Green wave coordination control method and device and electronic equipment

Abstract

The invention discloses a green wave coordination control method and device and electronic equipment, and belongs to the technical field of traffic. The method comprises the steps that operation constraint conditions and coordination directions of all intersections on a trunk road are determined, a trunk road coordination control scheme meeting the coordination directions of all the intersections is determined under the operation constraint conditions, and the coordination control scheme at least comprises signal timing schemes of all the intersections on the trunk road; for any intersection on the trunk road, the signal timing scheme of the intersection is optimized through the optimization function; and controlling the intersection according to the optimized signal timing scheme so as to realize green wave coordination control of the trunk road. According to the invention, the control effect of green wave coordination control on the trunk road is improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of transportation, and particularly relates to a green wave coordination control method and device and electronic equipment. BACKGROUND

[0002] In a city traffic system, the traffic flow smoothness of a trunk road plays a key role in the traffic efficiency of the whole city. As an effective means to improve the traffic capacity of the trunk road, the green wave coordination control technology can reduce the stopping delay and improve the continuity of the traffic flow by reasonably setting the signal timing of each intersection on the trunk road. However, the related technology usually focuses on the coordination control of the whole trunk road, and the optimization of a single intersection is insufficient, which affects the control effect of the green wave coordination control of the trunk road. SUMMARY

[0003] The present application aims to at least solve one of the technical problems in the related technology. To this end, the present application provides a green wave coordination control method, device and electronic equipment, which improves the control effect of the green wave coordination control of the trunk road.

[0004] In a first aspect, the present application provides a green wave coordination control method, which comprises: determining the operation constraint condition and the coordination direction of each intersection on a trunk road, and determining a coordination control scheme of the trunk road in accordance with the coordination direction of each intersection under the operation constraint condition, the coordination control scheme at least comprising a signal timing scheme of each intersection on the trunk road; for any intersection on the trunk road, optimizing the signal timing scheme of the intersection through an optimization function; controlling the intersection according to the optimized signal timing scheme to realize the green wave coordination control of the trunk road.

[0005] In the above technical solution, by determining the operation constraint condition and the coordination direction of each intersection on the trunk road, and determining the coordination control scheme of the trunk road in accordance with the coordination direction of each intersection under the operation constraint condition, the signal timing of each intersection on the trunk road can be reasonably adjusted, the traffic flow can smoothly run on the trunk road, the coordination control scheme of the trunk road is determined under the operation constraint condition of each intersection, which can adapt to the actual situation of different intersections, avoid the situation that the scheme cannot be implemented or the green wave coordination control effect is poor due to the neglect of the limitation of the intersection, and the coordination direction can be autonomously limited to realize the adaptive adjustment of the optimization direction of the trunk road green wave; for any intersection on the trunk road, the signal timing scheme of the intersection is optimized through an optimization function, and the intersection is controlled according to the optimized signal timing scheme, compared with the traditional green wave coordination control method of the whole trunk road, the adaptive optimization of the intersection can be realized, which is helpful to solve the local problems such as intersection congestion, reduce the green wave interruption phenomenon caused by the unreasonable signal timing of a single intersection, and improve the control effect of the green wave coordination control of the trunk road.

[0006] According to some embodiments of the present application, the optimization of the signal timing scheme of the intersection by the optimization function comprises: taking the signal timing scheme of the intersection as an initial signal timing scheme, and generating a plurality of signal timing schemes meeting the optimization constraint conditions of the intersection; taking the best traffic performance of the intersection under the signal timing scheme as the optimization target, and iteratively optimizing the initial signal timing scheme and the plurality of signal timing schemes by the optimization function to obtain the optimized signal timing scheme.

[0007] According to some embodiments of the present application, the optimization of the signal timing scheme of the intersection by the optimization function comprises: respectively configuring the weight coefficients corresponding to the traffic performance parameters of the intersection; in each iteration, obtaining the traffic performance parameters of the intersection under each signal timing scheme; weighting and summing the traffic performance parameters based on the corresponding weight coefficients to obtain the traffic performance of the intersection under each signal timing scheme; under the optimization constraint conditions, optimizing each signal timing scheme based on the traffic performance of the intersection under each signal timing scheme; returning to the step of obtaining the traffic performance parameters of the intersection under each signal timing scheme to continue execution until a preset optimization convergence condition is met to obtain the optimized signal timing scheme; The traffic performance parameters of the intersection at least include the average vehicle delay time, the number of vehicle stops and the vehicle capacity of the intersection in the coordinated direction.

[0008] According to some embodiments of the present application, the optimization constraint conditions of the intersection at least include: the effective green light time of any traffic flow of the intersection in the coordinated direction is within a preset green light time range; the sum of the total green light time of each traffic flow of the intersection in the coordinated direction is between the minimum cycle limit and the maximum cycle limit of the intersection, and the total green light time of the traffic flow is the sum of the effective green light time and the green light loss time of the traffic flow; the saturation of the intersection is within a preset saturation range.

[0009] According to some embodiments of the present application, the signal timing scheme of the intersection at least includes the phase sequence, the green ratio and the phase difference of the intersection.

[0010] According to some embodiments of the present application, the determining of the operation constraint condition and the coordination direction of each intersection on the arterial road comprises: For each intersection on the arterial road, operation data is acquired by the radar-vision integrated machine arranged at the intersection to determine the operation requirement of the intersection; According to the operation requirement of the intersection, the operation constraint condition of the intersection is determined; According to the operation requirement of the intersection and the topological structure of each intersection on the arterial road, the coordination direction of the intersection is determined.

[0011] According to some embodiments of the present application, the determining of the coordination control scheme of the arterial road meeting the coordination direction of each intersection under the operation constraint condition comprises: According to the signal cycle value range of each intersection on the arterial road, the value range of the arterial road public signal cycle is determined; For each intersection, the feasible phase setting mode of the intersection is determined according to the operation constraint condition and the coordination direction of the intersection; The offset green split of the intersection under different public signal cycles and different phase setting modes is calculated; According to the corresponding offset green split of each intersection, the optimal public signal cycle is determined from the value range and the optimal phase setting mode of the corresponding intersection is determined from the feasible phase setting modes of each intersection; According to the optimal public signal cycle and the optimal phase setting mode of each intersection, the phase difference of the corresponding intersection is determined to obtain the coordination control scheme of the arterial road.

[0012] In a second aspect, the present application provides a green wave coordination control device, which comprises: A determining module is configured to determine the operation constraint condition and the coordination direction of each intersection on the arterial road, and determine the coordination control scheme of the arterial road meeting the coordination direction of each intersection under the operation constraint condition, wherein the coordination control scheme at least comprises the signal timing scheme of each intersection on the arterial road; An optimization module is configured to optimize the signal timing scheme of each intersection on the arterial road by an optimization function; A control module is configured to control the intersection according to the optimized signal timing scheme to realize the green wave coordination control of the arterial road In a third aspect, the present application provides an electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to realize the green wave coordination control method of the first aspect.

