面向瓶颈路段的城市交通信号控制动态优化方法
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摘要
信号控制是调节城市交通流的重要手段之一，对于缓解交通拥堵、确保交通流的正常、有序运行具有重要意义。目前，常用的信号控制技术主要根据进口道的静态属性(几何尺寸、渠划方案等)和动态属性(流量等)优化节点信号配时参数，解决交叉口的安全、效率和公平性问题，对促进世界各国城市交通管理水平的提升发挥了重要作用。然而，传统的信号控制技术主要适用于非饱和状态，且没有考虑上下游路段之间的相互影响，过饱和状态下信号控制技术的研究尚处于起步阶段。随着城市交通拥堵问题的日益加剧，很多节点的交通流运行经常处于过饱和状态，甚至部分路段的排队长度接近或等于路段长度，引起排队上溯现象的发生，形成路段“瓶颈”，严重制约路网交通流的整体运行效率。为了有效预防排队上溯现象的发生、减少交通拥堵状态的时空波动，城市路网的信号控制方案应尽可能实施区域协调控制，且在区域协调控制方案优化中应充分考虑瓶颈路段的约束；同时，为了减少排队上溯对上游交叉口乃至整个区域交通流所产生的负面影响，必须准确、实时的识别或预测排队上溯，并在保证区域交通流运行效率的基础上，通过配时参数优化快速消散路段“瓶颈”。为了适应当今复杂的城市交通形势，本文以瓶颈路段约束下的城市交通信号控制动态优化方法为核心，着重研究考虑交通流运行特性的单点信号控制方法、瓶颈路段约束下区域增容控制方法、排队上溯识别方法、瓶颈状态识别方法以及排队消散信号优化方法等，并根据以上内容在如下五个方面开展了重点研究。
(1)考虑交通流运行特性的单点交叉口信号控制方法无信号交叉口通常是制约城市路网交通流运行效率的薄弱环节，当无信号交叉口满足特定条件时应考虑将其改为信号控制。本部分首先分析无信号交叉口非优先车流的运行效率以及信号控制交叉口所有机动车流的运行效率，并以交叉口交通流的整体运行效率最优为决策依据，确定无信号交叉口改用信号控制的临界流量条件；其次，分析不同交通状态下的单点信号控制策略，以优化时段内所有路段的平均承载车辆数之和最小为优化目标，提出一种进出口道综合效率最优的配时参数优化方法，为准饱和状态下城市交通流的区域协调控制提供基础。
(2)路段瓶颈约束下的区域增容控制信号优化方法分析准饱和状态下的区域协调控制目标，提出区域增容控制的控制策略并建立相应的目标函数表达式；同时，以上下游路段交通流的相互影响为基础，提出一种区域拓扑结构影响下的路段承载车辆数动态演化模型；以单位时间内的区域输出流量最大为优化目标，以相位最大绿灯时长和最小绿灯时长为约束，建立节点相位绿信比优化模型；考虑路段上下游车辆的驶入及驶离规律，描述相邻节点之间的最佳相位差动态优化过程，为准饱和和高饱和状态下的区域协调控制提供基础。
(3)基于上游断面信息的排队上溯识别方法分析流量、速度和时间占有率的相互关系，推导适用于所有交通流状态的时间占有率估算模型，提出一种基于上游断面信息的排队上溯识别方法；利用动力学方程，修正传统的交通波模型，进而确定表征排队上溯现象发生的周期时间占有率阈值；最后，利用VISSIM仿真数据，以误判率为指标，验证本方法对排队上溯现象的识别精度，并分析检测器位置和大型车辆比例对误判率的影响，说明本方法对排队上溯识别精度的稳定性。
(4)基于瓶颈路段断面信息的瓶颈状态识别方法首先，提出滚动时间占有率的基本概念并介绍其统计方法；其次，基于不同车型的有效车身长度、自由流速度和拥挤速度，确定排队检测器位置可能处于畅通状态和拥堵状态的时间占有率阈值，并通过VISSIM仿真分别得到未过饱和和过饱和状态下的时间占有率数据；最后，采用Johson曲线将原始的时间占有率数据转化为标准的正态数据，并利用质量控制图的基本思想确定瓶颈触发及瓶颈结束的条件阈值，为瓶颈控制方案的实施提供一种理论前提。
(5)面向单点瓶颈的排队消散信号参数优化方法分析单点瓶颈控制的基本策略和控制流程，并基于排队上溯识别方法和瓶颈状态识别方法，提出瓶颈路段上下游交叉口的配时参数优化方法及控制方式之间的平滑过渡方法；利用VISSIM仿真数据，评价两类瓶颈控制方法的控制效果。
最后，对论文的研究进展及主要成果进行总结，并提出研究过程中存在的主要问题以及下一步需要探索内容。
Traffic signal control is an important means to regulate urban traffic flow, reduce congestion,and it also can ensure the operation of traffic flow normally and orderly. The traditional signalcontrol signal timing methods considers the optimization of dynamic traffic flow in urban streetnetwork. It can improve the safety of the intersection, the operation efficiency and fairness of thenetworks; and it also can promote the improvement of the level of urban traffic management inthe world observably. However, the traditional signal control system is mainly applied tounsaturation condition, without considering the interaction between the traffic streams upstreamand downstream. The literature is limited regarding methods of signal timing underoversaturation conditions. With traffic congestion continuing to grow in urban areas, a growingnumber of signalized intersections are operated under oversaturated condition frequently, and thequeue length of some roads even close to the link length during peak periods, which leads tospillovers. The role of spillovers in city street network is very significant, and it is already knownfor example that spillovers can lead to gridlock on ring roads and other network with closed loop.In order to prevent the occurrence of spillovers and reduce the spatial and temporal fluctuationsof the traffic congestion status, area-wide cooperation control should be implemented in urbanstreet networks; meanwhile, it is necessary to identify and dissipate spillovers accurate andtimely, so as to avoid the negative influence either in complex urban systems or at intersections.In order to adapt to the complex urban traffic situation recently, this paper takes the dynamicoptimization of the traffic signal timing in urban street networks as the core, considering theinfluence of bottleneck. The emphases of the paper include signal timing for an isolatedintersection with the influence of bottlenecks, area-wide cooperation compatibilization control,identification menthods of spillovers, and signal timing optimization for spillovers dissipation.According to the contents mentioned above, this paper will mainly discuss the following fiveparts.
