Adaptive traffic signal control method and apparatus, device and medium

Abstract

The present application is applicable to the technical field of traffic control. Provided are an adaptive traffic signal control method and apparatus, a device and a medium. The adaptive traffic signal control method comprises: on the basis of a background plan and an optimal timing plan which are pre-configured for a target intersection, establishing a plurality of control policies for controlling the traffic light duration; on the basis of the discharged traffic volume, the intersection traffic capacity and the number of queued vehicles at the target intersection at a current moment, determining a current traffic state of the target intersection; on the basis of the current traffic state of the target intersection and the relevance between the target intersection and an intersection adjacent to the target intersection, selecting a target control policy from the plurality of control policies; and on the basis of the target control policy, controlling the target intersection. The adaptive traffic signal control method of the present application can improve the traffic efficiency of intersections.

Description

Traffic signal adaptive control method, device, equipment and medium Technical Field

[0001] The present application relates to the field of traffic control technology, and in particular to a method, device, equipment and medium for adaptive control of traffic signals. Background Art

[0002] Urban traffic congestion has become a global problem, and signalized intersections, as the chokepoints of the road network, are crucial for ensuring efficient and stable urban traffic. The widespread use of intersection equipment such as electronic alarms, checkpoints, and radar, along with the application of map trajectory data, has enabled the development of a rich set of traffic evaluation metrics, such as the number of vehicles queuing during green-lighted traffic, the number of vehicles failing to pass during red-lighted traffic, wasted time, and queue length. This data supports the real-time automatic adjustment of signal control parameters to adapt to changing traffic flows.

[0003] Currently, the adaptive control methods currently available on the market primarily utilize a generational approach. These methods, based on statistics of past (or recent) traffic volumes, automatically adjust signal control parameters based on past traffic flows to adapt to changes in intersection traffic flow. However, this approach has three drawbacks: First, it cannot select a combination of phased solutions; second, it cannot optimize timing based on real-time traffic flow changes; and third, it lacks a control strategy tailored to traffic scenarios. This results in low intersection efficiency.

[0004] Summary of the Invention

[0005] The present application provides a traffic signal adaptive control method, device, equipment and medium, which can solve the problem of low traffic efficiency at intersections.

[0006] In a first aspect, an embodiment of the present application provides a traffic signal adaptive control method, the traffic signal adaptive control method comprising:

[0007] Based on the background plan and optimal timing plan pre-set for the target intersection, multiple control strategies for controlling the duration of traffic lights are established;

[0008] Determine the current traffic status of the target intersection based on the released traffic volume, intersection capacity, and number of vehicles in queue at the target intersection at the current moment;

[0009] Selecting a target control strategy from a plurality of control strategies based on a current traffic state of a target intersection and a correlation between the target intersection and adjacent intersections of the target intersection;

[0010] Control the target intersection according to the target control strategy.

[0011] In a second aspect, an embodiment of the present application provides a traffic signal adaptive control device, comprising:

[0012] Establish a module to establish multiple control strategies for controlling the duration of traffic lights based on the background plan and optimal timing plan pre-set for the target intersection;

[0013] A determination module determines the current traffic state of the target intersection based on the released traffic volume, intersection capacity and number of queued vehicles at the target intersection at the current moment;

[0014] a selection module, which selects a target control strategy from a plurality of control strategies based on a current traffic state of a target intersection and a correlation between the target intersection and adjacent intersections of the target intersection;

[0015] The control module controls the target intersection according to the target control strategy.

[0016] In a third aspect, an embodiment of the present application provides a terminal device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned traffic signal adaptive control method when executing the above-mentioned computer program.

[0017] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the above-mentioned traffic signal adaptive control method.

[0018] The above solution of the present application has the following beneficial effects:

[0019] In an embodiment of the present application, multiple control strategies for controlling the duration of traffic lights are established based on a background scheme and an optimal timing scheme pre-set for a target intersection. The current traffic state of the target intersection is then determined based on the released traffic volume, the intersection capacity, and the number of vehicles in queue at the target intersection at the current moment. A target control strategy is then selected from multiple control strategies based on the current traffic state of the target intersection and the correlation between the target intersection and its adjacent intersections. Finally, the target intersection is controlled based on the target control strategy. Establishing multiple control strategies can provide a rich and efficient pre-selected control strategy for traffic control at the target intersection. Selecting a control strategy for the target intersection based on the current traffic state allows a control strategy that is suitable for the target intersection and efficient to be selected. Controlling the target intersection through the control strategy can increase the traffic capacity of the intersection and improve the traffic efficiency of the intersection.

