, and establishing a total vehicle delay calculation model under the condition that no truck exists in n cycles: , Wherein: Represent the first When no truck interference exists in each period, the total delay value of the vehicles at the intersection under the undersaturation state; Represent the first When no truck interference exists in each period, the total delay value of the vehicles at the intersection under the supersaturated state; analyzing delay states of a plurality of cycle intersections, and establishing a total truck start delay model under the condition that trucks exist in n cycles: , Wherein: Represent the first When the intersection is in an undersaturated state in each period, the queuing vehicles affected by the trucks after the trucks are mixed still can be started by the truck delay value when all the vehicles dissipate at the end of the green light; Represent the first When the intersection is in an undersaturated state in each period, the queuing vehicles affected by the trucks after the trucks are mixed cannot be completely dissipated at the end of the green light, and the starting delay value of the trucks is obtained; Represent the first The starting delay value of the truck at the intersection when the intersection is in a supersaturated state in each period; According to the mobile bottleneck theory and truck following delay definition, a truck following delay model is established, and the model specifically comprises the following steps: Analyzing the distance length required to be travelled by the automobile in a reaction stage, a deceleration stage and a following stage, and confirming the minimum safe head distance under the movement bottleneck effect; under the condition of no signal interference, the truck following situation under the single car following situation is analyzed, and a truck following delay calculation model under the single car following situation is established: , Wherein: t 1 represents a delay time generated by an automobile in a deceleration stage; T 2 represents the delay time generated by the automobile in the following stage; representing that a truck delays following a truck during the course of the road section and the single car following the truck passes through the road section; indicating the maximum deceleration of the automobile; V f represents the free running speed of the automobile; representing the running speed of the truck; Representing the distance along which the automobile runs in the stage of being affected by the movement bottleneck effect; Under the condition of no signal interference, the truck following situation under the situation of a plurality of automobiles is analyzed, and a truck following delay calculation model under the situation of the plurality of automobiles is established: , , Wherein: Indicating the starting moment of the mobile bottleneck effect; Indicating the end time of the mobile bottleneck effect; Representing the number of vehicles affected by the truck; Representation of To the point of Average number of vehicles arrived over a period of time; representing the truck following total delay of all following vehicles; representing the affected first Truck following delay of single vehicle generated by the vehicle; under the condition of signal control, analyzing conditions for generating truck following delay, and establishing a fourth constraint condition: , Wherein: To express the first The time required for all queuing vehicles to dissipate is finished in each period; Analyzing the remaining green time after the queuing vehicle has completely dissipated and the affected first time when all following vehicles cannot pass through the intersection during the remaining green time in the undersaturated state Time required for vehicle to pass through intersection: , , Wherein: indicating the remaining green light after all the queuing vehicles are dissipated; representing the affected first The time required for the vehicles to pass through the intersection; representing the length of the automobile; representing the affected first Truck following delay of single vehicle generated by the vehicle; establishing the number of vehicles that are affected by the movement bottleneck effect but still pass through the intersection Is a computational model of (a): ; Wherein: representing the affected first Truck following delay of single vehicle generated by the vehicle; representing the affected first Truck following delay of single vehicle generated by the vehicle; establishing the maximum number of vehicles allowed to pass in the remaining green light time without the influence of the movement bottleneck effect And (3) calculating a model: ; when there is a mobile bottleneck effect, there is The vehicles cannot pass through the intersection in the period, and need to stop and queue until the next signal period is taken as the queuing vehicle to be dissipated, and a truck following delay calculation model under the movement bottleneck effect is established: ; Wherein: indicating truck-following delays for individual vehicles generated by the affected ith vehicle; Assuming truck arrival rate at target intersection Always keep constant, and The value is related to the number of vehicles in the line at the intersection and the position of the first truck in the line vehicles, and the first is established The time required for all the queuing vehicles to dissipate in each period And (3) calculating a model: ; establishing expected value of remaining green light time And truck heel total delay expected value at intersection And (3) calculating a model: ; ; Wherein: A maximum expected number of vehicles allowed to pass in the remaining green time of the intersection is represented; indicating the expected value of the number of vehicles that would be able to pass through the intersection, while the intersection is affected by the movement bottleneck effect.
