Intersection induction type all-red time calculation method and processor

Abstract

The invention discloses a cross intersection induction type all-red time calculation method. The method comprises the steps that S1, intersection linear parameters are acquired through a video detector; s2, speed information of pedestrians, non-motor vehicles and motor vehicles crossing the street is obtained through a video detector, and a speed threshold value is calculated according to the distribution frequency; s3, calculating the full-red basic duration of clearing the pedestrians, the non-motor vehicles and the motor vehicles crossing the street; s4, the crowding condition is judged, and the all-red time of pedestrians, non-motor vehicles and motor vehicles crossing the street is calculated; and S5, obtaining the final all-red time. According to the cross intersection induction type all-red time calculation method, the congestion conditions of pedestrians, non-motor vehicles and motor vehicles crossing the street are detected in real time, and the dynamic change of the traffic flow is taken into influence factors for calculation, so that the change of the induction type all-red time is realized, the accuracy of the calculated all-red time is improved, the control delay of the intersection can be reduced, and the control accuracy of the intersection is improved. The traffic flow is optimized; and the traffic jam is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of signal timing, and in particular to a method and a processor for calculating the inductive all-red time at a cross intersection. Background Art

[0002] In a traffic system, within a signal cycle, one or more traffic flows receive exactly the same signal light color display at any time. The continuous sequence of different light colors (green, yellow, all red) is called a signal phase). Among them, the all-red time is also called the clearing time. Whether its value is reasonable has an important impact on traffic safety. "All red" indicates a state in which all traffic lights display red. In this state, vehicles that have crossed the stop line must quickly leave the intersection to clear potential conflicts and prepare for the start of the next signal phase. Therefore, the all-red time is the key moment to connect the two phases.

[0003] The existing method for calculating the full red time of signal control at a road intersection mainly analyzes the cumulative distribution curve of vehicle speed, determines a reference speed, and then calculates the time required for vehicles to pass through the intersection at this speed. This method is simple and easy to implement and has been widely used. This calculation method is usually based on a static assumption, that is, through the distribution curve, a reference speed is selected, and it is assumed that the time it takes for a vehicle to pass through the intersection at this speed is fixed. However, traffic conditions change in real time, and there are many dynamic influencing factors. The existing calculation method is difficult to accurately calculate the full red time according to the actual situation of traffic flow. Summary of the invention

[0004] The purpose of the present invention is to solve the problem that the existing calculation method is difficult to accurately calculate the full red time according to the actual situation of traffic flow, and to propose a cross intersection induction full red time calculation method and processor.

[0005] The purpose of the present invention can be achieved by the following technical solutions:

[0006] A method for calculating the inductive full red time at a cross intersection, comprising:

[0007] S1. Arrange video detectors and video surveillance at road intersections. The video detectors and video surveillance are used to capture the movement trajectories of pedestrians crossing the street, the movement trajectories of vehicles, measure the road width and obtain the phase conditions. The number of intersection phases is obtained by the video detector to determine the road linear parameters. The road linear parameters include the length of the driving trajectory from the stop line of a non-motor vehicle turning left or right or going straight to the exit road, the length of the driving trajectory from the stop line of a motor vehicle turning left or right or going straight to the exit road, and the road width;

[0008] S2. Real-time detection of motor vehicles, non-motor vehicles and pedestrians crossing the street in each phase and each entrance lane, and obtaining the driving speed of motor vehicles and non-motor vehicles as well as the moving speed of pedestrians crossing the street; based on the corresponding speeds, analyzing the speed distribution frequency of each phase, and taking the speed with the highest number of occurrences in each phase as the speed threshold; respectively calculating the speed threshold of pedestrians crossing the street, the speed threshold of non-motor vehicles and the speed threshold of motor vehicles;

[0009] S3. For each phase, based on the judgment results of whether pedestrians are at the zebra crossing when the green light ends, whether there is a dedicated phase for non-motor vehicles and whether there is a dedicated phase for motor vehicles, the full red basic duration for pedestrians to be cleared, the full red basic duration for non-motor vehicles to be cleared and the full red basic duration for motor vehicles to be cleared are calculated according to the corresponding full red basic duration formula, and the dedicated phase is an independent signal phase set for left turn;

[0010] S4. For each phase, the crowding situation is determined by obtaining a number of pedestrians, a queue of non-motor vehicles and motor vehicles through the video surveillance, wherein the queue number includes a density of pedestrians in the crowd, a length of a queue formed by a number of motor vehicles, and a length of a queue formed by a number of non-motor vehicles;

[0011] Based on the judgment result, in the case of no congestion, the maximum value of the full red basic duration of pedestrian clearance, the full red basic duration of non-motor vehicle clearance and the full red basic duration of motor vehicle clearance is taken as the final full red time, and the calculation is completed;

[0012] In the case of congestion, according to the corresponding formula for all-red time and the formula for the maximum single all-red time, calculate the all-red time of the people crossing the street and the maximum single all-red time of the people crossing the street, the all-red time of non-motor vehicles and the maximum single all-red time of non-motor vehicles, the all-red time of motor vehicles and the maximum single all-red time of motor vehicles, take the maximum value of the all-red time as the total all-red time, take the maximum value of the maximum single all-red time as the maximum all-red time, and obtain the total all-red time and the maximum all-red time;

[0013] S5. For each phase, compare the total full-red time with the maximum full-red time to obtain the final full-red time. The calculation is completed.

[0014] As a further solution of the present invention: in S1, the number of intersection phases is recorded as P, the road width in the X direction and the road width in the Y direction are recorded as Lx and Ly respectively; the length of the non-motor vehicle's left turn stop line to the exit road is recorded as H blp , the length of the non-motor vehicle's right turn stop line to the exit track is recorded as H brp The length of the non-motor vehicle's straight stop line to the exit track is recorded as H bsp; The length of the vehicle's left turn stop line to the exit lane is recorded as H clp , the length of the motor vehicle's right turn stop line to the exit track is recorded as H crp The length of the motor vehicle's straight stop line to the exit track is recorded as H csp .