[0020] Other beneficial effects of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0022] FIG1 is a flow chart of a traffic signal adaptive control method provided by an embodiment of the present application;

[0023] FIG2 is a schematic diagram of the structure of a traffic signal adaptive control device provided by an embodiment of the present application;

[0024] FIG3 is a schematic diagram of the structure of a terminal device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0025] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0026] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0027] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0028] As used in this specification and the appended claims, the term "if" can be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0029] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0030] References to "one embodiment" or "some embodiments" in this specification mean that a particular feature, structure, or characteristic described in conjunction with that embodiment is included in one or more embodiments of the present application. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more but not all embodiments," unless otherwise specifically emphasized. The terms "including," "comprising," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0031] To address the problem of low traffic efficiency at existing intersections, an embodiment of the present application provides a traffic signal adaptive control method. The traffic signal adaptive control method establishes multiple control strategies for controlling the duration of traffic lights based on a pre-set background scheme and optimal timing scheme for a target intersection. The method then determines the current traffic state of the target intersection based on the released traffic volume, intersection capacity, and number of vehicles in queue at the target intersection at the current moment. A target control strategy is then selected from multiple control strategies based on the current traffic state of the target intersection and the correlation between the target intersection and its adjacent intersections. Finally, the target intersection is controlled according to the target control strategy. Establishing multiple control strategies can provide a rich and efficient pre-selected control strategy for traffic control at the target intersection. Selecting a control strategy for the target intersection based on the current traffic state allows for the selection of a control strategy that is suitable for the target intersection and efficient. Controlling the target intersection through the control strategy can increase the traffic capacity of the intersection and improve the traffic efficiency of the intersection.

[0032] To facilitate understanding of the traffic signal adaptive control method of the present application, key terms of the traffic signal adaptive control method involved later in the text are explained here.

[0033] The timing plan is the duration of the traffic lights at the intersection in multiple stages within the cycle.

[0034] The phase is the length of time that the traffic light at the intersection is on, including the length of time the green light is on and the length of time the yellow light flashes before switching to green.

[0035] The released traffic volume is the number of vehicles or pedestrians passing through the intersection during the green light time.

[0036] The stranded traffic volume is the number of vehicles queued at the entrance of the intersection when the red light is on.

[0037] The traffic capacity of an intersection is the total number of vehicles or pedestrians passing through the intersection in all traffic directions within a period of time.

[0038] The number of vehicles in queue is the number of vehicles waiting to be released outside the stop line of the intersection.

[0039] Coordinated control is a method of controlling the traffic lights at two or more intersections in a coordinated manner.

[0040] The phase difference is the difference between the cycle start time and the standard start time of the intersection in coordinated control.

[0041] The minimum green light duration is the shortest time the green light signal should be maintained, and the maximum green light duration is the longest time the green light signal can be maintained.

[0042] Single-point adaptive control is a method of independently controlling the traffic lights at the target intersection based on the current traffic status of the intersection.

[0043] Intersection coordinated adaptive control is a method of coordinated control of an intersection and traffic lights associated with the intersection based on the current traffic status of the intersection.

[0044] The minimum cycle value is based on the actual situation of the intersection, and is the minimum total duration of the timing plan that can be achieved in theory by adjusting the duration of each stage in the timing plan.

[0045] Next, the traffic signal adaptive control method provided in this application is exemplified.

[0046] As shown in FIG1 , the service processing method of the autonomous transportation system provided by this application includes the following steps:

[0047] Step 11: establishing multiple control strategies for controlling the duration of traffic lights based on the background plan and optimal timing plan pre-set for the target intersection;

[0048] In some embodiments of the present application, a background plan can be set based on data such as the channelization, lighting layout, and traffic organization conditions of the target intersection. The background plan is applied to the target intersection, and the cycle value that can be achieved after the duration is adjusted is the minimum cycle value. The timing plan corresponding to the minimum cycle value is obtained, that is, the optimal timing plan. Based on the background plan and the optimal timing plan, a variety of control strategies are obtained that can meet various timing optimization needs of the target intersection.