1. Optimization method of signal timing for isolated intersection sonsidering the operationalcharacteristics of traffic flow Firstly, the operating efficiency of non-priority traffic atunsignalized intersections and the average vehicular dealy at signalized intersection is analyzed,and the critical traffic volume for signal installation is determined from the veiwpoint of theoperation efficiency of the intersection. Then, signal control strategies under different trafficconditions are discussed, and the optimization idea that minimizing the number of vehicles in all approach lanes within the optimization horizon is proposed, taking the comprehensive efficiencyof all approaches lanes as the optimization objective. This research may provide a new theoryreference for determining the signal timing parameters especially when the intersection includesbottlenecks.
(2) Signal timing for area-wide compatibilization with the influence of bottleneck. Theobjective of signal control under nearly saturated condition is analyzed firstly, and the controlstrategy and objective function are proposed. Based on the interaction of the upper and downtraffic flows, the calculation method of the number of vehicles in one special lane at thebeginning of one cycle is advanced with the influence of network topology. With the idea thatminimizing the number of vehicles in all approach lanes within the optimization horizon as theoptimizationobject, the optimization method of spilt for all signals is proposed consider therestriction of maximum and minimum green time. Combineing the rules of output and input forsections, the dynamic evolution process of optimization offset is described, which could supply abasis for coordination control under high saturation conditions.
(3) Spillovers identificition in urban street networks based on upstream fixed traffic data thispart provides a calculation method for the occupancy per cycle under different traffic conditions,based on the relationship between the three basic traffic flow parameters, speed, traffic flow, anddensity; and then presents a method to identify spillovers in an urban street network based onupstream fixed detector data, using occupancy per cycle as the determination index; This partalso introduces traffic wave models modified by a kinematic equation, and determine thethreshold of occupancy, which characterizes the appearance of spillovers; The accuracy andusability of the new method are verified by VISSIM simulation, using the ratio of misjudgmentas the evaluation index. Finally, the precision stability of the spillover identification method isanalyzed
(4) Spillovers identificition in urban street networks with the traffic data at bottleneck this partpresents a determination method of threshold for bottleneck state in urban street network basedon queue detector data, using ocupancy per cycle as the determination index. The threshold ofoccupancy for congested condition could be determined combining with the different effectivevehicle lengths. The data of rolling time occupancy under unsaturated and saturation states isobtained with VISSIM simulation, and a new array using the minimum of successive occupancyis achieved with different positive integers as the interval. Considering processing of vehiclespassing through the queue detertor as a production process, the rolling time occupancy could beregarded as the corresponding products, which obeys non-normal distribution; these dataproduced by the non-normal process could be transformated to normal ones by Johson curve family, and the upper bound with different interval was determined with the basic idea of qualitycontrol; contrast analysis the occupancy threshold and the upper (lower) bounds with differentinterval, the trigger and termination conditions for bottleneck control are deceided.