[0015] As a further solution of the present invention: in S2, the corresponding speed includes the driving speed Sc of the motor vehicle in the lane. i , the speed of non-motor vehicles in the same direction in the lane S 1 bi , the driving speed S of the oncoming non-motor vehicle in the lane 2 bi , the moving speed S of pedestrians crossing the street in the same direction on the sidewalk 1 pi and the moving speed S of pedestrians crossing the street in the opposite direction on the sidewalk 2 pi , where i=1, 2, 3…

[0016] As a further solution of the present invention, in S2, the speed thresholds for pedestrians, motor vehicles and non-motor vehicles are calculated as follows: for each phase, the speed distribution frequency is analyzed to obtain the motor vehicle speed threshold Sc with the most occurrences. m , speed threshold S for non-motor vehicles in the same direction 1 bm , speed threshold S of oncoming non-motor vehicles 2 bm , speed threshold S for pedestrians crossing the street in the same direction 1 pm and the speed threshold S of the pedestrians crossing the street in the opposite direction 2 pm , where m = 1, 2, 3, ...;

[0017] The calculation formula is as follows:

[0018] S cm =Max Frequency{S c1 , S c2 , S c3 …},

[0019] S 1 bm =Max Frequency{S 1 b1 , S 1 b2 , S 1 b3 …},

[0020] S 2bm =Max Frequency{S 2 b1 , S 2 b2 , S 2 b3 …},

[0021] S 1 pm =Max Frequency{S 1 p1 , S 1 p2 , S 1 p3 …},

[0022] S 2 pm =Max Frequency{S 2 p1 , S 2 p2 S 2 p3 …}.

[0023] As a further solution of the present invention: in said S3, the following steps are included:

[0024] S31. Determine whether pedestrians are on the zebra crossing when the green light ends, and calculate the basic duration T of the full red light when pedestrians are cleared. p0 , specifically including the following steps:

[0025] S311, for each phase p, if the pedestrian crossing the street is not on the zebra crossing when the green light ends, determine whether the pedestrian crosses the street twice;

[0026] Among them, the second crossing is when pedestrians cannot completely cross the entire intersection at one time due to traffic signals or road design, and need to temporarily stop at the middle safety island or traffic island and wait for the next signal cycle before continuing to cross the street;

[0027] If pedestrians do not cross the street twice, the basic duration of the red light when pedestrians are cleared is T p0 The calculation formula is:

[0028] or

[0029] If pedestrians cross the street twice, the basic duration of the red light after the pedestrians are cleared is T p0 The calculation formula is:

[0030] or

[0031] S312, for each phase p, if the pedestrian is on the zebra crossing when the green light ends, the length L of the pedestrian crossing is obtained by the video detector c , the basic duration of the full red color when the pedestrians crossing the street are cleared is T p0 The calculation formula is:

[0032]

[0033] As a further solution of the present invention: in said S3, the following steps are included:

[0034] S32, determine whether there is a dedicated phase for non-motor vehicles, and calculate the full red basic duration T of non-motor vehicles being cleared b0 , specifically including the following steps:

[0035] S321. If there is a dedicated phase for non-motor vehicles, phase p is an east-west left turn or a north-south left turn, calculate the basic duration T of the tail car from the stop line to the exit lane clearing the full red light when the green light ends. b0 , the calculation formula is:

[0036]

[0037] S322. If there is no dedicated phase for non-motor vehicles, and phase p is straight right from east to west or straight right from north to south, then calculate the basic duration T of the tail vehicle from the stop line to the exit lane clearing when the green light ends. b0 , the calculation formula is:

[0038]

[0039] T b0 =Max{T b1 、T b2};

[0040] Among them, T b1 It is the basic time for the tail vehicle to travel from the stop line to the exit lane when turning right in the east-west direction or the north-south direction. b2 The basic time it takes for the tail vehicle to travel from the stop line to the exit lane being cleared when driving straight in the east-west direction or the north-south direction.

[0041] S323. If there is no dedicated phase for non-motor vehicles, and the phase p is from east to west, from left to right, or from north to south, then calculate the basic duration T of the tail car from the stop line to the exit lane clearing when the green light ends. b0 , the calculation formula is:

[0042]

[0043] T b0 =Max{T b1、T b2 T b3};

[0044] Among them, T b1 It is the basic time for the tail vehicle to travel from the stop line to the exit lane when turning right in the east-west direction or the north-south direction. b2 It is the basic time for the tail vehicle to travel from the stop line to the exit lane when driving straight in the east-west direction or the north-south direction. b3 It is the basic time it takes for the tail vehicle to travel from the stop line to the exit lane being cleared of all red when turning left in the east-west direction or the north-south direction.

[0045] As a further solution of the present invention: in said S3, the following steps are included:

[0046] S33, judging whether there is a dedicated phase for the motor vehicle, and calculating the basic duration T of the full red phase for the motor vehicle to be cleared c0 , specifically including the following steps:

[0047] S331. If there is a dedicated phase for motor vehicles, phase p is an east-west left turn or a north-south left turn, calculate the basic duration T of the tail car from the stop line to the exit lane clearing the full red light when the green light ends. c0 , the calculation formula is:

[0048]

[0049] S332. If there is no dedicated phase for the motor vehicle, and the phase p is straight right from east to west or straight right from north to south, then calculate the basic duration T of the tail vehicle from the stop line to the exit lane clearing when the green light ends. c0 The calculation formula is:

[0050]

[0051] T c0 =Max{T c1 、T c2};

[0052] Among them, T c1 It is the basic time for the tail vehicle to travel from the stop line to the exit lane when turning right in the east-west direction or the north-south direction. c2 The basic time it takes for the tail vehicle to travel from the stop line to the exit lane being cleared when driving straight in the east-west direction or the north-south direction.

[0053] S333. If there is no dedicated phase for motor vehicles, and the phase p is left-right or north-south, then calculate the basic duration T of the tail car from the stop line to the exit lane clearing when the green light ends. c0 The calculation formula is:

[0054]

[0055] T c0 =Max{T c1 、T c2 、T c3};

[0056] Among them, T c1 It is the basic time for the tail vehicle to travel from the stop line to the exit lane when turning left in the east-west direction or the north-south direction. c2 It is the basic time for the tail vehicle to travel from the stop line to the exit lane when turning right in the east-west direction or the north-south direction. c3 It is the basic time for the tail vehicle to travel from the stop line to the full red line when driving straight in the east-west direction or the north-south direction.