[0049] The above background scheme M' is: M'={P',OS'}

[0050] Where P'={t'1,...,t' i ,...,t' C}, P' represents the timing scheme in the background scheme, OS' represents the standard phase difference in the background scheme, t'1 represents the duration of the first stage in the timing scheme in the background scheme, t' iIndicates the duration of the i-th stage in the timing plan of the background plan, t' C represents the duration of the Cth stage in the timing plan of the background plan, i = 1, 2, ..., C, C represents the last stage in the timing plan of the background plan, and the stage is the time period when the signal light is on;

[0051] The best timing plan P0 is:

[0052] in, Indicates the duration of the first stage in the optimal timing plan, represents the duration of the i-th stage in the optimal timing plan, Indicates the duration of the Cth stage in the optimal timing plan, the cycle value of the optimal timing plan

[0053] For example, the timing scheme P = {30, 31, 32, 33}, where the cycle is 30 + 31 + 32 + 33 = 126 seconds. The first phase is north-south straight traffic, so the green light duration for north-south straight traffic is 27 seconds, and the yellow light flashes for 3 seconds before switching to green, for a total duration of 30 seconds for the first phase. Each phase includes one or more traffic directions. For example, the second phase is the east-left straight phase, which includes both east-left turns and east-straight traffic.

[0054] Multiple control strategies include: efficiency improvement control strategy ST1, traffic balance control strategy ST2, green wave coordination control strategy ST3, blue wave coordination control strategy ST4, red wave coordination control strategy ST5, priority release control strategy ST6, dynamic open source control strategy ST7, overflow prevention control strategy ST8, minimum green signal ratio control strategy ST9, independent phase control strategy ST 10 .

[0055] It should be noted that each of the above control strategies, when applied to the target intersection, can prevent the situation where too little vehicle release traffic flow causes the vehicle queue overflow at the entrance, and too much vehicle release traffic flow causes the vehicle queue overflow at the downstream exit, namely:

[0056] in, It represents the queue length of the rth direction at the target intersection at the tth moment when the duration of the i-th stage takes the minimum green light duration. The tth moment is a moment in the i-th stage. It represents the queue length of the rth flow direction at the target intersection at the tth time when the duration of the i-th stage takes the maximum green light duration, LI r Indicates the length of the entrance section of the rth flow direction of the target intersection, LO rIndicates the length of the exit section of the r-th flow direction of the target intersection, represents the preset minimum green light duration of the i-th stage, Indicates the preset maximum green light duration of the i-th stage.

[0057] Specifically, the efficiency improvement control strategy ST1 includes:

[0058] Apply the best timing plan at the target intersection

[0059] in, Indicates the duration of the first stage in the optimal timing plan, represents the duration of the i-th stage in the optimal timing plan, Indicates the duration of the Cth stage in the optimal timing plan, i = 1, 2, ..., C, C represents the last stage of the timing plan in the background plan, the period value of the optimal timing plan

[0060] It should be noted that the efficiency improvement control strategy is applied to the target intersection in a non-saturated state, where the duration of some stages takes the minimum green light duration and there are almost no vehicles queuing when the red light is on. In this case, the traffic volume is small and the long green light time will cause vehicles to wait meaninglessly. The application of the efficiency improvement control strategy can achieve the effect of reducing the cycle value. The efficiency improvement control strategy makes the cycle value

[0061] Traffic balancing control strategy ST2 includes:

[0062] If the minimum cycle value of the target intersection is greater than the preset cycle upper limit value, the preset cycle upper limit value is used as the cycle value of the timing plan of the traffic balance control strategy;

[0063] Otherwise, the minimum cycle value of the target intersection is used as the cycle value of the timing scheme of the traffic balance control strategy;

[0064] By formula:

[0065] Calculate the duration of the i-th stage in the timing plan of the traffic balance control strategy

[0066] Among them, t i represents the duration of the i-th stage of the target intersection, represents the preset minimum green light duration of the i-th stage, Indicates the preset maximum green light duration of the i-th stage;

[0067] If the duration of the i-th stage of the target intersection is t isatisfy Then by the formula:

[0068] Calculate the duration of the i-th stage in the timing plan of the traffic balance control strategy

[0069] Among them, T2 represents the period value of the timing scheme of the traffic balance control strategy, represents the duration of the jth stage in the timing scheme of the traffic balance control strategy, where the jth stage is the stage whose adjusted duration is the preset minimum green light duration of the jth stage or the preset maximum green light duration of the jth stage, j∈{1,2,...,C};

[0070] Obtain the timing plan for traffic balance control strategy in, represents the duration of the first phase in the timing scheme of the traffic balance control strategy, represents the duration of the Cth phase in the timing plan of the traffic balance control strategy;

[0071] The timing plan P2 of the traffic balance control strategy is applied at the target intersection.