(5) signal timing optimization for spillovers dissipation bottleneck control strategy andcontrol manner is analyzed firstly, and the signal timing optimization methods for spilloversdissipation are proposed based on the results of part3and4; meawhile, smooth transition meansbetween bottleneck and conventional control projects is provided, and the two methods areevaluated by VISSIM simulation.
In the last, the main progress and achievement of this dissertation are summarized, andthecontents and problems which need to perfect and explore further more in the study areputforward.
(1)考虑交通流运行特性的单点交叉口信号控制方法无信号交叉口通常是制约城市路网交通流运行效率的薄弱环节，当无信号交叉口满足特定条件时应考虑将其改为信号控制。本部分首先分析无信号交叉口非优先车流的运行效率以及信号控制交叉口所有机动车流的运行效率，并以交叉口交通流的整体运行效率最优为决策依据，确定无信号交叉口改用信号控制的临界流量条件；其次，分析不同交通状态下的单点信号控制策略，以优化时段内所有路段的平均承载车辆数之和最小为优化目标，提出一种进出口道综合效率最优的配时参数优化方法，为准饱和状态下城市交通流的区域协调控制提供基础。
(2)路段瓶颈约束下的区域增容控制信号优化方法分析准饱和状态下的区域协调控制目标，提出区域增容控制的控制策略并建立相应的目标函数表达式；同时，以上下游路段交通流的相互影响为基础，提出一种区域拓扑结构影响下的路段承载车辆数动态演化模型；以单位时间内的区域输出流量最大为优化目标，以相位最大绿灯时长和最小绿灯时长为约束，建立节点相位绿信比优化模型；考虑路段上下游车辆的驶入及驶离规律，描述相邻节点之间的最佳相位差动态优化过程，为准饱和和高饱和状态下的区域协调控制提供基础。
(3)基于上游断面信息的排队上溯识别方法分析流量、速度和时间占有率的相互关系，推导适用于所有交通流状态的时间占有率估算模型，提出一种基于上游断面信息的排队上溯识别方法；利用动力学方程，修正传统的交通波模型，进而确定表征排队上溯现象发生的周期时间占有率阈值；最后，利用VISSIM仿真数据，以误判率为指标，验证本方法对排队上溯现象的识别精度，并分析检测器位置和大型车辆比例对误判率的影响，说明本方法对排队上溯识别精度的稳定性。
(4)基于瓶颈路段断面信息的瓶颈状态识别方法首先，提出滚动时间占有率的基本概念并介绍其统计方法；其次，基于不同车型的有效车身长度、自由流速度和拥挤速度，确定排队检测器位置可能处于畅通状态和拥堵状态的时间占有率阈值，并通过VISSIM仿真分别得到未过饱和和过饱和状态下的时间占有率数据；最后，采用Johson曲线将原始的时间占有率数据转化为标准的正态数据，并利用质量控制图的基本思想确定瓶颈触发及瓶颈结束的条件阈值，为瓶颈控制方案的实施提供一种理论前提。
(5)面向单点瓶颈的排队消散信号参数优化方法分析单点瓶颈控制的基本策略和控制流程，并基于排队上溯识别方法和瓶颈状态识别方法，提出瓶颈路段上下游交叉口的配时参数优化方法及控制方式之间的平滑过渡方法；利用VISSIM仿真数据，评价两类瓶颈控制方法的控制效果。
最后，对论文的研究进展及主要成果进行总结，并提出研究过程中存在的主要问题以及下一步需要探索内容。
Traffic signal control is an important means to regulate urban traffic flow, reduce congestion,and it also can ensure the operation of traffic flow normally and orderly. The traditional signalcontrol signal timing methods considers the optimization of dynamic traffic flow in urban streetnetwork. It can improve the safety of the intersection, the operation efficiency and fairness of thenetworks; and it also can promote the improvement of the level of urban traffic management inthe world observably. However, the traditional signal control system is mainly applied tounsaturation condition, without considering the interaction between the traffic streams upstreamand downstream. The literature is limited regarding methods of signal timing underoversaturation conditions. With traffic congestion continuing to grow in urban areas, a growingnumber of signalized intersections are operated under oversaturated condition frequently, and thequeue length of some roads even close to the link length during peak periods, which leads tospillovers. The role of spillovers in city street network is very significant, and it is already knownfor example that spillovers can lead to gridlock on ring roads and other network with closed loop.In order to prevent the occurrence of spillovers and reduce the spatial and temporal fluctuationsof the traffic congestion status, area-wide cooperation control should be implemented in urbanstreet networks; meanwhile, it is necessary to identify and dissipate spillovers accurate andtimely, so as to avoid the negative influence either in complex urban systems or at intersections.In order to adapt to the complex urban traffic situation recently, this paper takes the dynamicoptimization of the traffic signal timing in urban street networks as the core, considering theinfluence of bottleneck. The emphases of the paper include signal timing for an isolatedintersection with the influence of bottlenecks, area-wide cooperation compatibilization control,identification menthods of spillovers, and signal timing optimization for spillovers dissipation.According to the contents mentioned above, this paper will mainly discuss the following fiveparts.