2. 2. The intersection signal control method considering truck start and following delay according to claim 1, wherein the analysis of the distance to be travelled by the car in the reaction phase, deceleration phase, following phase, and confirming the minimum safe head distance under the moving bottleneck effect comprises: reaction stage: , Wherein: representing the distance travelled by the vehicle during the reaction phase; The free running speed of the automobile is represented; Indicating the reaction time of the automobile driver; indicating the moment when the front truck running condition is found during the running process of the automobile driver; indicating the moment when the automobile begins to decelerate; a deceleration stage: , Wherein: Representing the total distance travelled by the vehicle during the deceleration phase; In the first sub-stage of the deceleration stage, the automobile performs deceleration movement, and the deceleration gradually reaches the maximum driving distance; indicating the maximum deceleration of the automobile; Indicating the deceleration rate of change; The second sub-stage of the deceleration stage is represented, the deceleration of the automobile is kept constant after reaching the maximum value, and the automobile is uniformly decelerated to a distance which is driven when the driving speed is consistent with that of a front truck; representing the running speed of the truck; A following stage: , Wherein: Representing the distance travelled by the truck in the following stage; establishing a minimum safe vehicle distance and following driving path calculation model under the movement bottleneck effect: , , Wherein: Representing minimum safe vehicle spacing under a moving bottleneck effect; Representing the distance along which the automobile runs in the stage of being affected by the movement bottleneck effect; Representing the length of a road section affected by the moving bottleneck effect; Indicating the free running path length of the vehicle.
3. 3. The intersection signal control method considering truck start and truck following delay according to claim 1, wherein based on a truck start delay model and a truck following delay model, on the basis of a traditional delay minimum signal period calculation model, a delay minimum signal period calculation model is re-established by considering truck start delay and truck following delay factors, specifically: The method comprises the steps of providing a research object as a signal control intersection, and not considering the influence of an upstream intersection, a downstream intersection and the entrance of road section traffic flows on a target intersection, distributing green time according to an equal saturation principle to make signal control, wherein the intersection is not provided with full red time, and the yellow light time defaults to 3s; each phase in signal timing should meet the shortest green lamp time requirement, and a fifth constraint condition is established, including: The shortest green lamp time of straight line phase needs to satisfy pedestrian's street demand: ; Wherein: Representing the shortest green light time; Representing the pedestrian crossing walking distance under the phase; Representing the pedestrian crossing speed; Representing green light interval time; =2, indicating that the intersection entrance lane flow direction is east straight; =4 indicates that the intersection entrance lane flow direction is south straight; =6, the intersection entrance lane flow direction is west straight; =8 indicates that the intersection entrance lane flow direction is north straight; The shortest green lamp time of left turn phase needs to ensure that vehicles at the intersection entrance road parking line have sufficient time to pass through the intersection: ; Wherein: Representing the driving time required by the truck to turn left through the intersection; indicating the phase vehicle start loss time; =1 indicates that the intersection entrance lane flow direction is east-left turn; =3 indicates that the intersection entrance lane flow direction is south-left turn; =5 indicates that the intersection entrance lane flow direction is west left turn; =7 indicates that the intersection entrance lane flow direction is north-left turn; the shortest green lamp time of each phase is equal to the maximum value of the shortest green lamp time of each flow direction in the phase; the method comprises the steps that in an intersection signal control model, the shortest time constraint exists in signal period and green light time of each phase, and a sixth constraint condition is established: ; Wherein C min is the shortest signal cycle time; Based on the traffic flow basic theory, the green light time of each phase is distributed according to the principle of equal saturation, and the specific formula is as follows: , Wherein: Represent the first Phase green light time; indicating a vehicle start delay; Represent the first Phase is the maximum value in the flow ratio of all the flow directions; under the condition that truck mixing is not considered, an overall vehicle delay calculation model of the intersection is established: , Wherein: Represent the first The vehicles of the main flow direction of the phase are delayed; Represent the first The phase mainly flows to the traffic flow; indicating that vehicles at the intersection are delayed under no interference of the truck; Comparing the situation that the time delay of the truck mixed with the delay of the truck is not considered with the situation that the time delay of the truck mixed with the delay of the intersection changes along with the signal period, obtaining the trend that the time delay of the truck mixed with the delay of the intersection is firstly rapidly reduced and then slowly increased along with the increase of the period; establishing a minimum vehicle average delay signal period calculation model objective function: , Wherein: representing the main flow direction of each phase; Indicating a truck-mixed delay at the intersection of the truck and the car, And wherein: indicating that the truck is mixed into the truck and is delayed; Indicating that the starting of the truck is delayed; indicating that the truck is delayed from the car.