[0072] It should be noted that the upper limit of the cycle is the maximum cycle value that can be achieved by adjusting the timing of each stage after the background scheme is applied to the target intersection. The traffic balance control strategy is applied to the state of traffic saturation at the target intersection. The cycle value is greater than the preset value of the background scheme and there are many vehicles queuing when the red light is on. In this case, the traffic volume is high, and too short a green light duration will cause congestion at the intersection and low traffic efficiency. The application of the traffic balance control strategy can be achieved when the cycle value T2 is not greater than Under the condition of maxΣ, the traffic volume released in each stage is increased, the traffic volume held is reduced, and the traffic efficiency is improved. i＝1 q i / Vn, where α 2 is the preset parameter, q i represents the traffic volume released in the i-th stage, Vn i =q i +nq i , Vn i represents the traffic demand in the i-th stage, nq i represents the stranded traffic volume in the i-th stage.

[0073] Green wave coordinated control strategy ST3 includes:

[0074] The period value of the timing scheme of the green wave coordinated control strategy is the preset coordination period;

[0075] Determine whether the duration of the i-th stage of the target intersection is equal to the duration of the adjacent intersection of the target intersection in the i-th stage. If so, the i-th stage of the target intersection is the coordination stage. Otherwise, the i-th stage of the target intersection is other stages.

[0076] If the i-th stage of the target intersection is the coordination stage, then determine whether the duration of the i-th stage is less than the duration of the coordination stage in the timing scheme P' in the background scheme. If so, the duration of the coordination stage in the timing scheme P' in the background scheme is used as the duration of the i-th stage of the green wave coordination control strategy.

[0077] If the i-th stage of the target intersection is other stages, then the formula is:

[0078] Calculate the duration of the i-th phase in the timing scheme of the green wave coordinated control strategy

[0079] If the duration of the i-th stage of the target intersection is t i satisfy Then by the formula:

[0080] Calculate the duration of the i-th phase in the timing scheme of the green wave coordinated control strategy

[0081] Among them, T3 represents the period value of the timing scheme of the green wave coordinated control strategy, represents the duration of the jth phase in the timing scheme of the green wave coordinated control strategy;

[0082] Get the timing scheme of green wave coordinated control strategy in, represents the duration of the first phase in the timing scheme of the green wave coordinated control strategy, represents the duration of the Cth phase in the timing scheme of the green wave coordinated control strategy;

[0083] By formula:

[0084] Calculate the phase difference OS3 of the green wave coordinated control strategy;

[0085] where OS' represents the standard phase difference in the background scheme, represents the duration of the coordination phase in the timing scheme of the green wave coordinated control strategy, t' x represents the duration of the coordination phase in the timing scheme in the background scheme, x∈{1,2,...,C};

[0086] The target intersection applies the timing scheme P3 of the green wave coordinated control strategy and the phase difference OS3 of the green wave coordinated control strategy.

[0087] It should be noted that the green wave coordination control strategy is applied to the main line or adjacent intersection where the cycle is close to or in multiples. The cycle and phase difference can be unified to achieve the coordination direction without stopping or to prevent the queue from being too long and overflowing. The green wave coordination control strategy can be applied when the cycle value T3 is not greater than Under the condition of , the average speed of vehicles passing the stop line of the target intersection in each stage is increased, that is, Among them, w i represents the weight of the i-th stage, represents the average speed of the rth flow vehicle passing the stop line of the target intersection in the i-th stage, α 3 are preset parameters.

[0088] Blue wave coordinated control strategy ST4 includes:

[0089] The period value of the timing scheme of the blue wave coordinated control strategy is the coordination period;

[0090] Determine whether the duration of the i-th stage of the target intersection is equal to the duration of the adjacent intersection of the target intersection in the i-th stage. If so, the i-th stage of the target intersection is the coordination stage. Otherwise, the i-th stage of the target intersection is other stages.

[0091] If the i-th stage of the target intersection is the coordination stage, then determine whether the duration of the i-th stage is less than the duration of the coordination stage in the timing scheme P' in the background scheme. If so, the duration of the coordination stage in the timing scheme P' in the background scheme is used as the duration of the i-th stage of the blue wave coordination control strategy.

