Variable phase sequence overflow intersection signal coordination control method based on MPC

The invention discloses a variable phase sequence overflow intersection signal coordination control method based on MPC, and the method comprises the steps: predicting the number of vehicles arriving at an overflow intersection, namely a stop line of a downstream intersection, in the future according to the driving data of vehicles at an upstream intersection; calculating the queuing length of the vehicles at the downstream intersection according to the predicted vehicle arrival number; constructing a downstream intersection signal timing optimization model based on dynamic planning, and solving to obtain a current optimized signal timing scheme; and taking the green light end time of a stage of which the first green light time length is not 0 in the last optimized signal timing scheme as the start time of the next optimization, thereby realizing dynamic rolling optimization control. According to the method, the vehicle track big data collected at the upstream entrance lane of the intersection is used, the ar