[0057] As a further solution of the present invention: in said S4, the following steps are included:

[0058] S41. Obtain the number of people crossing the street through video surveillance Y c And the crowd area X c , calculate the population density ρ of the street, and the calculation formula of population density is:

[0059] ρ=Y c / X c ;

[0060] Where X c Unit: m 2 , judge the crowd congestion of the crowd crossing the street according to the population density ρ, and calculate the full red time r of the crowd crossing the street p , specifically including the following steps:

[0061] S411. When 0≤ρ<1, it is determined to be a non-crowded situation, and the full red time r of the crowd crossing the street is obtained. p for:

[0062] r p =T p0 ;

[0063] S412: When ρ≥1, it is determined to be a crowded situation, and the maximum distance L of a single pedestrian crossing the zebra crossing in the same direction is obtained through video surveillance. p , the maximum distance L' that a single pedestrian in the opposite direction can pass through the zebra crossing p , the speed S of the center point of the group of pedestrians crossing the zebra crossing in the same direction p , the speed of the center of the group of pedestrians crossing the zebra crossing is S' p , the cluster center point represents the area where people crossing the street concentrate on the zebra crossing;

[0064] Calculate the full red time r of the crowd crossing the street p , the formula is:

[0065]

[0066] As a further solution of the present invention: in said S4, the following steps are included:

[0067] S42, for each phase p, obtain the length W of the queue formed by the non-motor vehicle queue through the video detector b , judge the congestion of non-motor vehicles, and calculate the full red time r of non-motor vehicles b , specifically including the following steps:

[0068] S421, when 0≤W b <min{H blp , H brp , H bsp}, it is determined to be a non-congested situation, and the full red time r of non-motor vehicles is obtained. b for:

[0069] r b =T b0 ;

[0070] S422, when W b ≥min{H blp , H brp , H bsp}, it is determined to be a congested situation, and the queue formed by the non-motor vehicles is recorded as a non-motor vehicle cluster queue. The speed S of the tail vehicle in the non-motor vehicle cluster queue is obtained through video monitoring. b , and according to whether the first and last vehicles in the non-motor vehicle cluster pass through the stop line of the intersection before the green light ends, the full red time of non-motor vehicles is calculated respectively;

[0071] If the last vehicle in the non-motor vehicle group queue passes the stop line before the green light ends, calculate the full red time r of the non-motor vehicle b for:

[0072]

[0073] If the first vehicle in the non-motor vehicle group queue does not pass the stop line before the green light ends, the video detector obtains the distance L from the first vehicle to the stop line and calculates the full red time r of the non-motor vehicle b for:

[0074]

[0075] As a further solution of the present invention: in said S4, the following steps are included:

[0076] S43, for each phase p, obtain the length W of the queue formed by the motor vehicles through the video detector c , determine the congestion situation and calculate the full red time r of the motor vehicle c , specifically including the following steps:

[0077] S431, when 0≤W c <min{H clp , H crp , H csp}, it is determined to be a non-congested situation, and the full red time r of the motor vehicle is obtained. c for:

[0078] r c =T c0 ;

[0079] S432, when W c ≥min{H clp , H crp , H csp}, it is determined to be a congested situation, and the queue formed by the motor vehicles is recorded as a motor vehicle cluster queue. The speed S of the tail vehicle in the motor vehicle cluster queue is obtained by the video detector. c , and according to whether the first and last vehicles in the motor vehicle cluster queue pass the intersection stop line before the green light ends, the full red time of the motor vehicle is calculated respectively;

[0080] If the last vehicle in the motor vehicle group queue passes the stop line before the green light ends, the full red time r of the motor vehicle is calculated. c for:

[0081]

[0082] If the first vehicle in the motor vehicle group queue does not pass the stop line before the green light ends, the video detector obtains the distance L0 from the first vehicle to the stop line and calculates the full red time r of the motor vehicle. c for:

[0083]

[0084] At this time, according to the video detector, the driving speed is less than S when the green light ends. cm The vehicle is warned.

[0085] As a further solution of the present invention: in said S4, the following steps are included:

[0086] S44. For each phase p, calculate the total full red time R0, the formula is:

[0087] R0=Max{r p 、r b 、rc}.

[0088] As a further solution of the present invention: in said S4, the following steps are included:

[0089] S45, obtaining the 15% speed S of pedestrians crossing the street through the video detector p15 、15% speed of non-motor vehicles S b15 and 15% of the vehicle speed S c15 , calculate the maximum single-item all-red time T for the crowd crossing the street pmax , the maximum all-red time for non-motor vehicles to pass a single item T bmax and the maximum all-red time T for a motor vehicle to pass through a single cmax ;

[0090] The 15% speed is the quantile of speed, which means that among all the speeds measured at the actual measurement location, 15% of the speeds are lower than it, and the remaining 85% of the speeds are higher than it. The 15% speed is usually used as the minimum speed limit in traffic flow.

[0091] For each phase p,

[0092] Calculate the maximum single-item all-red time T for the crowd crossing the street pmax , the formula is:

[0093]

[0094] Calculate the maximum all-red time T for non-motor vehicles to pass through a single bmax , the formula is:

[0095]

[0096] Calculate the maximum all-red time T for a motor vehicle to pass through a single cmax , the formula is:

[0097]

[0098] S46. For each phase p, compare T pmax 、T bmax 、T cmax , get the maximum all-red time T max , the formula is:

[0099] T max =Max{T pmax 、T bmax 、T cmax}.

[0100] As a further solution of the present invention: in said S5,

[0101] If R0<Tmax , then the final all-red time is R0;

[0102] If R0 ≥ T max , then the final all-red time is T max .

[0103] A processor adapted to a method for calculating the inductive all-red time at an intersection comprises a calculation unit for calculating the all-red time at the intersection.

[0104] Beneficial effects of the present invention:

[0105] In the present invention, by real-time detection of the congestion of pedestrians, non-motor vehicles and motor vehicles crossing the street, the dynamic changes of traffic flow are taken into account in the calculation of influencing factors, thereby realizing the change of the inductive full-red time, improving the accuracy of the calculated full-red time, reducing the control delay of the intersection, enhancing the safety level of the road, improving the traffic capacity of the cross intersection, optimizing the traffic flow and reducing traffic congestion. BRIEF DESCRIPTION OF THE DRAWINGS

[0106] The present invention will be further described below in conjunction with the accompanying drawings.