[0092] If the i-th stage of the target intersection is other stages, then the formula is:

[0093] Calculate the duration of the i-th stage in the timing scheme of the blue wave coordinated control strategy

[0094] If the duration of the i-th stage of the target intersection is t i satisfy Then by the formula:

[0095] Calculate the duration of the i-th stage in the timing scheme of the blue wave coordinated control strategy

[0096] Among them, T4 represents the period value of the timing scheme of the blue wave coordinated control strategy, represents the duration of the jth stage in the timing scheme of the blue wave coordinated control strategy;

[0097] Get the timing scheme of the blue wave coordinated control strategy in, represents the duration of the first phase in the timing scheme of the blue wave coordinated control strategy, represents the duration of the Cth phase in the timing scheme of the blue wave coordinated control strategy;

[0098] By formula:

[0099] Calculate the phase difference OS4 of the blue wave coordinated control strategy;

[0100] in, represents the duration of the coordination phase in the timing scheme of the blue wave coordinated control strategy, t' x Indicates the duration of the coordination phase in the timing scheme of the background scheme;

[0101] The target intersection applies the timing plan P4 of the blue wave coordinated control strategy and the phase difference OS4 of the blue wave coordinated control strategy.

[0102] It should be noted that the blue wave coordinated control strategy can be used when the period value T4 is not greater than Under the condition of , the average speed of vehicles passing the stop line of the target intersection in each stage is increased, that is, Among them, w i represents the weight of the i-th stage, represents the average speed of the rth flow vehicle passing the stop line of the target intersection in the i-th stage, α 4 is a preset parameter, and α 4 >α 3 .

[0103] Red wave coordinated control strategy ST5 includes:

[0104] The period value of the timing scheme of the red wave coordinated control strategy is the coordination period;

[0105] Determine whether the duration of the i-th stage of the target intersection is equal to the duration of the adjacent intersection of the target intersection in the i-th stage. If so, the i-th stage of the target intersection is the coordination stage. Otherwise, the i-th stage of the target intersection is other stages.

[0106] If the i-th stage of the target intersection is the coordination stage, then determine whether the duration of the P-th stage is less than the duration of the coordination stage in the timing scheme P' in the background scheme. If so, the duration of the coordination stage in the timing scheme P' in the background scheme is used as the duration of the i-th stage of the red wave coordination control strategy.

[0107] If the i-th stage of the target intersection is other stages, then the formula is:

[0108] Calculate the duration of the i-th stage in the timing scheme of the red wave coordinated control strategy

[0109] If the duration of the i-th stage of the target intersection is t i satisfy Then by the formula:

[0110] Calculate the duration of the i-th stage in the timing scheme of the red wave coordinated control strategy

[0111] Among them, T5 represents the period value of the timing scheme of the red wave coordinated control strategy, represents the duration of the jth stage in the timing scheme of the red wave coordinated control strategy;

[0112] Obtain the timing scheme of the red wave coordinated control strategy in, represents the duration of the first stage in the timing scheme of the red wave coordinated control strategy, represents the duration of the Cth stage in the timing scheme of the red wave coordinated control strategy;

[0113] The phase difference of the red wave coordinated control strategy OS5 = OS';

[0114] The target intersection applies the timing plan P5 of the red wave coordinated control strategy and the phase difference OS5 of the red wave coordinated control strategy.

[0115] It should be noted that the red wave coordinated control strategy can be used when the period value T5 is not greater than Under the condition that the queue length outside the stop line in the coordinated direction of the target intersection does not exceed the expected length when the red light is on, that is, represents the actual queue length of the r4th direction in the i-th stage when the red light turns on, represents the expected queue length of the rth flow direction at the i-th stage when the red light turns on, α 5 is a preset parameter, and α 5 <α 3 The above red wave coordinated control strategy is applied to an additional case, that is, according to the effect of the red wave coordinated control strategy, when the queue length outside the stop line in the coordinated direction of the target intersection does not exceed the expected length when the red light needs to be turned on at the target intersection, the red wave coordinated control strategy is selected to operate.