[0013] In a fourth aspect, the present application provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the green wave coordination control method according to the first aspect.

[0014] In a fifth aspect, the present application provides a chip, comprising a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is configured to run a program or an instruction to implement the green wave coordination control method according to the first aspect.

[0015] In a sixth aspect, the present application provides a computer program product comprising a computer program which, when executed by a processor, implements the green wave coordination control method according to the first aspect.

[0016] Additional aspects and advantages of the present application will be in part apparent and in part pointed out below. BRIEF DESCRIPTION OF DRAWINGS

[0017] The above and / or additional aspects and advantages of the present application will become apparent and be readily appreciated from the following description, including the appended drawings, wherein: Figure 1 Fig. 1 is one of flow diagrams of the green wave coordination control method provided by some embodiments of the present application; Figure 2 Fig. 2 is a channelization diagram of an intersection provided by some embodiments of the present application; Figure 3 Fig. 3 is another of flow diagrams of the green wave coordination control method provided by some embodiments of the present application; Figure 4 Fig. 4 is a structural diagram of a green wave coordination control device provided by some embodiments of the present application; Figure 5 Fig. 5 is a structural diagram of an electronic device provided by some embodiments of the present application. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art belong to the scope of protection of the present application.

[0019] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally a class, not limited to the number of objects, for example, the first object can be one or more. In addition, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / ", generally indicates that the objects before and after are in a "or" relationship.

[0020] The green wave coordination control method, device and electronic equipment provided by the embodiments of the present application will be described in detail below in combination with the drawings, specific embodiments and application scenarios.

[0021] The green wave coordination control method can be applied to a terminal, and can be executed by hardware or software in the terminal.

[0022] The green wave coordination control method provided by the embodiments of the present application, the execution subject of the green wave coordination control method can be an electronic device or a functional module or functional entity in the electronic device that can realize the green wave coordination control method, the electronic device mentioned in the embodiments of the present application includes but is not limited to a mobile phone, a tablet computer, a computer, a camera and a wearable device, etc., and the green wave coordination control method provided by the embodiments of the present application will be described below taking the electronic device as an execution subject.

[0023] Figure 1 is one of the flowcharts of the green wave coordination control method provided by some embodiments of the present application. As shown in Figure 1 , the green wave coordination control method includes steps 110, 120 and 130.

[0024] Step 110, determining the operation constraint condition and coordination direction of each intersection on the arterial road, and determining the coordination control scheme of the arterial road in the coordination direction of each intersection under the operation constraint condition, the coordination control scheme at least including the signal timing scheme of each intersection on the arterial road.

[0025] It can be understood that the operation constraint condition refers to various limiting factors that need to be considered when determining the arterial coordination control scheme, such as the physical structure of the intersection (whether there is an independent right turn channel lane, etc.), the traffic flow composition (the proportion of motor vehicles, non-motor vehicles and pedestrians), the surrounding environment (whether there is a special place), etc.

[0026] The coordination direction refers to a traffic flow direction at the intersection that needs to be coordinated, that is, a direction at the intersection that needs to be controlled by the green wave coordination. Determining the coordination direction helps to concentrate resources for signal timing optimization and achieve more efficient green wave control. In the embodiments of the present application, the coordination direction of each intersection can be set autonomously, so that the optimization direction of the arterial green wave can be adaptively adjusted according to phenomena such as tidal phenomena or changes in vehicle flow paths, and the global arterial green wave optimization can be adapted.

[0027] The coordination control scheme is a global signal control scheme determined for the intersections on the arterial road, which includes a signal timing scheme of each intersection and is used to implement green wave coordination control of the arterial road. In some embodiments, the coordination control scheme further includes a common signal cycle of the arterial road.

[0028] The optimization function is a function for optimizing the signal timing scheme of the intersection, which usually takes a traffic efficiency index (such as vehicle delay, number of stops, traffic capacity, etc.) as the target, and adjusts the signal timing parameters to make the target function reach the optimal value.

[0029] For example, the traffic composition and traffic flow data of each intersection on the arterial road can be collected by traffic investigation or sensor monitoring, and the running constraint conditions can be obtained by analyzing the physical structure (such as the number of lanes, channelization) and traffic demand restrictions (such as excessive flow during peak hours) of each intersection according to the collected data. Under the running constraint conditions, the existing arterial green wave coordination control method is used to determine the coordination control scheme of the arterial road, which includes determining the signal timing scheme of each intersection to form the coordination control scheme of the arterial road.

[0030] Determining the coordination control scheme of the arterial road under the running constraint conditions can ensure that the developed coordination control scheme is actually feasible and avoid the situation that the scheme cannot be implemented or the green wave coordination control effect is poor due to the neglect of the constraint conditions of the intersection. Determining the coordination direction can concentrate resources to optimize the signal timing of the direction at the intersection that needs to be controlled by the green wave, and improve the traffic capacity of the arterial road in the key direction.

[0031] Step 120, for any intersection on the arterial road, the signal timing scheme of the intersection is optimized by the optimization function.

[0032] In some embodiments, the optimization of the signal timing scheme of the intersection by the optimization function includes: The signal timing scheme of the intersection is optimized by the optimization function at a preset frequency. For example, the preset frequency can be to optimize the signal timing scheme of the intersection once every preset fixed time interval, or to optimize the signal timing scheme of the intersection once every specified number of common signal cycles of the arterial road.

[0033] In some embodiments, the method further includes: The operation data of each intersection on the arterial road is acquired, and in the case that the green wave coordination control of the intersection is determined to be abnormal according to the operation data of the intersection, the signal timing scheme of the intersection is optimized by an optimization function. Exemplarily, the green wave coordination control abnormality of the intersection can be overflow of upstream and downstream intersections of the intersection or empty release of the intersection.

[0034] In the embodiments of the present application, the signal timing scheme of the intersection is optimized by the optimization function, and exemplarily, the optimization target can be selected according to actual needs, such as minimization of vehicle delay, reduction of parking times, improvement of traffic capacity, etc., and the optimization function is constructed according to the selected optimization target. For example, in the case of minimizing vehicle delay, a delay function containing parameters such as phase green time and traffic flow can be constructed, and a suitable optimization algorithm (such as genetic algorithm, simulated annealing algorithm, particle swarm algorithm, etc.) is used to solve the optimization function, and the signal timing parameters are adjusted to make the optimization function reach the optimal value.

[0035] It can be understood that the traditional green wave coordination control method can usually only perform global coordination control of the arterial road, and the embodiments of the present application can optimize the timing scheme of each intersection under the constraint condition of each intersection by using the optimization algorithm, which helps to solve the problem of local congestion of the intersection and further improves the traffic efficiency of the intersection. Compared with the static green wave algorithm, the real-time intersection situation can be accurately optimized to maintain the green wave of the arterial road, and compared with the single-point self-adaptation of the dynamic green wave, the disadvantages such as low applicable range and hysteresis can be improved.