[0107] Figure 1 It is a schematic diagram of an intersection of the present invention's inductive all-red time calculation method for a cross intersection;

[0108] Figure 2 It is a schematic diagram of an intersection of the present invention's inductive all-red time calculation method for a cross intersection;

[0109] Figure 3 It is a schematic diagram of the flow chart of the induction-type full-red time calculation method for a cross intersection of the present invention;

[0110] Figure 4 It is a flow chart of the induction-type all-red time calculation method for a cross intersection of the present invention in a specific application;

[0111] Figure 5 It is a flow chart of the induction-type all-red time calculation method for a cross intersection of the present invention in a specific application. DETAILED DESCRIPTION

[0112] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0113] See also Figure 3-Figure 5 As shown, Figure 4 The line a1 and Figure 5 The line a2 connects, Figure 4 The line b1 and Figure 5 The present invention is a method for calculating the inductive full red time of a cross intersection, comprising:

[0114] S1. Video detectors and video surveillance are arranged at road intersections. The video detectors and video surveillance are used to capture the movement trajectories of pedestrians and vehicles crossing the street, measure the road width, and obtain the phase situation. The number of intersection phases is obtained through the video detector to determine the road linear parameters.

[0115] Specifically, the number of intersection phases is obtained by video detectors A and C, which is recorded as P. The road linear parameters include the length of the driving track from the stop line of the left turn, right turn or straight-ahead non-motor vehicle to the exit road, the length of the driving track from the stop line of the left turn, right turn or straight-ahead motor vehicle to the exit road, and the road width. The road width in the X direction and the road width in the Y direction are recorded as Lx and Ly respectively, and the length of the driving track from the stop line of the left turn of the non-motor vehicle to the exit road is recorded as H. blp , the length of the non-motor vehicle's right turn stop line to the exit track is recorded as H brp The length of the non-motor vehicle's straight stop line to the exit track is recorded as H bsp The length of the motor vehicle's driving track from the left turn stop line to the exit lane is recorded as H clp , the length of the motor vehicle's right turn stop line to the exit track is recorded as H crp The length of the motor vehicle's straight stop line to the exit track is recorded as H csp . Among them, b represents a non-motor vehicle, c represents a motor vehicle, r represents a right turn, l represents a left turn, s represents a straight line, p represents a phase, and 1≤p≤P.

[0116] See also Figure 1-Figure 2 As shown, the video detector layout points, video monitoring layout points and driving trajectory length set at the intersection can be seen from the figure.

[0117] S2. Assume that there are E entrance lanes at the intersection. Use video detectors and video surveillance to perform real-time detection of motor vehicles, non-motor vehicles and pedestrians crossing the street at each phase p and each entrance lane e, 1≤e≤E, and obtain the driving speed S of the motor vehicles in the lane ci and the speed S of non-motor vehicles in the lane bi and the moving speed S of pedestrians crossing the sidewalk pi .

[0118] Based on the obtained driving speed S of the motor vehicle in the lane ci , the speed of non-motor vehicles in the same direction in the lane S 1 bi, the driving speed S of the oncoming non-motor vehicle in the lane 2 bi , the moving speed S of pedestrians crossing the street in the same direction on the sidewalk 1 pi and the moving speed S of pedestrians crossing the street in the opposite direction on the sidewalk 2 pi , where i = 1, 2, 3.... Analyze the speed distribution frequency for each phase p and calculate the vehicle speed threshold S that appears most frequently cm , speed threshold S for non-motor vehicles in the same direction 1 bm , speed threshold S of oncoming non-motor vehicles 2 bm , speed threshold S for pedestrians crossing the street in the same direction 1 pm and the speed threshold S of the pedestrians crossing the street in the opposite direction 2 pm , where m=1, 2, 3…

[0119] The calculation formula is as follows:

[0120] S cm =Max Frequency{S c1 , S c2 , S c3 …},

[0121] S 1 bm =Max Frequency{S 1 b1 , S 1 b2 , S 1 ba …},

[0122] S 2 bm =Max Frequency{S 2 b1 , S 2 b2 , S 2 b3 …},

[0123] S 1 pm =Max Frequency{S 1 p1 , S 1 p2 , S 1 p3 …},

[0124] S 2pm =Max Frequency{S 2 p1 , S 2 p2 , S 2 p3 …}.

[0125] S3. According to S1 and S2, for each phase p, calculate the full red basic duration for clearing pedestrians, non-motor vehicles and motor vehicles.

[0126] The following steps are involved:

[0127] S31. For each phase p, determine whether pedestrians crossing the street are on the zebra crossing when the green light ends, and calculate the basic duration T of the full red light when pedestrians are cleared. p0 .

[0128] S311. For each phase p, if the pedestrian crossing the street is not on the zebra crossing when the green light ends, it is determined whether the pedestrian has crossed the street twice. The pedestrian crossing the street twice means that the pedestrian cannot completely pass through the entire intersection at one time due to traffic signals or road design, and needs to temporarily stay on the safety island or traffic island in the middle and continue crossing the street in the next signal cycle.

[0129] If pedestrians do not cross the street twice, the basic duration of the red light when pedestrians are cleared is T p0 The calculation formula is:

[0130] or

[0131] If pedestrians cross the street twice, the basic duration of the red light after the pedestrians are cleared is T p0 The calculation formula is:

[0132] or

[0133] S312: For each phase p, if the pedestrian is on the zebra crossing when the green light ends, the distance L of the pedestrian crossing the zebra crossing is obtained through the video detectors A and C. c , the basic duration of the full red color when the pedestrians crossing the street are cleared is T p0 The calculation formula is:

[0134]

[0135] S32, for each phase p, calculate the full red basic duration T of non-motor vehicle clearance b0 .

[0136] S321. If there is a dedicated phase for non-motor vehicles, the dedicated phase is an independent signal phase set for left turn. For example, phase p is an east-west left turn or a north-south left turn. Calculate the basic duration T of the tail car from the stop line to the exit lane clearing the full red light when the green light ends. b0 The calculation formula is:

[0137]

[0138] S322. If there is no dedicated phase for non-motor vehicles, and phase p is straight right from east to west or straight right from north to south, then calculate the basic duration T of the full red light from the stop line to the exit lane clearing when the rear vehicle ends the green light. b0 , the calculation formula is:

[0139]

[0140] T b0 =Max{T b1 、T b2}.

[0141] Among them, T b1 It is the basic time for the tail vehicle to travel from the stop line to the exit lane when turning right in the east-west direction or the north-south direction. b2 It is the basic time for the tail vehicle to travel from the stop line to the full red line when driving straight in the east-west direction or the north-south direction.