[0116] Priority release control strategy ST6 includes:

[0117] The period value of the timing scheme of the priority release control strategy is T6 = T x -Sα 6 ; Among them, T x represents the coordination period, Sα 6 Indicates the reallocation duration;

[0118] By formula:

[0119] Calculate the first duration of the i-th phase in the timing scheme of the priority release control strategy

[0120] Among them, t i represents the duration of the i-th stage of the target intersection, represents the preset minimum green light duration of the i-th stage, Indicates the preset maximum green light duration of the i-th stage, represents the duration of the i-th stage in the optimal timing plan;

[0121] By formula:

[0122] Calculate the second duration of the i-th phase in the timing scheme of the priority release control strategy

[0123] in, represents the priority release weight of the i-th stage, i = 1, 2, ..., C, and C represents the last stage in the timing plan of the background plan;

[0124] By formula Calculate the duration of the i-th phase in the timing plan of the priority release control strategy

[0125] Get the timing plan of the priority release control strategy

[0126] Timing plan P6 for applying the priority release control strategy at the target intersection.

[0127] It should be noted that the priority release control strategy can be used when the cycle value T6 is not greater than Under the condition of , the flow of traffic at the target intersection is increased, that is, in, It represents the released traffic volume of the rth direction in the i-th stage.

[0128] Dynamic open source control strategy ST7 includes:

[0129] The period value of the timing scheme of the dynamic open source control strategy is T7=Tx -Sα 7 ; Among them, T x represents the coordination period, Sα 7 Indicates the duration of interception allocation;

[0130] By formula:

[0131] Calculate the first duration of the i-th phase in the timing scheme of the dynamic open source control strategy

[0132] By formula:

[0133] Calculate the second duration of the i-th phase in the timing scheme of the dynamic open source control strategy

[0134] in, represents the left-turn interception allocation weight in the i-th stage, Indicates the straight interception allocation weight of the i-th stage. When the i-th stage is the left-turn associated stage, When the i-th stage is a straight-line association stage,

[0135] By formula Calculate the duration of the i-th phase in the timing scheme of the dynamic open source control strategy

[0136] Get the timing plan of dynamic open source control strategy

[0137] Timing scheme P7 for applying dynamic open source control strategy at target intersection.

[0138] It should be noted that the dynamic open source control strategy is applied to the situation where the open source request instruction is received when there is no queue at the downstream intersection stage, and the green light duration of the left turn associated stage and the straight-ahead associated stage at this intersection is increased. The application of the dynamic open source control strategy can make the green light duration of the associated stage close to the demand value.

[0139] Overflow prevention control strategy ST8 includes:

[0140] Determine whether the overflow situation of the minimum green signal ratio control strategy ST9 has a solution. If so, select the minimum green signal ratio control strategy ST9. Otherwise, select the independent phase control strategy ST 10 ;

[0141] The minimum green-to-signal ratio control strategy ST9 includes:

[0142] The period value of the timing scheme of the minimum green-to-signal ratio control strategy is the coordination period;

[0143] If the i-th stage of the target intersection is the interception-related stage, then the formula Calculate the duration of the i-th stage in the timing scheme of the minimum green-to-signal ratio control strategy

[0144] If the i-th stage of the target intersection is not the interception-related stage, then the formula is:

[0145] Calculate the duration of the i-th stage in the timing scheme of the minimum green-to-signal ratio control strategy

[0146] Among them, T9 represents the period value of the timing scheme of the minimum green-to-signal ratio control strategy, Indicates the duration of the rth stage in the timing scheme of the minimum green-to-signal ratio control strategy. The rth stage is the preset minimum green light duration of the rth stage. stage, r∈{1,2,...,C};

[0147] Get the timing scheme of the minimum green-to-signal ratio control strategy

[0148] When the i-th stage in the timing scheme of the minimum green-to-signal ratio control strategy is not a cut-off associated stage, determine the duration of the i-th stage in the timing scheme of the minimum green-to-signal ratio control strategy Is it greater than the preset maximum green light duration value of the i-th stage? If so, then the overflow case has no solution, otherwise, the overflow case has a solution;

[0149] When there is a solution to the overflow situation, the target intersection applies the timing scheme P9 with the minimum green-to-signal ratio control strategy.

[0150] It should be noted that the minimum green-to-signal ratio control strategy is based on the overflow risk of the exit traffic flow at the target intersection. The green-to-signal ratio in the interception association stage is reduced to the minimum green-to-signal ratio, that is, min∑ i (t i -te i ) 2 , where t i Indicates the green light duration of the i-th stage, te i Indicates the green light duration of the demand in the i-th stage, where the i-th stage is the interception-related stage.