[0036] In step 130, the intersection is controlled according to the optimized signal timing scheme to realize the green wave coordination control of the arterial road.

[0037] The intersection is controlled according to the optimized signal timing scheme, and exemplarily, the optimized signal timing scheme can be input into the signal control machine of the intersection, and the signal control machine controls the signal light display of the intersection in real time according to the set signal timing scheme. According to the optimized signal timing scheme, the signal display of the intersection can be more reasonable, and the parking and starting times of the vehicle can be reduced. After the green wave coordination control of the arterial road is realized, the vehicle can continuously pass through multiple intersections when driving at the green wave speed, the parking waiting time is reduced, and the overall traffic efficiency of the arterial road is improved.

[0038] The green wave coordination control method provided by the embodiments of the present application can reasonably adjust the signal timing of each intersection on the arterial road, so that the traffic flow runs smoothly on the arterial road. The coordination control scheme of the arterial road is determined under the operation constraint conditions of each intersection, which can adapt to the actual situation of different intersections, avoid the situation that the scheme cannot be implemented or the green wave coordination control effect is poor due to the neglect of the limitations of the intersection, and the coordination direction can be autonomously limited to achieve adaptive adjustment of the optimal direction of the arterial road green wave. For any intersection on the arterial road, the signal timing scheme of the intersection is optimized by the optimization function, and the intersection is controlled according to the optimized signal timing scheme. Compared with the traditional global green wave coordination control method of the arterial road, the adaptive optimization of the intersection can help to solve the local problems such as intersection congestion, reduce the green wave interruption phenomenon caused by unreasonable signal timing of a single intersection, and improve the control effect of the green wave coordination control of the arterial road.

[0039] In some embodiments of the present application, the optimization of the signal timing scheme of the intersection by the optimization function comprises: taking the signal timing scheme of the intersection as an initial signal timing scheme, and generating a plurality of signal timing schemes that meet the optimization constraint conditions of the intersection; taking the best traffic performance of the intersection under the signal timing scheme as the optimization target, and iteratively optimizing the initial signal timing scheme and the plurality of signal timing schemes by the optimization function to obtain the optimized signal timing scheme.

[0040] For example, according to the optimization constraint conditions of the intersection, a plurality of signal timing schemes can be generated by random generation, rule-based generation or using historical data, for example, the signal timing parameters of each phase can be adjusted within a certain parameter range, or the rule-based generation can generate schemes that meet the constraint conditions according to the variation law of traffic flow or specific traffic scenarios.

[0041] In some embodiments, the signal timing scheme of the intersection at least includes the phase difference, phase sequence and green time corresponding to each phase of the intersection.

[0042] The phase of the intersection refers to the signal display state corresponding to a group of non-conflicting traffic flows that obtain the right of way at the same time, which can also be referred to as a signal phase. The signal cycle refers to the time required for the signal indicator to display all phases according to the pre-set phase sequence. Among them, the duration of each phase with the right of way in the signal cycle can be referred to as the phase duration of the phase.

[0043] It can be understood that the non-conflict traffic flows at the intersection can be combined to form a phase, and the orderly switching of the phase in a signal cycle will constitute a phase sequence of the intersection, which determines the passing order of the traffic flow at the intersection; the green time corresponding to each phase refers to the duration of the green light during which the vehicles in the phase can pass, and the green split can be calculated according to the ratio of the green time of each phase to the cycle length, which directly affects the passing time distribution of the traffic flow in each direction; the phase difference refers to the time difference of the starting time of the green light of the same phase at adjacent intersections. In the optimization process, the optimal signal timing scheme can be found by changing the combination of these parameters. For example, different phase sequence arrangements can be tried, combined with different green split distributions and phase difference settings, and the effects of various combinations can be evaluated by an optimization function, so as to find the signal timing scheme most suitable for the current traffic conditions, reduce the vehicle queuing and delay caused by unreasonable signal timing, and improve the accuracy and effect of green wave coordination.

[0044] In some embodiments, an intelligent optimization algorithm is used to iteratively optimize the initial signal timing scheme and the plurality of signal timing schemes by an optimization function. For example, the signal timing scheme can be iteratively optimized by a genetic algorithm; or the signal timing scheme can be iteratively optimized by a particle swarm algorithm.

[0045] The traffic performance of the intersection is a key indicator for measuring the comprehensive condition of the traffic operation at the intersection, and the traffic at the intersection can be evaluated from multiple dimensions such as traffic efficiency and traffic safety. For example, when the vehicle delay minimization is the best traffic performance, a delay function including parameters such as the green time of each phase and the traffic flow can be constructed, and the output value of the function is the total vehicle delay. The optimization goal is to minimize the function value of the optimization function, that is, in the iterative optimization process, the optimization function value calculated is made smaller and smaller by continuously adjusting the signal timing parameters.

[0046] The green wave coordination control method provided by the embodiments of the present application takes the signal timing scheme of the intersection as the initial signal timing scheme, generates a plurality of signal timing schemes that meet the optimization constraint conditions of the intersection, and sets the optimization constraint conditions so that the generated signal timing schemes can adapt to the actual operation of the intersection; the initial signal timing scheme and the plurality of signal timing schemes are iteratively optimized by an optimization function to obtain an optimized signal timing scheme. Compared with the traditional global green wave coordination control method of the arterial road, the adaptive optimization for a single intersection by the optimization function can solve the problem of local congestion at the intersection, and the optimized signal timing scheme is helpful to realize more accurate green wave coordination control, thereby improving the flexibility and effect of the green wave coordination control of the entire arterial road.

[0047] In some embodiments of the present application, the traffic performance of the intersection under the signal timing scheme is optimized as the optimization target, and the initial signal timing scheme and multiple signal timing schemes are iteratively optimized by an optimization function to obtain an optimized signal timing scheme, comprising: respectively configuring a weight coefficient corresponding to the traffic performance parameter of the intersection; In each iteration, the traffic performance parameters of the intersection under each signal timing scheme are obtained; The traffic performance parameters are weighted and summed based on the corresponding weight coefficients to obtain the traffic performance of the intersection under each signal timing scheme; Under the optimization constraint condition, each signal timing scheme is optimized based on the traffic performance of the intersection under each signal timing scheme; Return to the step of obtaining the traffic performance parameters of the intersection under each signal timing scheme to continue execution until a preset optimization convergence condition is met to obtain an optimized signal timing scheme; The traffic performance parameters of the intersection at least include the average vehicle delay time, the number of vehicle stops and the vehicle capacity of the intersection in the coordinated direction.

[0048] It can be understood that the average vehicle delay time reflects the additional time consumed by the vehicle at the intersection due to waiting for the signal light; the number of vehicle stops reflects the frequency of starting and stopping of the vehicle when passing through the intersection; and the vehicle capacity can be considered as representing the maximum number of vehicles that can pass through the intersection per unit time. In some embodiments, the traffic performance parameters of the intersection under different signal timing schemes can also include the vehicle queue length and the vehicle waiting delay of the intersection in the coordinated direction.