[0142] S323. If there is no dedicated phase for non-motor vehicles, and the phase p is from east to west and then from left to right or from north to south and then from left to right, then calculate the basic duration of the full red light from the end of the green light when the tail vehicle travels from the stop line to the exit lane being cleared, T b0 The calculation formula is:

[0143]

[0144] T b0 =Max{T b1 、T b2 、T b3}.

[0145] Among them, T b1 It is the basic time for the tail vehicle to travel from the stop line to the exit lane when turning right in the east-west direction or the north-south direction. b2 It is the basic time for the tail vehicle to travel from the stop line to the exit lane when driving straight in the east-west direction or the north-south direction. b3 It is the basic time it takes for the tail vehicle to travel from the stop line to the exit lane being cleared of all red when turning left in the east-west direction or the north-south direction.

[0146] S33, for each phase p, calculate the basic duration T of the full red period for the motor vehicle to be cleared c0 .

[0147] S331. If there is a dedicated phase for a motor vehicle, for example, phase p is an east-west left turn or a north-south left turn, then calculate the basic duration T of the full red light from the stop line to the exit lane clearing when the green light ends. c0 The calculation formula is:

[0148]

[0149] S332. If there is no dedicated phase for motor vehicles, and phase p is straight right from east to west or straight right from north to south, then calculate the basic duration T of the full red light from the stop line to the exit lane clearing when the green light ends. c0 The calculation formula is:

[0150]

[0151] T c0 =Max{T c1 、T c2}.

[0152] Among them, T c1 It is the basic time for the tail vehicle to travel from the stop line to the exit lane when turning right in the east-west direction or the north-south direction. c2 It is the basic time for the tail vehicle to travel from the stop line to the full red line when driving straight in the east-west direction or the north-south direction.

[0153] S333. If there is no dedicated phase for motor vehicles, and the phase p is left-right or left-right, then calculate the basic duration T of the full red light from the stop line to the exit lane when the rear vehicle ends the green light. c0 , the calculation formula is:

[0154]

[0155] T c0 =Max{T c1 、T c2 、T c3}.

[0156] Among them, T c1 It is the basic time for the tail vehicle to travel from the stop line to the exit lane when turning left in the east-west direction or the north-south direction. c2 It is the basic time for the tail vehicle to travel from the stop line to the exit lane when turning right in the east-west direction or the north-south direction. c3 It is the basic time for the tail vehicle to travel from the stop line to the full red line when driving straight in the east-west direction or the north-south direction.

[0157] It should be noted that the order of steps S31, S32, and S33 can be interchanged.

[0158] S4. For each phase p, the crowding situation is determined by obtaining the queues of pedestrians, non-motor vehicles and motor vehicles through video surveillance B and D. The queues include the density of pedestrians, the length of the queue formed by the queues of motor vehicles and the length of the queue formed by the queues of non-motor vehicles.

[0159] Based on the judgment results, the all-red time of people crossing the street, non-motor vehicles and motor vehicles in congested and non-congested conditions is calculated respectively, and the total all-red time and the maximum all-red time are obtained.

[0160] The following steps are involved:

[0161] S41. Obtain the number of people crossing the street Y through video surveillance B and D c And the crowd area X c , calculate the population density ρ of the street, and the calculation formula of population density is:

[0162] ρ=Y c / X c ;

[0163] Where X c Unit: m 2 , judge the crowd congestion of the crowd crossing the street according to the population density ρ, and calculate the full red time r of the crowd crossing the street p .

[0164] S411. When 0≤ρ<1, it is determined to be a non-crowded situation, and the full red time r of the crowd crossing the street is obtained. p for:

[0165] r p =T p0 .

[0166] S412: When ρ≥1, it is determined to be a crowded situation. The maximum distance L of a single pedestrian crossing the zebra crossing in the same direction is obtained through video surveillance B and D. p , the maximum distance L' that a single pedestrian in the opposite crowd can travel across the zebra crossing p , the speed S of the center point of the group of pedestrians crossing the zebra crossing in the same direction p , the speed of the center of the group of pedestrians crossing the zebra crossing is S' p , where the cluster center represents the area where people crossing the street concentrate on the zebra crossing.

[0167] Calculate the full red time r of the crowd crossing the street p , the formula is:

[0168]

[0169] S42, for each phase p, obtain the length W of the queue formed by the non-motor vehicle queue through the video detectors A and C b , judge the congestion of non-motor vehicles, and calculate the full red time r of non-motor vehicles b .

[0170] S421, when 0≤W b <min{H blp , H brp , H bsp}, it is determined to be a non-congested situation, and the full red time r of non-motor vehicles is obtained. b for:

[0171] r b =T b0 .

[0172] S422, when W b ≥min{H blp , H brp , H bsp}, it is determined to be a congested situation, and the queue formed by non-motor vehicles is recorded as a non-motor vehicle cluster queue. The speed S of the tail vehicle in the non-motor vehicle cluster queue is obtained through video monitoring B and D. b , and according to whether the first and last vehicles in the non-motor vehicle cluster queue pass the intersection stop line before the green light ends, the full red time of non-motor vehicles is calculated respectively.

[0173] If the last vehicle in the non-motor vehicle group queue passes the stop line before the green light ends, calculate the full red time r of the non-motor vehicle b for:

[0174]

[0175] If the first vehicle in the non-motor vehicle group queue does not pass the stop line before the green light ends, the video detector E obtains the distance L from the first vehicle to the stop line and calculates the full red time r of the non-motor vehicle. b for:

[0176]

[0177] S43, for each phase p, obtain the length W of the queue formed by the motor vehicles through the video detector c , determine the congestion situation and calculate the full red time r of the motor vehicle c .

[0178] S431, when 0≤W c <min{H clp , H crp , H csp}, it is determined to be a non-congested situation, and the full red time r of the motor vehicle is obtained.c for:

[0179] r c =T c0 .

[0180] S432, when W c ≥min{H clp , H crp , H csp} is a congested situation, the queue formed by the motor vehicles is recorded as a motor vehicle cluster queue, and the tail vehicle speed S of the motor vehicle cluster queue is obtained through video detectors A and C. c , and according to whether the first and last vehicles in the motor vehicle cluster queue pass the intersection stop line before the green light ends, the full red time of the motor vehicle is calculated respectively.