[0151] Independent phase control strategy ST 10 include:

[0152] The period value of the independent phase control strategy is the coordination period;

[0153] If the target intersection at stage i is not an interception-related stage, then the formula is:

[0154] Calculate the duration of the i-th phase in the timing scheme of the independent phase control strategy

[0155] If the i-th stage of the target intersection is the interception association stage, then the formula is:

[0156] Calculate the duration of the i-th phase in the timing scheme of the independent phase control strategy

[0157] in, represents the duration of the kth flow direction in the i-th stage of the target intersection, k = 1, 2, ..., K, K represents the total number of non-intercepted associated flow directions in the i-th stage of the target intersection;

[0158] Get the timing scheme of independent phase control strategy in, represents the duration of the i-th phase in the timing scheme of the independent phase control strategy, represents the duration of the Cth phase in the timing scheme of the independent phase control strategy;

[0159] The timing scheme P of the target intersection using the independent phase control strategy 10 .

[0160] It should be noted that the independent phase control strategy is based on the overflow of traffic flow at the exit of this intersection. The interception-related flow direction has a single red light, and the non-interception-related flow direction is released normally, that is, min∑ i (t i ) 2 , where t i Indicates the green light duration of the i-th stage, t i This is the interception association stage.

[0161] Exemplarily, in an independent phase control strategy, based on the background scheme of the target intersection, if the third stage of the target intersection in the background scheme is not an interception-associated stage, and the duration of the third stage is greater than the preset maximum green light duration of the third stage, then in the independent phase control strategy, the duration of the third stage is equal to the preset maximum green light duration of the third stage; if the fourth stage is an interception-associated stage, and the target intersection has two interception-associated flow directions in this stage, then the duration of these two interception-associated flow directions is set to 0, and the duration of the remaining non-interception-associated flow directions remains unchanged, and the sum of the durations of all non-interception-associated flow directions in the fourth stage is the duration of the fourth stage. The aforementioned interception-related flow direction is the connecting flow direction between the target intersection and the adjacent intersection. For example, if the south-to-north flow direction at intersection 1 is connected to the south-to-east flow direction at intersection 2, that is, the road heading north at intersection 1 and the road heading south-to-east at intersection 2 are the same road, then the south-to-north flow direction at intersection 1 is the interception-related flow direction. The aforementioned left-turn interception is an interception-related flow direction that requires a vehicle to turn left, such as an interception-related flow direction from south to west. The aforementioned straight-through interception is an interception-related flow direction that requires a vehicle to go straight, such as an interception-related flow direction from south to north.

[0162] In the traffic balance control strategy, the minimum cycle value of the target intersection is 126 seconds, which is greater than the preset cycle upper limit of 120 seconds. The cycle value of the timing scheme of the traffic balance control strategy is 120 seconds. If the duration of the first stage of the target intersection is 30 seconds, which is less than the preset minimum green light duration of 32 seconds, the duration of the first stage of the timing scheme of the traffic balance control strategy is 32 seconds. The duration of the second stage of the target intersection is 38 seconds, which is greater than the preset maximum green light duration of 36 seconds. The duration of the second stage of the timing scheme of the traffic balance control strategy is 36 seconds. The durations of the third and fourth stages of the target intersection are 33 and 34 seconds respectively. There are only 4 background schemes for the target intersection. According to the time ratio of the third and fourth stages in the optimal timing plan, the duration of the third and fourth stages in the timing plan of the traffic balance control strategy is determined respectively. Specifically, the remaining time in the timing plan of the traffic balance control strategy is 120-32-36=52 seconds. The duration of the third and fourth stages in the optimal timing plan is 18 seconds and 21 seconds respectively, with a ratio of 6:7. The remaining time is allocated to the third and fourth stages of the timing plan of the traffic balance control strategy according to the ratio of 6:7, and the duration of the third stage of the timing plan of the traffic balance control strategy is 24 seconds, and the duration of the fourth stage is 28 seconds.

[0163] It is worth mentioning that establishing multiple control strategies can provide a wealth of pre-selected control strategies for traffic control at the target intersection, which can be used to adjust the needs of improving the traffic efficiency of the target intersection in various situations.

[0164] Step 12: Determine the current traffic state of the target intersection based on the released traffic volume, intersection capacity, and number of queued vehicles at the target intersection at the current moment.

[0165] The above-mentioned current traffic state includes saturation, emission ratio and minimum cycle value.

