公交信号优先协调控制理论与方法研究
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摘要
本学位论文依托国家高技术研究发展计划(863计划)和国家重点基础研究发展计划(973计划)课题完成。主要研究了公交信号优先协调控制理论。
全文共分六章。第一章介绍了研究背景、意义、现状及论文结构安排。第二章设计了公交信号优先控制子系统框架。从公交信号优先的控制目标、理念及实现方式三方面提出了公交信号优先的控制策略,建立了公交信号优先控制的算法体系,并设计了与其相匹配的硬件结构及数据流程。第三章研究了公交信号优先单点控制方法。在干线协调控制条件下,设计了主动式公交信号优先的总体控制逻辑、绿灯提前启亮控制逻辑和绿灯延长控制逻辑,提出了公交信号优先控制在多环和行人相位条件下的两种特殊处理方法,分析了绿灯延长决策和提前启亮决策对交叉口控制效果的影响。在被动式公交信号优先单点控制下,研究了基于公交叠加相位的相位相序设计方法、周期优化方法和绿灯时间优化方法。第四章提出了主动式公交优先协调控制算法。设计了八种不同控制思路下的决策方案,在每种决策方案下,综合考虑社会车流绿波带和公交车流绿波带,得到了最优信号配时参数。根据社会车流绿波带宽度、社会车流延误和公交车流延误建立综合效益优选模型,确定最佳决策,实现了主动式公交信号优先协调控制配时优化方法。通过模拟验证,主动式公交优先协调控制算法可在保证干线协调控制效果下,减少公交车流延误。第五章提出了被动式公交优先协调控制算法。分析了上下游交叉口车流的关联性;根据关联性,确定了上游交叉口驶出车流到达下游交叉口停车线时刻与下游交叉口绿灯时间的关系,在此基础上提出了车流时间宽度模型;并采用面积法建立了基于车流时间宽度的公交车流延误模型和社会车流延误,以人总延误最小为优化目标实现了被动式公交信号优先协调控制方法。第六章对论文所取得的进展和创新成果进行了总结,并提出了需进一步探讨的问题。
“Developping public transportation”has become a consensus to modern solve urban traffic problems. Signal control method can reduce delay of bus at the intersection and travel time to provide convenience to residents. Transit signal priority is an important technology to achieve "public priority" strategy. Thesis studies the suitable signal timing method for transit signal priority to reduce bus delay and improve bus level of service. The research findings of the dissertation contribute to a further study into the urban traffic control system, which maintains high value and guidance function in scientific research.
The object of this thesis is public transportation of network and the control target is to reduce bus delays as little as possible and maintain general traffic stably running. It explore transit signal priority control algorithms of a single-vehicle bus, single bus flow , two and more bus flow with active and passive transit signal priority control method to meet different transit traffic demand. This dissertation consists of the following chapters interrelated with each other:
(1) Design the framework of transit signal priority control: according to the objectives, principles and functions of the transit signal priority control, the strategies of transit signal priority control is established. It brings forward the system of transit signal priority algorithm and designs layout of the hardware devices and data flow matched to signal priority control algorithm.
(2) Propose active transit signal priority control method at a single intersection: after analyzing coordinated control impact on transit signal priority, the circumstance where early green and green extension strategy applied in the transit signal priority control is provided. Based on meaning and idea of Ring, green extension maximum which is affected by green time of bridge phase in the ring is established, and the whole control logic of active transit signal priority control, early green strategy and green extension strategy are built with non-public phase green optimization model under transit signal priority control. According to logic of active transit signal priority analysis, transit signal priority manages the analysis with the multi-loop and pedestrian phase and study early green strategy and green extension strategy impact on traffic control effect. Analysis shows the result that is early green strategy can reduce vehicle delay when the other phases are not congested, and the circumstance of green extension strategy by flow rate is less than early green strategy.
(3) Propose passive transit signal priority control method at a single intersection: from the view of optimization goal cycle optimized by average delay of vehicles is the same as average delay of persion in transit signal priority control; extra green time model of intersection is provided with spilt determined method impact on traffic control effect, and the phase sequence optimization method which is insert bus phase at unsatured green of general traffic green and signal timing parameter model is established according to analysis that the capacity of the phase together with left traffic and straight traffic will increase. The simulation results demonstrates active transit signal priority control not relied on bus information, but on general traffic flow not only can reduce the bus delay, but also improve green utilization and ensure the green level of service of intersection.