1. Optimization method of signal timing for isolated intersection sonsidering the operationalcharacteristics of traffic flow Firstly, the operating efficiency of non-priority traffic atunsignalized intersections and the average vehicular dealy at signalized intersection is analyzed,and the critical traffic volume for signal installation is determined from the veiwpoint of theoperation efficiency of the intersection. Then, signal control strategies under different trafficconditions are discussed, and the optimization idea that minimizing the number of vehicles in all approach lanes within the optimization horizon is proposed, taking the comprehensive efficiencyof all approaches lanes as the optimization objective. This research may provide a new theoryreference for determining the signal timing parameters especially when the intersection includesbottlenecks.
(2) Signal timing for area-wide compatibilization with the influence of bottleneck. Theobjective of signal control under nearly saturated condition is analyzed firstly, and the controlstrategy and objective function are proposed. Based on the interaction of the upper and downtraffic flows, the calculation method of the number of vehicles in one special lane at thebeginning of one cycle is advanced with the influence of network topology. With the idea thatminimizing the number of vehicles in all approach lanes within the optimization horizon as theoptimizationobject, the optimization method of spilt for all signals is proposed consider therestriction of maximum and minimum green time. Combineing the rules of output and input forsections, the dynamic evolution process of optimization offset is described, which could supply abasis for coordination control under high saturation conditions.
(3) Spillovers identificition in urban street networks based on upstream fixed traffic data thispart provides a calculation method for the occupancy per cycle under different traffic conditions,based on the relationship between the three basic traffic flow parameters, speed, traffic flow, anddensity; and then presents a method to identify spillovers in an urban street network based onupstream fixed detector data, using occupancy per cycle as the determination index; This partalso introduces traffic wave models modified by a kinematic equation, and determine thethreshold of occupancy, which characterizes the appearance of spillovers; The accuracy andusability of the new method are verified by VISSIM simulation, using the ratio of misjudgmentas the evaluation index. Finally, the precision stability of the spillover identification method isanalyzed
(4) Spillovers identificition in urban street networks with the traffic data at bottleneck this partpresents a determination method of threshold for bottleneck state in urban street network basedon queue detector data, using ocupancy per cycle as the determination index. The threshold ofoccupancy for congested condition could be determined combining with the different effectivevehicle lengths. The data of rolling time occupancy under unsaturated and saturation states isobtained with VISSIM simulation, and a new array using the minimum of successive occupancyis achieved with different positive integers as the interval. Considering processing of vehiclespassing through the queue detertor as a production process, the rolling time occupancy could beregarded as the corresponding products, which obeys non-normal distribution; these dataproduced by the non-normal process could be transformated to normal ones by Johson curve family, and the upper bound with different interval was determined with the basic idea of qualitycontrol; contrast analysis the occupancy threshold and the upper (lower) bounds with differentinterval, the trigger and termination conditions for bottleneck control are deceided.
(5) signal timing optimization for spillovers dissipation bottleneck control strategy andcontrol manner is analyzed firstly, and the signal timing optimization methods for spilloversdissipation are proposed based on the results of part3and4; meawhile, smooth transition meansbetween bottleneck and conventional control projects is provided, and the two methods areevaluated by VISSIM simulation.
In the last, the main progress and achievement of this dissertation are summarized, andthecontents and problems which need to perfect and explore further more in the study areputforward.
引文
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