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Blacksburg, Virginia
Spring 2005
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Material Covered
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Basic Ideas
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Basic Definitions
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Intersection Geometry
Approach
Crossing area
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Flow Conditions at an Intersection
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Traffic Control Techniques
Time
Cycle Cycle
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Traffic Signal Control Strategies
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Traffic Control Strategies
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Control Strategies
Phase 1 Phase 2 Phase 3
Cycle
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Control Strategies
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Control Strategies
Saturation
flow
Time
Green
Red Amber
Red All
Effective green
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Control Strategies
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Vehicle delays at signalized intersections: Uniform
Vehicle Arrivals
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Definition of Queueing Terms for Intersection
Analysis
Cumulative arrivals
Cumulative number of vehicles Cumulative departures
D(t)
C
A(t)
h
g0
A
B
r g
c
Time
Red Green
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Deterministic Queueing Analysis
D(t) = µ ⋅ t (2)
where:
c - the duration of the signal cycle
r - effective red
g - effective green
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Deterministic Queueing Analysis
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Deterministic Queueing Analysis
g0 ≤ g (4)
∫ λdt ≤ ∫ µdt
0 0
(5)
λ ⋅ t c0 ≤ µ ⋅ t g
0
(6)
λ⋅c≤µ⋅g (7)
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Deterministic Queueing Analysis
Finally, we get:
λ g
--- ≤ --- (8)
µ c
( µ – λ ) ⋅ g0 = λ ⋅ r (10)
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Deterministic Queueing Analysis
λ⋅r
g 0 = ------------ (11)
µ–λ
ρ⋅r
g 0 = ------------ (13)
1–ρ
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Deterministic Queueing Analysis
h
λ = ------------------ (15)
( r + g0 )
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Deterministic Queueing Analysis
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Deterministic Queueing Analysis
λ ⋅ r2
d = ------------------------ (18)
2 ⋅ (1 – ρ)
d
d = ---------- (19)
λ⋅c
or
λ ⋅ r2
------------------------
2 ⋅ (1 – ρ)
d = ------------------------ (20)
λ⋅c
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Simplifying the previous expression, average delay per
vehicle is the average:
r2
d = ------------------------------- (21)
2 ⋅ c ⋅ (1 – ρ)
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Example Problem 1
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Problem 1 - Solution
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Problem 1 - Solution
veh
0.167 ---------
λ s
ρ = --- = ---------------------------- = 0.273
µ veh
0.611 ---------
s
veh
λ ⋅ c = 0.167 --------- ⋅ 90 [ s ] = 15.03 [ veh ]
s
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Problem 1 - Solution
veh
µ ⋅ g = 0.611 --------- ⋅ 27 [ s ] = 16.497 [ veh ]
s
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Problem 1 - Solution
63 2
d = --------------------------------------------- = 30.33 [ s ]
2 ⋅ 90 ⋅ ( 1 – 0.273 )
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Example Problem 2
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Problem 2 - Solution:
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Problem 2 - Solution
veh
0.111 ---------
λ s
ρ = --- = ---------------------------- = 0.182
µ veh
0.611 ---------
s
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Problem 2 - Solution
40 2
d = --------------------------------------------- = 16.3 [ s ]
2 ⋅ 60 ⋅ ( 1 – 0.182 )
follows:
veh
L max = λ ⋅ r = 0.111 --------- ⋅ 40 [ s ] = 4.44 [ vehicles ]
s
(c) Vehicles arrive all the time during the cycle. The total
number vehicles arrived A during the cycle equals:
veh
A = λ ⋅ c = 0.111 --------- ⋅ 60 [ s ] = 6.66 [ vehicles ]
s
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Problem 2 - Solution
We get:
λ⋅r 0.111 ⋅ 40
S = λ ⋅ ( r + g 0 ) = λ ⋅ r + ------------ = 0.111 ⋅ 40 + ---------------------------------
µ – λ 0.611 – 0.111
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S = 5.43 [ vehicles ]
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Example Problem 3
Approach 2
Cycle
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Example Problem 3
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Problem 3 -Solution
(a) Approach 1:
The corresponding values of the cycle length and the
green time are:
c = 50 [ s ] ;g 1 = 35 [ s ]
The flow rate and the service rate are respectively equal:
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Problem 3 -Solution
veh
0.167 ---------
λ s
ρ 1 = -----1 = ---------------------------- = 0.273
µ1 veh
0.611 ---------
s
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Problem 3 -Solution
Approach 2:
The corresponding values of the cycle length and the
green time are:
c = 50 [ s ] ;g 2 = 15 [ s ]
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Problem 3 -Solution
veh
0.153 ---------
λ s
ρ 2 = -----2 = ---------------------------- = 0.276
µ2 veh
0.555 ---------
s
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Problem 3 -Solution
TD = λ 1 ⋅ d 1 + λ 2 ⋅ d 2
r12 r22
TD = λ 1 ⋅ --------------------------------- + λ 2 ⋅ ---------------------------------
2 ⋅ c ⋅ ( 1 – ρ1 ) 2 ⋅ c ⋅ ( 1 – ρ2 )
Since:
r1 + r2 = c
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r12 ( c – r1 )2
TD = λ 1 ⋅ --------------------------------- + λ 2 ⋅ ---------------------------------
2 ⋅ c ⋅ ( 1 – ρ1 ) 2 ⋅ c ⋅ ( 1 – ρ2 )
r1 ( c – r1 )
λ 1 ⋅ -------------------------
- – λ 2 ⋅ -------------------------
- = 0
c ⋅ ( 1 – ρ1 ) c ⋅ ( 1 – ρ2 )
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Problem 3 -Solution
r1 ( 50 – r 1 )
0.167 ⋅ ------------------------------------- – 0.153 ⋅ ------------------------------------- = 0
50 ⋅ ( 1 – 0.273 ) 50 ⋅ ( 1 – 0.276 )
g 1 = c – r 1 = 50 – 24 = 26 [ s ]
r 2 = 26 [ s ]
g 2 = 24 [ s ]
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Problem 3 -Solution
Approach 2:
r22 26 2
d 2 = --------------------------------- = --------------------------------------------- = 9.34 [ s ]
2 ⋅ c ⋅ ( 1 – ρ2 ) 2 ⋅ 50 ⋅ ( 1 – 0.276 )
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Vehicle Delays at Signalized Intersections: Random
Vehicle Arrivals
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Intersection with Random Arrivals
Overflow Delay
Uniform delay
Time
τ
Red Green
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Intersection with Random Arrivals
D = d + dR (22)
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Considering Random Arrivals
Queueing System
Crossing area γ λ
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Intersection with Random Arrivals
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Intersection with Random Arrivals
where:
α - utilization ratio in the M/D/1 queueing system
The utilization ratio α in the M/D/1 queueing system
equals:
λ
α = --- (24)
γ
The departure rate from the artificial queue into the signal
γ can be expressed in terms of departure rates from the
traffic signal µ . The departure rate equals µ during green
time. During red time, departure rate equals zero (see
Figure 6).
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Intersection with Random Arrivals
Service rate
g
[veh/h]
µ
r Time
Red Green
Cycle
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Intersection with Random Arrivals
i.e.:
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λ⋅c
α = ---------- (28)
µ⋅g
r2 α2
D = ------------------------------- + -------------------------------- (30)
2 ⋅ c ⋅ (1 – ρ) 2 ⋅ λ ⋅ (1 – α)
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Webster’s formula:
1 5 ⋅ g
2 2 ---
2 + ----------
r α c 3 c
D = ------------------------------- + -------------------------------- – 0.65 ⋅ -----2 ⋅ α (31)
2 ⋅ c ⋅ (1 – ρ) 2 ⋅ λ ⋅ (1 – α) λ
Allsop’s formula:
2 2
9 r α
D = ------ ⋅ ------------------------------- + -------------------------------- (32)
10 2 ⋅ c ⋅ ( 1 – ρ ) 2 ⋅ λ ⋅ ( 1 – α )
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Example Problem 4
g = 27 [ s ]
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veh 600 veh veh
λ = 600 --------- = ------------ --------- = 0.167 ---------
hr 3600 s s
veh
0.167 ---------
λ s
ρ = --- = ---------------------------- = 0.273
µ veh
0.611 ---------
s
veh
0.167 ---------
s
----------------------------
λ veh
--- 0.611 ---------
µ s 0.273
α = --- = ---------------------------- = ------------- = 0.91
g 27 [ s ] 0.3
--- -------------
c 90 [ s ]
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Solution - Problem 4
r = c – g = 90 – 27 = 63 [ s ]
2 2
9 63 0.91
D = ------ ⋅ --------------------------------------------- + -------------------------------------------------
10 2 ⋅ 90 ⋅ ( 1 – 0.273 ) 2 ⋅ 0.167 ⋅ ( 1 – 0.91 )
D = 52.083 [ s ]
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2 2
9 r α
D = ------ ⋅ ------------------------------- + --------------------------------
10 2 ⋅ c ⋅ ( 1 – ρ ) 2 ⋅ λ ⋅ ( 1 – α )
r2 10 α 2
------------------------------- = ------ ⋅ D – --------------------------------
2 ⋅ c ⋅ (1 – ρ) 9 2 ⋅ λ ⋅ (1 – α)
2
10 α
r = [ 2 ⋅ c ⋅ ( 1 – ρ ) ] ⋅ ------ ⋅ D – --------------------------------
9 2 ⋅ λ ⋅ (1 – α)
2
10 0.91
r = [ 2 ⋅ 90 ⋅ ( 1 – 0.273 ) ] ⋅ ------ ⋅ 40 – -------------------------------------------------
9 2 ⋅ 0.167 ⋅ ( 1 – 0.91 )
r = 47 [ s ]
g = c – r = 90 – 47
g = 43 [ s ]
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