(4) Study active transit priority coordinated control algorithm: The layout of bus detecter under active transit priority coordinated control and bus travel time predicted model used in signal time optimization is first step of active transit priority coordinated control algorithm. Secondly cycle optimization model established by making the deviation between actual distance and ideal instance smallest uses Simplex Method (SM) to solve the opimazation. Singal time optimization model propose the main control objectives is green wave of general traffic and the subsidiary objective is green wave of bus traffic under different decision-making and builds comprehensive benefits optimal control model to determine the optimum decision-making with green wave band, general traffic average delay and transit traffic average delays so to achieve active transit priority signal coordinated control. Finally, with VISSIM to verify, the algorithm shows the result that active transit priority coordinated control can make delay of transit traffic minimum ensuring the other phase not congested.
(5) Study passive transit priority coordinated control algorithm: In order to ensure reliability of general traffic and bus traffic, layout methods on detectors of general traffic and bus traffic traffic, and the method of traffic flow are determined; based on association on upstream and downstream of network, as well as coordination attributes of traffic flow, network relevant parameters of transit signal priority control are described. According to relation between time when upstream arrvive at downstream and green time of downstream, time band models of exterior flow and interior flow are developed to determine signal timing parameters effect on flow running through intersections. Average delay model based on time band model of traffic flow is established by area computing method to get the delay of bus average delay and vehicle average delay. So optimization goal for making average person delay smallest is provided to realize the network signal timing optimization
The major innovations of the thesis are:
(1) Active transit signal priority control algorithm develops signal timing method of transit signal priority considering the effect of different green and pedestrian phase to guarantee the realization of transit signal priority at complex conditions when offset and cycle remaining the same.
(2) Passive transit signal priority control algorithm proposes signal timing method of transit signal priority which is insert bus phase at unsatured green of general traffic green to achieve transit signal priority without real time bus detected information.
(3) active transit priority coordinated control algorithmpropose the main control objectives is green wave of general traffic and the subsidiary objective is green wave of bus traffic under different decision-making to achieve singal bus traffic flow signal piroirty with reasonable vehicle green band to effectively integrate the transit traffic coordination and general traffic coordination control .
(4) average delay model based on time band analyzes the six condition of relations between time when upstream arrvive at downstream and green time of downstream, and establishes time band model and vehicle delay model to solve the problem that assumption arrive pattern of traffic flow is uniform is not the true,so as to make the delay model more reliable and approach the reality
全文共分六章。第一章介绍了研究背景、意义、现状及论文结构安排。第二章设计了公交信号优先控制子系统框架。从公交信号优先的控制目标、理念及实现方式三方面提出了公交信号优先的控制策略,建立了公交信号优先控制的算法体系,并设计了与其相匹配的硬件结构及数据流程。第三章研究了公交信号优先单点控制方法。在干线协调控制条件下,设计了主动式公交信号优先的总体控制逻辑、绿灯提前启亮控制逻辑和绿灯延长控制逻辑,提出了公交信号优先控制在多环和行人相位条件下的两种特殊处理方法,分析了绿灯延长决策和提前启亮决策对交叉口控制效果的影响。在被动式公交信号优先单点控制下,研究了基于公交叠加相位的相位相序设计方法、周期优化方法和绿灯时间优化方法。第四章提出了主动式公交优先协调控制算法。设计了八种不同控制思路下的决策方案,在每种决策方案下,综合考虑社会车流绿波带和公交车流绿波带,得到了最优信号配时参数。根据社会车流绿波带宽度、社会车流延误和公交车流延误建立综合效益优选模型,确定最佳决策,实现了主动式公交信号优先协调控制配时优化方法。通过模拟验证,主动式公交优先协调控制算法可在保证干线协调控制效果下,减少公交车流延误。第五章提出了被动式公交优先协调控制算法。分析了上下游交叉口车流的关联性;根据关联性,确定了上游交叉口驶出车流到达下游交叉口停车线时刻与下游交叉口绿灯时间的关系,在此基础上提出了车流时间宽度模型;并采用面积法建立了基于车流时间宽度的公交车流延误模型和社会车流延误,以人总延误最小为优化目标实现了被动式公交信号优先协调控制方法。第六章对论文所取得的进展和创新成果进行了总结,并提出了需进一步探讨的问题。
“Developping public transportation”has become a consensus to modern solve urban traffic problems. Signal control method can reduce delay of bus at the intersection and travel time to provide convenience to residents. Transit signal priority is an important technology to achieve "public priority" strategy. Thesis studies the suitable signal timing method for transit signal priority to reduce bus delay and improve bus level of service. The research findings of the dissertation contribute to a further study into the urban traffic control system, which maintains high value and guidance function in scientific research.