[0181] If the last vehicle in the motor vehicle group queue passes the stop line before the green light ends, the full red time r of the motor vehicle is calculated. c for:

[0182]

[0183] If the first vehicle in the motor vehicle group queue does not pass the stop line before the green light ends, the video detector E obtains the distance L0 from the first vehicle to the stop line and calculates the full red time r of the motor vehicle. c for:

[0184]

[0185] At this time, according to the video detector E, the driving speed is less than S when the green light ends. cm To warn the vehicle, in this embodiment, a warning loudspeaker is used to play a broadcast.

[0186] It should be noted that the order of steps S41, S42, and S43 can be adjusted.

[0187] S44. For each phase p, calculate the total full red time R0, the formula is:

[0188] R0=Max{r p 、r b 、r c}.

[0189] S45, obtaining the 15% speed S of pedestrians crossing the street through video detectors A and C. p15 , 15% of the speed of non-motor vehicles S b15 and 15% of the vehicle speed S c15 , calculate the maximum single-item all-red time T for the crowd crossing the street pmax , the maximum all-red time for non-motor vehicles to pass a single item Tbmax and the maximum all-red time T for a motor vehicle to pass through a single cmax .

[0190] Among them, the 15% speed is the percentile of speed, which means that at the actual measurement location, among all the speeds measured, 15% of the speeds are lower than this speed, and the remaining 85% are higher than this speed. The 15% speed is usually used as the minimum speed limit in traffic flow, and the same applies to pedestrians, non-motor vehicles and motor vehicles.

[0191] For each phase p,

[0192] Calculate the maximum single-item all-red time T for the crowd crossing the street pmax , the formula is:

[0193]

[0194] Calculate the maximum all-red time T for non-motor vehicles to pass through a single bmax , the formula is:

[0195]

[0196] Calculate the maximum all-red time T for a motor vehicle to pass through a single cmax , the formula is:

[0197]

[0198] S46. For each phase p, compare T pmax 、T bmax 、T cmax , get the maximum all-red time T max , the formula is:

[0199] T max =Max{T pmax 、T bmax 、T cmax}.

[0200] S5. For each phase, compare the total full-red time with the maximum full-red time to obtain the final full-red time.

[0201] If R0<T max , then the final all-red time is R0;

[0202] If R0 ≥ T max , then the final all-red time is T max .

[0203] Output the final all-red time and the calculation is completed.

[0204] In the design process of the full red time, if the full red time is short, it will make it difficult to clear the vehicles entering the intersection at the end of the green light period or during the yellow light period of the previous phase in time, which will bring danger to the operation of the next phase. If the full red time is long, it is easy to induce some drivers to run red lights during the full red period. Moreover, if there is a conflict between pedestrians, non-motor vehicles and motor vehicles, it will generate a high signal loss time, reducing the traffic capacity and service level of the signal-controlled road level intersection.

[0205] Although the existing all-red time calculation method is relatively simple, the traffic conditions change in real time. If the time-varying characteristics of traffic flow and its impact on vehicle speed and all-red time are not considered, and the design is based on a single static assumption, the accuracy of all-red time calculation will be affected. In addition, different types of vehicles have differences in body length, driving speed and traffic impact. The impact of such dynamic changes on traffic flow has not been taken into account in the existing calculation method.

[0206] In this application, by real-time detection of congestion of pedestrians, non-motor vehicles and motor vehicles crossing the street, the dynamic changes of traffic flow are included in the influencing factors for calculation, thereby realizing the change of the inductive all-red time and improving the accuracy of the calculated all-red time. It can reduce control delays at intersections, enhance the safety level of roads, improve the traffic capacity of cross intersections, optimize traffic flow and reduce traffic congestion.

[0207] In another embodiment, a processor is provided, adapted to the above-mentioned inductive all-red time calculation method for an intersection, the processor comprising a calculation unit, and the calculation unit is used to calculate the all-red time of the intersection.

[0208] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made according to the scope of application of the present invention should still fall within the scope of the claims of the present invention.

Claims

1. A method for calculating the inductive full red time at a crossroad, characterized in that: include: S1. Arrange video detectors and video surveillance at road intersections. The video detectors and video surveillance are used to capture the movement trajectories of pedestrians crossing the street, the movement trajectories of vehicles, measure the road width and obtain the phase conditions. The number of intersection phases is obtained by the video detector to determine the road linear parameters. The road linear parameters include the length of the driving trajectory from the stop line of a non-motor vehicle turning left or right or going straight to the exit road, the length of the driving trajectory from the stop line of a motor vehicle turning left or right or going straight to the exit road, and the road width; S2, real-time detection of motor vehicles, non-motor vehicles and pedestrians crossing the street in each phase and each entrance lane, and obtaining the driving speed of motor vehicles and non-motor vehicles and the moving speed of pedestrians crossing the street; Based on the corresponding speed, the speed distribution frequency is analyzed for each phase, and the speed with the most occurrences in each phase is taken as the speed threshold; Calculate the speed thresholds for pedestrians, non-motor vehicles and motor vehicles respectively; S3. For each phase, based on the judgment results of whether pedestrians are at the zebra crossing when the green light ends, whether there is a dedicated phase for non-motor vehicles and whether there is a dedicated phase for motor vehicles, the full red basic duration for pedestrians to be cleared, the full red basic duration for non-motor vehicles to be cleared and the full red basic duration for motor vehicles to be cleared are calculated according to the corresponding full red basic duration formula, and the dedicated phase is an independent signal phase set for left turn; S4. For each phase, the crowding situation is determined by obtaining a number of pedestrians, a queue of non-motor vehicles and motor vehicles through the video surveillance, wherein the queue number includes a density of pedestrians in the crowd, a length of a queue formed by a number of motor vehicles, and a length of a queue formed by a number of non-motor vehicles; Based on the judgment result, in the case of no congestion, the maximum value of the full red basic duration of pedestrian clearance, the full red basic duration of non-motor vehicle clearance and the full red basic duration of motor vehicle clearance is taken as the final full red time, and the calculation is completed; In the case of congestion, according to the corresponding formula for all-red time and the formula for the maximum single all-red time, calculate the all-red time of the people crossing the street and the maximum single all-red time of the people crossing the street, the all-red time of non-motor vehicles and the maximum single all-red time of non-motor vehicles, the all-red time of motor vehicles and the maximum single all-red time of motor vehicles, take the maximum value of the all-red time as the total all-red time, take the maximum value of the maximum single all-red time as the maximum all-red time, and obtain the total all-red time and the maximum all-red time; S5. For each phase, compare the total full-red time with the maximum full-red time to obtain the final full-red time. The calculation is completed.