[0049] By reasonably configuring the weight coefficients, the importance of different traffic performance parameters in the comprehensive evaluation of traffic performance can be highlighted. For example, if more attention is paid to improving traffic efficiency, the weight of vehicle capacity can be appropriately increased. In this way, the optimization process can be more in line with actual needs, and the pertinence of the optimization result can be improved. For example, the traffic performance parameters can be divided according to a hierarchical structure, the relative importance of each parameter is determined by pairwise comparison, and then the weight coefficients are calculated. Alternatively, the weight coefficients corresponding to the traffic performance parameters can be configured by expert scoring according to the actual situation of the intersection.

[0050] Accurate acquisition of the traffic performance parameters of the intersection under each signal timing scheme is the basis for optimization analysis. The traffic performance parameters obtained are weighted and summed to comprehensively evaluate multiple traffic performance parameters as a traffic performance index, which facilitates unified evaluation and comparison of different signal timing schemes, and can more comprehensively consider various aspects of traffic operation, avoiding the problem of incomplete optimization results caused by focusing on a single parameter.

[0051] Appropriate optimization algorithms (such as genetic algorithms, simulated annealing algorithms, particle swarm optimization, etc.) are used to optimize the signal timing scheme under optimization constraints. Through iterative optimization, the signal timing scheme is continuously improved, and the traffic performance of the intersection is gradually improved until the preset optimization convergence condition is reached.

[0052] For example, the convergence condition could be that the change in traffic performance indicators is less than a certain threshold in multiple consecutive iterations, or that a preset maximum number of iterations has been reached. After each iteration, it is determined whether the convergence condition is met. If not, the process returns to step two to continue; if it is met, the iteration stops, and the optimized signal timing scheme is obtained.

[0053] The following is a specific example of an optimization function:

[0054] in, ( ) is the first The weighting coefficients corresponding to each traffic performance parameter Traffic flow at the intersection in the coordinating direction Average delay time Traffic flow at the intersection in the coordinating direction The number of times the vehicle stops, Traffic flow at the intersection in the coordinating direction Vehicle traffic capacity.

[0055] The green wave coordinated control method provided in this application provides traffic performance parameters for an intersection under different signal timing schemes, including at least the average vehicle delay time, number of vehicle stops, and vehicle capacity in the coordinated direction. These traffic performance parameters can be input into an optimization function to evaluate different signal timing schemes for the intersection. By comprehensively considering the average vehicle delay time, number of vehicle stops, and vehicle capacity, the traffic performance parameters are obtained. Based on the traffic performance parameters of the intersection under each signal timing scheme, the impact of different signal timing schemes on the intersection's traffic operation during iterative optimization can be more accurately determined. This avoids the limitations of relying solely on a single indicator for evaluation and can minimize the average vehicle delay time, reduce the number of stops, and improve vehicle capacity, thereby optimizing the green wave coordinated control effect for the intersection.

[0056] In some embodiments of this application, the optimization constraints of the intersection include at least: The effective green light time for any traffic flow in the coordinating direction at the intersection is within the preset green light time range; the sum of the total green time of each traffic flow in the coordinated direction of the intersection is between a minimum cycle limit and a maximum cycle limit of the intersection, the total green time of the traffic flow being the sum of the effective green time and the green loss time of the traffic flow; the saturation of the intersection is within a preset saturation range.

[0057] It can be understood that the effective green time refers to the green time that can be actually used by a traffic flow in a signal cycle. The optimization constraint condition includes that the effective green time of each traffic flow in the coordinated direction of the intersection is within a reasonable range, which can avoid the situation that the traffic flow cannot fully pass due to too short effective green time or the situation that the passing of other traffic flows is affected due to too long effective green time in the signal timing scheme optimization scheme of the intersection, and is helpful to improve the passing efficiency of vehicles in the coordinated direction. The preset green time range can be obtained based on historical operation data of the intersection and traffic management expectations, for example, for the traffic flow in the coordinated direction of the main road with large traffic flow and high passing efficiency requirement, the preset range can be set to be wider.

[0058] The green loss time refers to the green time that is not fully used by the traffic flow due to vehicle start delay, pedestrian crossing and other reasons during the green signal period. The total green time of the traffic flow is the sum of the effective green time and the green loss time of the traffic flow, which reflects the total green time allocated to the traffic flow in a signal cycle. The optimization constraint condition includes that the sum of the total green time is between the minimum cycle limit and the maximum cycle limit, if the sum of the total green time is less than the minimum cycle limit, it indicates that the total green time allocated to the traffic flow in the coordinated direction is insufficient, and the effective green time of certain traffic flow or the phase sequence can be appropriately increased to increase the sum of the total green time; if the sum of the total green time is greater than the maximum cycle limit, the effective green time of certain traffic flow or the signal timing scheme needs to be optimized to make the sum of the total green time fall within the minimum cycle limit and the maximum cycle limit.

[0059] The saturation refers to the ratio of the actual traffic flow arriving at the intersection to the passing capacity of the intersection, which reflects the traffic load degree of the intersection, and a reasonable saturation range can improve the utilization rate of traffic resources. For example, if the saturation is lower than the preset saturation range, it indicates that the passing capacity of the intersection is not fully utilized, and there may be a waste of traffic resources; and if the saturation is too high, it may cause traffic congestion at the intersection. By controlling the saturation, the traffic flow and the passing capacity of the intersection can be matched, and the overall operation efficiency of the arterial road can be improved.

[0060] A specific example of an optimization constraint condition is given below:

[0061]

[0062]

[0063] wherein, is the effective green time of the intersection for the traffic flow in the coordination direction, is the effective green time of the intersection for the traffic flow in the coordination direction, and comprise a preset green time range, is the green loss time of the traffic flow, is the green loss time of the traffic flow, is the minimum cycle limit of the intersection, is the maximum cycle limit of the intersection, is the saturation of the intersection.

[0064] The green wave coordination control method provided by the embodiments of the present application optimizes the constraint conditions, which at least include that the effective green time of any traffic flow of the intersection in the coordination direction is within the preset green time range, the sum of the total green time of each traffic flow of the intersection in the coordination direction is between the minimum cycle limit and the maximum cycle limit of the intersection, and the saturation of the intersection is within the preset saturation range; the signal timing optimization of the intersection is limited from multiple aspects, wherein the reasonable signal cycle and saturation range can enable the intersection to maintain a relatively stable operating state under different traffic flow conditions, and reduce the congestion and accident occurrence probability caused by traffic fluctuations; the control of the effective green time and the sum of the total green time can avoid unreasonable setting of the signal timing, can enable the vehicles to pass more smoothly in the coordination direction, reduce the number of stops and waiting time, and achieve better green wave coordination control effect.

[0065] In some embodiments of the present application, the determination of the operating constraint condition and the coordination direction of each intersection on the arterial road comprises: For each intersection on the arterial road, an integrated radar and video machine arranged at the intersection is used to acquire operating data to determine the operating demand of the intersection; According to the operating demand of the intersection, the operating constraint condition of the intersection is determined; According to the operating demand of the intersection and the topological structure of each intersection on the arterial road, the coordination direction of the intersection is determined.