The object of this thesis is public transportation of network and the control target is to reduce bus delays as little as possible and maintain general traffic stably running. It explore transit signal priority control algorithms of a single-vehicle bus, single bus flow , two and more bus flow with active and passive transit signal priority control method to meet different transit traffic demand. This dissertation consists of the following chapters interrelated with each other:
(1) Design the framework of transit signal priority control: according to the objectives, principles and functions of the transit signal priority control, the strategies of transit signal priority control is established. It brings forward the system of transit signal priority algorithm and designs layout of the hardware devices and data flow matched to signal priority control algorithm.
(2) Propose active transit signal priority control method at a single intersection: after analyzing coordinated control impact on transit signal priority, the circumstance where early green and green extension strategy applied in the transit signal priority control is provided. Based on meaning and idea of Ring, green extension maximum which is affected by green time of bridge phase in the ring is established, and the whole control logic of active transit signal priority control, early green strategy and green extension strategy are built with non-public phase green optimization model under transit signal priority control. According to logic of active transit signal priority analysis, transit signal priority manages the analysis with the multi-loop and pedestrian phase and study early green strategy and green extension strategy impact on traffic control effect. Analysis shows the result that is early green strategy can reduce vehicle delay when the other phases are not congested, and the circumstance of green extension strategy by flow rate is less than early green strategy.
(3) Propose passive transit signal priority control method at a single intersection: from the view of optimization goal cycle optimized by average delay of vehicles is the same as average delay of persion in transit signal priority control; extra green time model of intersection is provided with spilt determined method impact on traffic control effect, and the phase sequence optimization method which is insert bus phase at unsatured green of general traffic green and signal timing parameter model is established according to analysis that the capacity of the phase together with left traffic and straight traffic will increase. The simulation results demonstrates active transit signal priority control not relied on bus information, but on general traffic flow not only can reduce the bus delay, but also improve green utilization and ensure the green level of service of intersection.
(4) Study active transit priority coordinated control algorithm: The layout of bus detecter under active transit priority coordinated control and bus travel time predicted model used in signal time optimization is first step of active transit priority coordinated control algorithm. Secondly cycle optimization model established by making the deviation between actual distance and ideal instance smallest uses Simplex Method (SM) to solve the opimazation. Singal time optimization model propose the main control objectives is green wave of general traffic and the subsidiary objective is green wave of bus traffic under different decision-making and builds comprehensive benefits optimal control model to determine the optimum decision-making with green wave band, general traffic average delay and transit traffic average delays so to achieve active transit priority signal coordinated control. Finally, with VISSIM to verify, the algorithm shows the result that active transit priority coordinated control can make delay of transit traffic minimum ensuring the other phase not congested.
(5) Study passive transit priority coordinated control algorithm: In order to ensure reliability of general traffic and bus traffic, layout methods on detectors of general traffic and bus traffic traffic, and the method of traffic flow are determined; based on association on upstream and downstream of network, as well as coordination attributes of traffic flow, network relevant parameters of transit signal priority control are described. According to relation between time when upstream arrvive at downstream and green time of downstream, time band models of exterior flow and interior flow are developed to determine signal timing parameters effect on flow running through intersections. Average delay model based on time band model of traffic flow is established by area computing method to get the delay of bus average delay and vehicle average delay. So optimization goal for making average person delay smallest is provided to realize the network signal timing optimization
The major innovations of the thesis are:
(1) Active transit signal priority control algorithm develops signal timing method of transit signal priority considering the effect of different green and pedestrian phase to guarantee the realization of transit signal priority at complex conditions when offset and cycle remaining the same.
(2) Passive transit signal priority control algorithm proposes signal timing method of transit signal priority which is insert bus phase at unsatured green of general traffic green to achieve transit signal priority without real time bus detected information.
(3) active transit priority coordinated control algorithmpropose the main control objectives is green wave of general traffic and the subsidiary objective is green wave of bus traffic under different decision-making to achieve singal bus traffic flow signal piroirty with reasonable vehicle green band to effectively integrate the transit traffic coordination and general traffic coordination control .
(4) average delay model based on time band analyzes the six condition of relations between time when upstream arrvive at downstream and green time of downstream, and establishes time band model and vehicle delay model to solve the problem that assumption arrive pattern of traffic flow is uniform is not the true,so as to make the delay model more reliable and approach the reality
引文
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