2. The method for calculating the inductive full red time at a crossroad according to claim 1, characterized in that: In S1, the number of intersection phases is recorded as P, the road width in the X direction and the road width in the Y direction are recorded as Lx and Ly respectively; the length of the non-motor vehicle's left turn stop line to the exit road is recorded as H blp , the length of the non-motor vehicle's right turn stop line to the exit track is recorded as H brp The length of the non-motor vehicle's straight stop line to the exit track is recorded as H bsp ; The length of the vehicle's left turn stop line to the exit lane is recorded as H clp , the length of the motor vehicle's right turn stop line to the exit track is recorded as H crp The length of the motor vehicle's straight stop line to the exit track is recorded as H csp .

3. The method for calculating the inductive full red time at a crossroad according to claim 2 is characterized in that: In S2, the corresponding speed includes the driving speed S of the motor vehicle in the lane. ci , the speed of non-motor vehicles in the same direction in the lane S 1 bi , the driving speed S of the oncoming non-motor vehicles in the lane 2 bi , the moving speed S of pedestrians crossing the street in the same direction on the sidewalk 1 pi and the moving speed S of pedestrians crossing the street in the opposite direction on the sidewalk 2 pi , where i=1, 2, 3… 4. The method for calculating the inductive full red time at a crossroad according to claim 3 is characterized in that: In S2, the speed thresholds for pedestrians, motor vehicles and non-motor vehicles are calculated as follows: for each phase, the speed distribution frequency is analyzed to obtain the motor vehicle speed threshold S that appears the most frequently. cm , speed threshold S for non-motor vehicles in the same direction 1 bm , speed threshold S of oncoming non-motor vehicles 2 bm , speed threshold S for pedestrians crossing the street in the same direction 1 pm and the speed threshold S of the pedestrians crossing the street in the opposite direction 2 pm , where m = 1, 2, 3, ...; The calculation formula is as follows: S cm =Max Frequency{S c1 、S c2 、S c3 …}, S 1 bm =Max Frequency{S 1 b1 、S 1 b2 、S 1 b3 …}, S 2 bm =Max Frequency{S 2 b1 、S 2 b2 、S 2 p3 …}, S 1 pm =Max Frequency{S 1 p1 、S 1 p2 、S 1 p3 …}, S 2 pm =Max Frequency{S 2 p1 、S 2 p2 、S 2 p3 …}。 5. The method for calculating the inductive full red time at a crossroad according to claim 3 is characterized in that: In said S3, the following steps are included: S31. Determine whether pedestrians are on the zebra crossing when the green light ends, and calculate the basic duration T of the full red light when pedestrians are cleared. p0 , specifically including the following steps: S311, for each phase p, if the pedestrian crossing the street is not on the zebra crossing when the green light ends, determine whether the pedestrian crosses the street twice; Among them, the second crossing is when pedestrians cannot completely cross the entire intersection at one time due to traffic signals or road design, and need to temporarily stop at the middle safety island or traffic island and wait for the next signal cycle before continuing to cross the street; If pedestrians do not cross the street twice, the basic duration of the red light when pedestrians are cleared is T p0 The calculation formula is: If pedestrians cross the street twice, the basic duration of the red light after the pedestrians are cleared is T p0 The calculation formula is: S312, for each phase p, if the pedestrian crossing the street is on the zebra crossing when the green light ends, the length L of the pedestrian crossing the zebra crossing is obtained by the video detector c , the basic duration of the full red color when the pedestrians crossing the street are cleared is T p0 The calculation formula is:

6. The method for calculating the inductive full red time at a crossroad according to claim 5 is characterized in that: In said S3, the following steps are included: S32, determine whether there is a dedicated phase for non-motor vehicles, and calculate the full red basic duration T of non-motor vehicles being cleared b0 , specifically including the following steps: S321. If there is a dedicated phase for non-motor vehicles, phase p is an east-west left turn or a north-south left turn, calculate the basic duration T of the tail car from the stop line to the exit lane clearing the full red light when the green light ends. b0 , the calculation formula is: S322. If there is no dedicated phase for non-motor vehicles, and phase p is straight right from east to west or straight right from north to south, then calculate the basic duration T of the tail vehicle from the stop line to the exit lane clearing when the green light ends. b0 , the calculation formula is: T b0 =Max{T b1 、T b2 }; Among them, T b1 It is the basic time for the tail vehicle to travel from the stop line to the exit lane when turning right in the east-west direction or the north-south direction. b2 The basic time it takes for the tail vehicle to travel from the stop line to the exit lane being cleared when driving straight in the east-west direction or the north-south direction. S323. If there is no dedicated phase for non-motor vehicles, and the phase p is from east to west, from left to right, or from north to south, from left to right, then calculate the basic duration T of the tail car from the stop line to the exit lane clearing when the green light ends. b0 , the calculation formula is: T b0 =Max{T b1 、T b2 、T b3 }; Among them, T b1 It is the basic time for the tail vehicle to travel from the stop line to the exit lane when turning right in the east-west direction or the north-south direction. b2 It is the basic time for the tail vehicle to travel from the stop line to the exit lane when driving straight in the east-west direction or the north-south direction. b3 It is the basic time it takes for the tail vehicle to travel from the stop line to the exit lane being cleared of all red when turning left in the east-west direction or the north-south direction.

7. The method for calculating the inductive full red time at a crossroad according to claim 6 is characterized in that: In said S3, the following steps are included: S33, judging whether there is a dedicated phase for the motor vehicle, and calculating the basic duration T of the full red phase for the motor vehicle to be cleared c0 , specifically including the following steps: S331. If there is a dedicated phase for motor vehicles, phase p is an east-west left turn or a north-south left turn, calculate the basic duration T of the tail car from the stop line to the exit lane clearing the full red light when the green light ends. c0 , the calculation formula is: S332. If there is no dedicated phase for the motor vehicle, and the phase p is straight right from east to west or straight right from north to south, then calculate the basic duration T of the tail vehicle from the stop line to the exit lane clearing when the green light ends. c0 The calculation formula is: T c0 =Max{T c1 、T c2 }; Among them, T c1 It is the basic time for the tail vehicle to travel from the stop line to the exit lane when turning right in the east-west direction or the north-south direction. c2 The basic time it takes for the tail vehicle to travel from the stop line to the exit lane being cleared when driving straight in the east-west direction or the north-south direction. S333. If there is no dedicated phase for motor vehicles, and the phase p is left-right or north-south, then calculate the basic duration T of the tail car from the stop line to the exit lane clearing when the green light ends. c0 The calculation formula is: T c0 =Max{T c1 、T c2 、T c3 }; Among them, T c1 It is the basic time for the tail vehicle to travel from the stop line to the exit lane when turning left in the east-west direction or the north-south direction. c2 It is the basic time for the tail vehicle to travel from the stop line to the exit lane when turning right in the east-west direction or the north-south direction. c3 It is the basic time for the tail vehicle to travel from the stop line to the full red line when driving straight in the east-west direction or the north-south direction.