[0066] The integrated radar and video machine refers to a device that combines radar and video monitoring functions, wherein the radar can acquire real-time vehicle speed, distance and other information, and the video monitoring can provide visual information such as vehicle appearance and driving trajectory. For example, an integrated radar and video machine is installed at each intersection of the arterial road to collect various operating data of the intersection, and the operating demand of the intersection is determined by comprehensively analyzing the operating data.

[0067] Specifically, the operation requirement of the intersection is determined based on multiple factors such as the physical structure of the intersection, traffic flow, and the like. The physical structure of the intersection can include the number of lanes, the width of the entrance, the turning radius, and the like. For example, if the number of lanes of a certain intersection is small, the traffic capacity in this direction will be limited. For another example, in order to ensure the safety of pedestrians crossing the street, sufficient green light time needs to be set; in order to ensure that vehicles have sufficient sight distance in the intersection to avoid collision accidents, the driving speed of vehicles in certain directions or the signal phase needs to be adjusted. According to the operation requirement of the intersection, the operation constraint condition of the intersection can be determined. Determining the operation constraint condition can provide clear restrictions and guidance for signal timing. Under the premise of meeting these constraint conditions, signal timing can ensure the feasibility and effectiveness of the signal scheme, and avoid traffic congestion or safety accidents caused by unreasonable timing.

[0068] In some embodiments, according to the operation requirement of the intersection, the operation constraint condition of the intersection is determined, which can specifically include: When the intersection does not have an independent right-turn channelized lane and is provided with an electric bicycle lane (taking the north direction of the intersection as the coordination direction as an example), the east entrance of the intersection needs to be separately set as the first activated phase, and the right-turn light should be activated late, so as to reduce the conflict between motor vehicles turning right and non-motor vehicles; If a separate pedestrian phase is set at the intersection, the time of the separate pedestrian phase should be set as a fixed value; When the intersection adopts the overlapping release mode, main coordination connection needs to be performed, which helps to ensure smooth connection between phases and make the traffic flow pass through the intersection in an orderly manner.

[0069] The green wave coordination control method provided by the embodiments of the present application determines the operation requirement of the intersection by acquiring operation data through the radar-vision integrated machine at each intersection on the arterial road, and then determines the operation constraint condition according to the operation requirement, which realizes that the actual data of the intersection can be used to more accurately analyze the traffic condition of the intersection, so that the signal timing scheme is more in line with the actual traffic demand, and the rationality and effectiveness of the intersection signal control are improved; the coordination direction is determined according to the operation requirement of the intersection and the topological structure of the arterial road, which enables vehicles to pass through the arterial road more smoothly in a continuous green light, and helps to improve the effect of the arterial road green wave coordination control.

[0070] In some embodiments of the present application, the determination of the coordination control scheme of the arterial road in which the coordination direction of each intersection meets the operation constraint condition comprises: According to the signal cycle value range of each intersection on the arterial road, the value range of the arterial road public signal cycle is determined; For each intersection, the feasible phase setting mode of the intersection is determined according to the operation constraint condition and the coordination direction of the intersection; determining offset green splits of the intersections under different common signal cycle values and different phase setting modes; determining an optimal common signal cycle value from the value range according to the offset green splits of the intersections, and determining optimal phase setting modes of the intersections from the feasible phase setting modes of the intersections; determining phase differences of the intersections according to the optimal common signal cycle value and the optimal phase setting modes of the intersections, and obtaining the coordinated control scheme of the arterial road.

[0071] Figure 2 is a channelization diagram of an intersection provided by some embodiments of the present application. For the intersection as shown in Figure 2 , which includes 10 lanes numbered 1 to 10, V1 to V10 represent traffic light groups corresponding to different directions or different lanes, and E, S, W, and N represent the four basic directions of east, south, west, and north.

[0072] As shown in Figure 2 , the intersection meets the operation constraint condition and the phase setting mode of the coordinated direction includes: (1) east-west left turn, east-west U-turn, south single placement, east-west straight, and single pedestrian (2) east import single placement, west import single placement, and south import single placement (3) east import single placement, east-west opposite placement, and west import single placement.

[0073] determining green split allocation schemes of the intersections under different phase setting modes. Exemplarily, for different phase setting modes of the intersection, the surplus green split can be allocated to the coordinated phase based on the principle that the total green split of the coordinated phase of the intersection is unchanged, on the basis of meeting the traffic demand of the non-coordinated direction.

[0074] determining the value range of the common signal cycle of the arterial road according to the signal cycle value range of each intersection on the arterial road. Exemplarily, the intersection can take the intersection as the value optimization space of the common signal cycle, and in some embodiments, the intersection can also take the union as the value optimization space of the common signal cycle.

[0075] The offset green split refers to the up and down offset amount of the actual intersection green light center time point relative to the ideal intersection green light center time line due to the actual intersection position deviating from the ideal intersection position.

[0076] In some embodiments, for each intersection on the arterial road, the offset green split of the intersection under different common signal cycle values and different phase setting modes is calculated, including: For each common signal cycle value, a reference intersection is selected from each intersection on the arterial road, and the bidirectional equivalent distance and the bidirectional equivalent average speed between the intersection and the reference intersection are calculated. obtaining the time that the green light center of the coordinated straight phase of the intersection is ahead of the green light center of the opposite coordinated straight phase under different phase setting modes; For each phase setting mode of the intersection, according to the two-way equivalent average driving speed between the intersection and the reference intersection, the time that the green light center of the coordinated straight phase of the intersection is ahead of the green light center of the opposite coordinated straight phase under the phase setting mode, and the public signal cycle value, determining the ideal distance between the intersection and the reference intersection; According to the two-way equivalent average driving speed between the intersection and the reference intersection, and the public signal cycle value, calculating the spacing of the intersection and the ideal intersection corresponding to the intersection; According to the two-way equivalent spacing between the intersection and the reference intersection, the ideal distance between the intersection and the reference intersection, and the spacing of the intersection and the ideal intersection corresponding to the intersection, determining the offset green ratio of the intersection under different public signal cycle values and different phase setting modes.