Description

Intersection signal control method considering truck start and following delay Technical Field The invention relates to the technical field of traffic delay, in particular to an intersection signal control method considering truck start and following delay. Background Truck start-up delays, i.e., delays in queuing a vehicle for start-up to dissipate. Under the influence of signal control, when traffic flow arrives at an intersection during a red light, the traffic flow needs to be stopped at an entrance way and queued, and the traffic flow can pass after the red light time is finished. When the truck exists in the queuing vehicles, the weight of the queuing vehicles is large, the dynamic performance is poor, so that all subsequent queuing vehicles are limited by the truck when the truck is started to dissipate, the dissipation rate is reduced, and additional dissipation time is generated. The truck is delayed by following, namely, delay generated when a common automobile runs behind the truck by following. When the traffic arrives at the intersection and leaves the intersection during the green light, the running speed of the truck is reduced when the car following the truck passes through the intersection due to the fact that the running speed of the truck is generally lower than that of the truck, and extra passing time is generated. In the aspect of the study of the running characteristics of trucks, students at home and abroad mainly comprise two ideas, namely, firstly, converting trucks and other special vehicles in a road into standard vehicles for modeling analysis through vehicle conversion coefficients, and secondly, studying the influence of low-speed running of the trucks on the road on follow-up vehicles through a mobile bottleneck theory. However, both these two ideas have certain disadvantages at present. The method commonly used in the aspect of the vehicle conversion coefficient (PCE) is mainly based on qualitative analysis of measured data on road segments, and does not consider the influence of truck start on the dissipation rate of follow-up vehicles when trucks exist in vehicles queued at intersections, while in the aspect of the mobile bottleneck theory, the related research is limited to the interference of trucks on traffic flow when the trucks travel on road segments, and the interference research of trucks on traffic flow at intersections is lacking. In the aspect of research on intersection vehicle delay and traffic signal control strategies, most of current researches aim at modeling analysis of trucks in intersections by converting the trucks into standard vehicles according to vehicle conversion coefficients, neglecting influence of the trucks on subsequent vehicles when the trucks run at the intersections, and further causing non-ideal practical application effects of the existing delay calculation model and the signal control model on the intersections where some trucks arrive more frequently. Disclosure of Invention Aiming at the defects existing in the prior art, the invention provides a signal control method for an intersection, which considers the starting and following delays of trucks, and reduces the delay of the vehicles at the intersection by calculating the delays generated by the mixed running intersections of trucks and common automobiles and improving the level of the cross traffic by using a minimum signal period calculating method of the delays. And establishing a vehicle delay calculation model of a truck and automobile mixed intersection, and further optimizing and adjusting a control strategy of the intersection. The present invention achieves the above technical object by the following means. A signal control method for an intersection taking truck start and truck-following delay into consideration includes the steps of establishing a truck start delay model by analyzing truck start delay in an undersaturated state and truck start delay in an oversaturated state respectively, establishing a truck-following delay model according to a moving bottleneck theory and truck-following delay definition, reestablishing a delay minimum signal period calculation model based on a truck start delay model and a truck-following delay model and considering truck start delay and truck-following delay factors on the basis of a traditional delay minimum signal period calculation model, and controlling signal lamps of the intersection according to the delay minimum signal period calculation model. Further, according to the influence degree of truck mixing on the undersaturated intersection, the truck start delay in the undersaturated state is divided into two situations of truck start delay in the undersaturated state and truck start delay in the oversaturated state, and the truck start delay calculation model is established, and specifically comprises the following steps: in the undersaturation state, the total delay of the vehicles in a traffic signal period when the vehicles