8. The method for calculating the inductive full red time at a crossroad according to claim 3 is characterized in that: In said S4, the following steps are included: S41. Obtain the number of people crossing the street through video surveillance Y c And the crowd area X c , calculate the population density ρ of the street, and the calculation formula of population density is: p=Y c / X c ; Where X c The unit is m2. The crowd density ρ is used to determine the crowd congestion of the street, and the full red time r of the street crowd is calculated. p , specifically including the following steps: S411. When 0≤ρ<1, it is determined to be a non-crowded situation, and the full red time r of the crowd crossing the street is obtained. p for: r p ＝T p0 ； S412: When ρ≥1, it is determined to be a crowded situation, and the maximum distance L of a single pedestrian crossing the zebra crossing in the same direction is obtained through video surveillance. p , the maximum distance L' that a single pedestrian in the opposite crowd can cross the zebra crossing p , the speed S of the center point of the group of pedestrians crossing the zebra crossing in the same direction p , the speed of the center of the group of pedestrians crossing the zebra crossing is S' p , the cluster center point represents the area where people crossing the street concentrate on the zebra crossing; Calculate the full red time r of the crowd crossing the street p , the formula is:

9. The method for calculating the inductive full red time at a crossroad according to claim 2 is characterized in that: In said S4, the following steps are included: S42, for each phase p, obtain the length W of the queue formed by the non-motor vehicle queue through the video detector b , judge the congestion of non-motor vehicles, and calculate the full red time r of non-motor vehicles b , specifically including the following steps: S421, when 0≤W b <min{H blp , H brp , H bsp }, it is determined to be a non-congested situation, and the full red time r of non-motor vehicles is obtained. b for: r b ＝T b0 ； S422, when W b ≥min{H blp , H brp , H bsp }, it is determined to be a congested situation, and the queue formed by the non-motor vehicles is recorded as a non-motor vehicle cluster queue. The speed S of the tail vehicle in the non-motor vehicle cluster queue is obtained through video monitoring. b , and according to whether the first and last vehicles in the non-motor vehicle cluster pass through the stop line of the intersection before the green light ends, the full red time of non-motor vehicles is calculated respectively; If the last vehicle in the non-motor vehicle group queue passes the stop line before the green light ends, calculate the full red time r of the non-motor vehicle b for: If the first vehicle in the non-motor vehicle group queue does not pass the stop line before the green light ends, the video detector obtains the distance L from the first vehicle to the stop line and calculates the full red time r of the non-motor vehicle b for:

10. The method for calculating the inductive full red time at a crossroad according to claim 9, characterized in that: In said S4, the following steps are included: S43, for each phase p, obtain the length W of the queue formed by the motor vehicles through the video detector c , determine the congestion situation and calculate the full red time r of the motor vehicle c , specifically including the following steps: S431, when 0≤W c <min{H clp , H crp , H csp }, it is determined to be a non-congested situation, and the full red time r of the motor vehicle is obtained. c for: r c ＝T c0 ； S432, when W c ≥min{H clp , H crp , H csp }, it is determined to be a congested situation, and the queue formed by the motor vehicles is recorded as a motor vehicle cluster queue. The speed S of the tail vehicle in the motor vehicle cluster queue is obtained by the video detector. c , and according to whether the first and last vehicles in the motor vehicle cluster queue pass the intersection stop line before the green light ends, the full red time of the motor vehicle is calculated respectively; If the last vehicle in the motor vehicle group queue passes the stop line before the green light ends, the full red time r of the motor vehicle is calculated. c for: If the first vehicle in the motor vehicle group queue does not pass the stop line before the green light ends, the video detector obtains the distance L0 from the first vehicle to the stop line and calculates the full red time r of the motor vehicle. c for: At this time, according to the video detector, the driving speed is less than S when the green light ends. cm The vehicle is warned.

11. The method for calculating the inductive full red time at a crossroad according to claim 10, characterized in that: In said S4, the following steps are included: S44. For each phase p, calculate the total full red time R0, the formula is: R0=Max{r p 、r b 、r c }。 12. The method for calculating the inductive full red time at a crossroad according to claim 11, characterized in that: In said S4, the following steps are included: S45, obtaining the 15% speed S of pedestrians crossing the street through the video detector p15 、15% speed of non-motor vehicles S b15 and 15% of the vehicle speed S c15 , calculate the maximum single-item all-red time T for the crowd crossing the street pmax , the maximum all-red time for non-motor vehicles to pass a single item T bmax and the maximum all-red time T for a motor vehicle to pass through a single cmax ; The 15% speed is the quantile of speed, which means that among all the speeds measured at the actual measurement location, 15% of the speeds are lower than it, and the remaining 85% of the speeds are higher than it. The 15% speed is usually used as the minimum speed limit in traffic flow. For each phase p, Calculate the maximum single-item all-red time T for the crowd crossing the street pmax , the formula is: Calculate the maximum all-red time T for non-motor vehicles to pass through a single bmax , the formula is: Calculate the maximum all-red time T for a motor vehicle to pass through a single cmax , the formula is: S46. For each phase p, compare T pmax , T bmax , T cmax , get the maximum all-red time T max , the formula is: T max =Max{T pmax 、T bmax 、T cmax }。 13. The method for calculating the inductive full red time at a crossroad according to claim 12, characterized in that: In said S5, If R0<T max , then the final all-red time is R0; If R0 ≥ T max , then the final all-red time is T max .

14. A processor adapted to the method for calculating the inductive full red time of an intersection according to any one of claims 1 to 13, characterized in that: include: A calculation unit is used to calculate the full red time of the intersection.

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