[0077] A specific example is given below: For each public signal cycle, a reference intersection 1 is selected in each intersection on the arterial road (for example, the first intersection arranged in the coordinated direction along the arterial road), and the two-way equivalent spacing between the intersection and the reference intersection 1 and the two-way equivalent average driving speed are calculated and :

[0078]

[0079] wherein, is the two-way equivalent spacing between the intersection and the intersection , and is the two-way actual spacing between the intersection and the intersection , and is the two-way average driving speed between the intersection and the intersection ; obtaining the time that the green light center of the coordinated straight phase of the intersection is ahead of the green light center of the opposite coordinated straight phase under different phase setting modes ; for example, as shown in Table 1 ​The value indication table (wherein the north direction is the coordination direction and the south direction is the reverse coordination direction) is shown as follows: Table 1 Value indication table

[0080] wherein, is the intersection the green light time of the north approach phase, is the intersection the green light time of the east approach phase, is the intersection the green light time of the west approach phase, is the intersection the green light time of the pedestrian phase; For each phase setting mode of the intersection, according to the bidirectional equivalent average driving speed (v and v') between the intersection and the reference intersection 1, the time (t) that the green light center time of the coordination direction straight phase of the intersection is ahead of the green light center time of the reverse coordination direction straight phase under the phase setting mode, and the public signal cycle (T), the ideal distance (d) between the intersection and the reference intersection 1 is determined: and

[0081] wherein, is the time that the green light center time of the coordination direction straight phase of the reference intersection 1 is ahead of the green light center time of the reverse coordination direction straight phase, is an integer; According to the bidirectional equivalent average driving speed (v and v') between the intersection and the reference intersection 1 and the public signal cycle (T), the spacing (d') of the intersection and the ideal intersection corresponding to the intersection is calculated: and ; According to the bidirectional equivalent spacing between the intersection and the reference intersection 1, the ideal distance between the intersection and the reference intersection, and the spacing of the intersection and the ideal intersection corresponding to the intersection, the offset green ratio of the intersection under different public signal cycles and different phase setting modes is determined:

[0082] wherein,​​​​​​​​​​​​ is the intersection the two-way equivalent distance between intersection i and the reference intersection 1, is the intersection the ideal distance between intersection i and the reference intersection 1, is the intersection the distance between intersection i and the ideal intersection corresponding to the reference intersection 1.

[0083] In some embodiments, the method further comprises: the offset green split according to the offset green split the coordinated direction offset green split of intersection i under different common signal cycles and different phase settings and the anti-coordinated direction offset green split :

[0084] wherein, is the offset green split of intersection i under different common signal cycles and different phase settings, and is the two-way equivalent average travel speed between intersection i and the reference intersection 1.

[0085] In some embodiments, the phase difference of each intersection is determined according to the optimal common signal cycle and the optimal phase setting of each intersection, comprising: taking the coordinated direction green start time of the reference intersection 1 as the phase difference reference point, calculating the absolute phase difference of intersection i as follows:

[0086] wherein, is the optimal common signal cycle, is the coordinated direction offset green split under the optimal common signal cycle and the optimal phase setting of intersection i.

[0087] ​​The green wave coordination control method provided by the embodiments of the present application can make the signal timing more suitable for the actual traffic demand of the intersections, determine the public signal cycle value range by comprehensively considering the conditions of the intersections, and ensure that all intersections can find a suitable signal cycle in the range; determine the optimal public signal cycle and phase setting mode by comprehensively considering the offset green split of each intersection, so as to realize the optimization of the overall traffic operation of the arterial road, and integrate the calculated phase difference of each intersection, the optimal public signal cycle and the optimal phase setting mode to form a complete arterial green wave coordination control scheme, which is helpful to improve the overall traffic capacity of the arterial road.

[0088] In some embodiments of the present application, the determining of the optimal public signal cycle from the value range and the optimal phase setting mode of the corresponding intersection from the feasible phase setting modes of each intersection according to the offset green split of each intersection corresponding to the intersection comprises: For each public signal cycle in the value range, a group of phase setting mode combinations with the smallest sum of offset green splits of each intersection is determined as an ideal phase combination under the public signal cycle, and the phase setting mode combination includes a phase setting mode of each intersection; Comparing the difference between the maximum offset green splits corresponding to the ideal phase combinations under different public signal cycles; Taking the public signal cycle with the smallest difference between the maximum offset green splits as the best public signal cycle, and taking the phase setting mode of each intersection in the ideal phase combination under the best public signal cycle as the optimal phase setting mode of the corresponding intersection.

[0089] For example, for each public signal cycle value in the public signal cycle value range of the arterial road, first, determine all possible phase setting mode combinations, each phase setting mode combination including a phase setting mode of each intersection, then calculate the sum of the offset green splits of each intersection under each combination, and determine the phase setting mode combination with the smallest sum as the ideal phase combination under the public signal cycle value by comparing the sum values.

[0090] Comparing the difference between the maximum offset green splits corresponding to the ideal phase combinations under different public signal cycle values. Specifically, for different public signal cycles, the calculation of the difference between the maximum offset green splits is to subtract the maximum value from the minimum value in the minimum offset green split value set of each intersection. For example, if the minimum offset green split value set of intersections A, B, C and D is {0, 0.006, 0.021, 0.036}, the corresponding difference between the maximum offset green splits is 0.036-0=0.036.

[0091] Taking the common signal period with the minimum difference of the maximum offset green split ratio as the optimal common signal period, and taking the phase setting mode of each intersection in the ideal phase combination under the optimal common signal period as the optimal phase setting mode of the corresponding intersection.

[0092] The green wave coordination control method provided in the embodiments of the present application can evaluate the influence of the phase setting mode and the common signal period value change on the arterial traffic operation by minimizing the sum of the offset green split ratios and comparing the difference of the maximum offset green split ratios, find the common signal period value with the minimum difference of the maximum offset green split ratios and determine it as the optimal common signal period, and extract the phase setting mode of each intersection from the ideal phase combination corresponding to the optimal common signal period as the optimal phase setting mode, so as to determine the optimal common signal period from the value range of the arterial common signal period and the optimal phase setting mode corresponding to each intersection according to the offset green split ratio corresponding to each intersection.

[0093] Figure 3 Fig. 2 is a flowchart of a green wave coordination control method provided by some embodiments of the present application. As shown in Fig. 2, the green wave coordination control method further includes the following steps. Figure 3 Obtaining basic information of each intersection of an arterial road, the basic information including phase sequence, intersection distance and green split ratio, etc. Calculating a coordination control scheme, outputting the optimal common period, green split ratio, phase difference and minimum bidirectional green wave bandwidth of a sub-area. Calculating bidirectional bandwidth constraint conditions of each intersection. Obtaining constraint conditions of each intersection, the constraint conditions including constraints on period phase, green light release phase sequence, road traffic and lane occupancy rate, etc. For each intersection, generating a plurality of alternative signal timing schemes of the intersection according to the constraint conditions of the intersection. Taking the maximization of effective green light time as the main target, using a global group optimization algorithm to determine the optimal signal timing scheme. Summarizing the optimal signal timing scheme and issuing the optimal signal timing scheme to the signal machine of the intersection for execution.

[0094] The execution subject of the green wave coordination control method provided in the embodiments of the present application can be a green wave coordination control device. In the embodiments of the present application, the green wave coordination control device is taken as an example to illustrate the green wave coordination control device provided in the embodiments of the present application.

[0095] Figure 4 Fig. 3 is a structural schematic diagram of a green wave coordination control device provided by some embodiments of the present application. As shown in Fig. 3, the green wave coordination control device includes a signal timing scheme calculation module 310, a signal timing scheme optimization module 320 and a signal timing scheme issuing module 330. Figure 4 ​As shown, the green wave coordination control device 400 comprises a determination module 401, an optimization module 402 and a control module 403.

[0096] The determination module 401 is configured to determine the operation constraint conditions and coordination directions of the intersections on the arterial road, and determine a coordination control scheme of the arterial road in the coordination directions of the intersections under the operation constraint conditions, wherein the coordination control scheme at least comprises signal timing schemes of the intersections on the arterial road. The optimization module 402 is configured to optimize the signal timing scheme of any intersection on the arterial road by an optimization function. The control module 403 is configured to control the intersection according to the optimized signal timing scheme, so as to realize the green wave coordination control of the arterial road.

[0097] In some embodiments, the optimization module 402 is configured to: take the signal timing scheme of the intersection as an initial signal timing scheme, and generate a plurality of signal timing schemes in line with the optimization constraint conditions of the intersection; take the best traffic performance of the intersection under the signal timing scheme as an optimization target, and iteratively optimize the initial signal timing scheme and the plurality of signal timing schemes by the optimization function, to obtain the optimized signal timing scheme.

[0098] In some embodiments, the taking the best traffic performance of the intersection under the signal timing scheme as the optimization target, and iteratively optimizing the initial signal timing scheme and the plurality of signal timing schemes by the optimization function, to obtain the optimized signal timing scheme, comprises: respectively configuring weight coefficients corresponding to the traffic performance parameters of the intersection; in each iteration, obtaining the traffic performance parameters of the intersection under each signal timing scheme; weighting and summing the traffic performance parameters based on the corresponding weight coefficients, to obtain the traffic performance of the intersection under each signal timing scheme; under the optimization constraint conditions, optimizing each signal timing scheme based on the traffic performance of the intersection under each signal timing scheme; returning to the step of obtaining the traffic performance parameters of the intersection under each signal timing scheme to continue execution until a preset optimization convergence condition is met, to obtain the optimized signal timing scheme; The traffic performance parameters of the intersection at least comprise the average vehicle delay time, the number of vehicle stops and the vehicle capacity of the intersection in the coordination direction.

[0099] In some embodiments, the optimization constraint conditions of the intersection at least comprise: The effective green light time of any vehicle flow in a coordinated direction of the intersection is within a preset green light time range; The sum of the total green light time of each vehicle flow in a coordinated direction of the intersection is between the minimum cycle limit and the maximum cycle limit of the intersection, and the total green light time of the vehicle flow is the sum of the effective green light time and the green light loss time of the vehicle flow; The saturation of the intersection is within a preset saturation range.

[0100] In some embodiments, the signal timing scheme of the intersection at least includes the phase difference, the phase sequence and the green light time corresponding to each phase of the intersection.

[0101] In some embodiments, the determining module 401 is configured to: For each intersection on the arterial road, obtain operation data by the radar-vision integrated machine arranged at the intersection to determine the operation demand of the intersection; According to the operation demand of the intersection, determine the operation constraint condition of the intersection; According to the operation demand of the intersection and the topological structure of each intersection on the arterial road, determine the coordinated direction of the intersection.

[0102] In some embodiments, the determining module 401 is configured to: According to the signal cycle value range of each intersection on the arterial road, determine the value range of the arterial road public signal cycle; For each intersection, according to the operation constraint condition and the coordinated direction of the intersection, determine the feasible phase setting mode of the intersection; Calculate the offset green split of the intersection under different public signal cycles and different phase setting modes; According to the offset green split corresponding to each intersection, determine the optimal public signal cycle from the value range and the optimal phase setting mode of the corresponding intersection from the feasible phase setting modes of each intersection; According to the optimal public signal cycle and the optimal phase setting mode of each intersection, determine the phase difference of the corresponding intersection to obtain the coordinated control scheme of the arterial road.

[0103] In some embodiments, the determining the optimal public signal cycle from the value range and the optimal phase setting mode of the corresponding intersection from the feasible phase setting modes of each intersection according to the offset green split corresponding to each intersection comprises: For each public signal cycle in the value range, a phase setting mode combination with the smallest sum of the offset green split corresponding to each intersection is regarded as the ideal phase combination under the public signal cycle, and the phase setting mode combination includes one phase setting mode of each intersection; Differences between maximum offset green-to-signal ratios corresponding to ideal phase combinations in different common signal periods are compared; The common signal period with the minimum difference between the maximum offset green-to-signal ratios is regarded as the optimal common signal period, and the phase setting mode of each intersection in the ideal phase combination under the optimal common signal period is regarded as the optimal phase setting mode of the corresponding intersection.

[0104] The green wave coordination control device in the embodiments of the present application can be an electronic device or a component in an electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal or other devices other than a terminal. Illustratively, the electronic device can be a mobile phone, a tablet computer, a notebook computer, a palm computer, a vehicle-mounted electronic device, a Mobile Internet Device (MID), an augmented reality (AR) / virtual reality (VR) device, a robot, a wearable device, an ultra-mobile personal computer (UMPC), a netbook, or a personal digital assistant (PDA), etc., and can also be a server, a Network Attached Storage (NAS), a personal computer (PC), a television (TV), a teller machine, or a self-service machine, etc., and the embodiments of the present application are not limited in this regard.

[0105] The green wave coordination control device in the embodiments of the present application can be a device with an operating system. The operating system can be a Microsoft (Windows) operating system, an Android operating system, an IOS operating system, or other possible operating systems, and the embodiments of the present application are not limited in this regard.

[0106] The green wave coordination control device provided in the embodiments of the present application can implement each process achieved by the green wave coordination control method embodiments, and achieve the same technical effects. To avoid repetition, details are not described herein.

[0107] Figure 5 FIG. 1 is a structural schematic diagram of an electronic device provided in some embodiments of the present application. In some embodiments, as shown in FIG. 1, the electronic device can include a processor 1001, a memory 1002, and a communication interface 1003. Figure 5As shown, the electronic device 500 includes a processor 501, a memory 502, and a computer program stored in the memory 502 and executable on the processor 501. The computer program is executed by the processor 501 to implement the processes of the green wave coordination control method embodiments described above, and achieve the same technical effects. To avoid repetition, details are not described herein.

[0108] It should be noted that the electronic device in the embodiments of the present application includes the mobile electronic device and the non-mobile electronic device described above.

[0109] The embodiments of the present application also provide a non-transitory computer readable storage medium having a computer program stored thereon. The computer program is executed by a processor to implement the processes of the green wave coordination control method embodiments described above, and achieve the same technical effects. To avoid repetition, details are not described herein.

[0110] The processor is the processor in the electronic device described in the embodiments above. The readable storage medium includes a computer readable storage medium, such as a computer readable only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0111] The embodiments of the present application also provide a computer program product including a computer program. The computer program is executed by a processor to implement the green wave coordination control method.

[0112] The processor is the processor in the electronic device described in the embodiments above. The readable storage medium includes a computer readable storage medium, such as a computer readable only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0113] The embodiments of the present application also provide a chip. The chip includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is configured to run a program or an instruction to implement the processes of the green wave coordination control method embodiments described above, and achieve the same technical effects. To avoid repetition, details are not described herein.

[0114] It should be understood that the chip mentioned in the embodiments of the present application can also be referred to as a system level chip, a system chip, a chip system, or a system on chip, etc.

[0115] It should be noted that, in the present document, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises a", "comprising", or "comprises" does not, without more constraints, preclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element. Additionally, it should be noted that the terms "one embodiment", "some embodiments", "certain embodiments", "certain examples", or "some examples" as used in the present document are intended to refer to one or more embodiments or examples that do not necessarily have to cover all embodiments or examples of the present application. In other words, use of the above terms does not necessarily refer to the same embodiment or example. Furthermore, the above terms are not necessarily mutually exclusive.

[0116] From the above description of the embodiments, it is apparent that the above-mentioned method can be implemented by means of software and the necessary universal hardware platform, of course, it can also be implemented by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a plurality of instructions for making a terminal (which can be a mobile phone, computer, server, or network device, etc.) execute the method described in each embodiment of the present application.

[0117] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-described specific embodiments, which are merely illustrative rather than restrictive, and a person of ordinary skill in the art can make many forms under the inspiration of the present application without departing from the scope of the present application and the protection scope of the claims.

[0118] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "certain embodiments", "exemplary embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0119] While the embodiments of the application have been shown and described, it is to be understood that the embodiments can be varied, modified, substituted and changed by those skilled in the art without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.

Claims

1. A green wave coordinated control method, characterized in that, include: Determine the operational constraints and coordination directions of each intersection on the arterial road, and determine the coordination control scheme of the arterial road that conforms to the coordination directions of each intersection under the operational constraints. The coordination control scheme shall include at least the signal timing scheme of each intersection on the arterial road. For any intersection on the arterial road, the signal timing scheme of the intersection is optimized using an optimization function; The intersection is controlled according to the optimized signal timing scheme to achieve coordinated green wave control of the arterial road.

2. The green wave coordinated control method according to claim 1, characterized in that, The optimization of the signal timing scheme of the intersection using an optimization function includes: Using the signal timing scheme of the intersection as the initial signal timing scheme, generate multiple signal timing schemes that meet the optimization constraints of the intersection; With the goal of optimizing the traffic performance of the intersection under the signal timing scheme, the initial signal timing scheme and multiple signal timing schemes are iteratively optimized using an optimization function to obtain the optimized signal timing scheme.

3. The green wave coordinated control method according to claim 2, characterized in that, The optimization objective is to achieve the best traffic performance at the intersection under the signal timing scheme. An optimization function iteratively optimizes the initial signal timing scheme and multiple signal timing schemes to obtain the optimized signal timing scheme, including: Configure the weighting coefficients corresponding to the traffic performance parameters of the intersections respectively; In each iteration, the traffic performance parameters of the intersection under each signal timing scheme are obtained; The traffic performance parameters are weighted and summed based on the corresponding weighting coefficients to obtain the traffic performance of the intersection under each signal timing scheme. Under the aforementioned optimization constraints, each signal timing scheme is optimized based on the traffic performance of the intersection under each signal timing scheme. Return to the step of obtaining the traffic performance parameters of the intersection under each signal timing scheme and continue execution until the preset optimization convergence condition is met to obtain the optimized signal timing scheme; The traffic performance parameters of the intersection include at least the average vehicle delay time, number of vehicle stops, and vehicle capacity in the coordinating direction.

4. The green wave coordinated control method according to claim 2, characterized in that, The optimization constraints of the intersection include at least the following: The effective green light time for any traffic flow in the coordinating direction at the intersection is within the preset green light time range; The sum of the total green light time for each traffic flow in the coordinated direction at the intersection is between the minimum cycle limit and the maximum cycle limit of the intersection. The total green light time of the traffic flow is the sum of the effective green light time and the green light loss time of the traffic flow. The saturation of the intersection is within a preset saturation range.

5. The green wave coordinated control method according to any one of claims 1-4, characterized in that, The signal timing scheme of the intersection includes at least the phase difference, phase sequence, and green light time corresponding to each phase.

6. The green wave coordinated control method according to claim 1, characterized in that, The determination of the operational constraints and coordination directions at each intersection on the main road includes: For each intersection on the main road, operational data is obtained by the radar-visual integrated machine installed at the intersection to determine the operational requirements of the intersection; Based on the operational requirements of the intersection, determine the operational constraints of the intersection; Based on the operational requirements of the intersection and the topology of each intersection on the main road, the coordination direction of the intersection is determined.

7. The green wave coordinated control method according to claim 1 or 6, characterized in that, The method for determining a coordinated control scheme for the arterial road that conforms to the coordinated directions at each intersection under the operational constraints includes: Based on the range of signal cycle values ​​at each intersection on the main road, determine the range of values ​​for the common signal cycle on the main road. For each of the aforementioned intersections, the feasible phase setting method for the intersection is determined based on the operational constraints and coordination direction of the intersection; Calculate the offset green light ratio of the intersection under different public signal cycles and different phase settings; Based on the offset green signal ratio corresponding to each intersection, the optimal common signal period is determined from the range of values, and the optimal phase setting method for the corresponding intersection is determined from the feasible phase setting methods for each intersection. Based on the optimal common signal cycle and the optimal phase setting method of each intersection, the phase difference of the corresponding intersection is determined, and the coordinated control scheme of the arterial road is obtained.

8. The green wave coordinated control method according to claim 7, characterized in that, The step of determining the optimal common signal period from the range of values ​​based on the offset green light ratio corresponding to each intersection, and determining the optimal phase setting method for the corresponding intersection from the feasible phase setting methods for each intersection, includes: For each common signal cycle within the range of values, the ideal phase combination under the common signal cycle is the combination of phase settings that minimizes the sum of the offset green light ratios corresponding to each intersection. The combination of phase settings includes one phase setting method for each intersection. Compare the differences in the maximum offset green ratio corresponding to the ideal phase combination under different common signal periods; The optimal common signal cycle is the common signal cycle with the smallest difference in the maximum offset green signal ratio, and the phase setting method of each intersection in the ideal phase combination under the optimal common signal cycle is the optimal phase setting method of the corresponding intersection.

9. A green wave coordination control device, characterized in that, include: The determination module is used to determine the operating constraints and coordination directions of each intersection on the arterial road, and to determine the coordination control scheme of the arterial road that conforms to the coordination directions of each intersection under the operating constraints. The coordination control scheme includes at least the signal timing scheme of each intersection on the arterial road. The optimization module is used to optimize the signal timing scheme of any intersection on the main road using an optimization function. The control module is used to control the intersection according to the optimized signal timing scheme in order to achieve green wave coordination control of the arterial road.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the green wave coordination control method as described in any one of claims 1-8.

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