[0166] In some embodiments of the present application, the above-mentioned data acquisition method can be used to obtain the current traffic volume, intersection capacity, and number of vehicles in queue at the target intersection through existing data acquisition methods such as sensors, counters, and direct reading of system parameters. The above-mentioned steps of determining the current traffic state of the target intersection are specifically as follows:

[0167] The first step is through the formula:

[0168] Calculate the saturation sl of the target intersection;

[0169] Among them, sl r represents the saturation of the rth flow direction, q r represents the released traffic volume in the rth direction, C r represents the capacity of the rth flow direction, r = 1, 2, ..., R, and R represents the total number of flow directions at the target intersection.

[0170] The second step is through the formula:

[0171] Calculate the emission ratio of the rth flow direction of the target intersection

[0172] in, represents the number of queued vehicles in the rth flow direction, represents the released traffic volume in the rth direction;

[0173] By formula Calculate the minimum cycle value of the target intersection

[0174] in, represents the duration of the i-th stage in the optimal timing plan, i = 1, 2, ..., C, and C represents the last stage in the timing plan in the background plan.

[0175] It should be noted that the minimum cycle value of the target intersection is the theoretical minimum cycle value that can be reduced to according to the current traffic conditions after the background solution is applied to the target intersection, and is equal to the cycle value of the optimal timing solution.

[0176] It is worth mentioning that determining the current traffic status of the target intersection can analyze the traffic demand of the target intersection and determine the optimization direction of the target intersection at the current moment.

[0177] Step 13 : selecting a target control strategy from a plurality of control strategies based on the current traffic state of the target intersection and the correlation between the target intersection and its adjacent intersections.

[0178] In some embodiments of the present application, the step of selecting a target control strategy from a plurality of control strategies includes:

[0179] In the first step, when there is no correlation between the target intersection and its adjacent intersections, single-point adaptive control is adopted.

[0180] Single-point adaptive control includes:

[0181] Determine whether the saturation of the target intersection is less than a preset saturation threshold;

[0182] If yes, then select the efficiency improvement control strategy ST1 and use the efficiency improvement control strategy ST1 as the target control strategy;

[0183] Otherwise, determine whether the target intersection is set with priority release control or anti-overflow control. If the target intersection is set with priority release control, the combined control strategy of traffic balance control strategy ST2 and priority release control strategy ST6 is selected as the target control strategy. If the target intersection is set with anti-overflow control, the combined control strategy of traffic balance control strategy ST2 and anti-overflow strategy ST8 is selected as the target control strategy. If the target intersection is not set with priority release control or anti-overflow control, the traffic balance control strategy ST2 is used as the target control strategy.

[0184] In the second step, when there is a correlation between the target intersection and its adjacent intersections, intersection coordinated adaptive control is adopted.

[0185] Intersection coordinated adaptive control includes:

[0186] Determine whether the difference between the minimum period value of the target intersection and the minimum period value of the adjacent intersections of the target intersection is less than a preset difference, or whether the minimum period value of the target intersection and the minimum period value of the adjacent intersections of the target intersection are in a multiple relationship;

[0187] If the difference between the minimum period value of the target intersection and the minimum period value of the adjacent intersection of the target intersection is less than the preset difference, or the minimum period value of the target intersection and the minimum period value of the adjacent intersection of the target intersection are in a multiple relationship, then it is determined whether the target intersection is in a traffic balance control strategy state. If the target intersection is in a traffic balance control strategy state, then it is determined whether the target intersection is set to have an outgoing traffic as an incoming traffic strategy. If the target intersection is set to have an outgoing traffic as an incoming traffic strategy, then the dynamic open source control strategy ST7 is selected as the target control strategy. If the target intersection is not set to have an outgoing traffic as an incoming traffic strategy, then the overflow prevention strategy ST8 is selected and it is determined whether the overflow situation has a solution. If the overflow situation has a solution, then the minimum green signal ratio control strategy ST9 is selected as the target control strategy. If the overflow situation has no solution, then the independent phase control strategy ST is selected. 10 as the target control strategy; if the target intersection is not in the traffic balance control strategy state, then determine whether the coordinated flow emission ratio of the target intersection is greater than the preset blue wave threshold. If the coordinated flow emission ratio of the target intersection is greater than the preset blue wave threshold, select the green wave coordinated control strategy ST3; if the coordinated flow emission ratio of the target intersection is less than or equal to the preset blue wave threshold, select the blue wave coordinated control strategy ST4 as the target control strategy;

[0188] If the difference between the minimum period value of the target intersection and the minimum period value of the adjacent intersection of the target intersection is greater than or equal to the preset difference, or the minimum period value of the target intersection and the minimum period value of the adjacent intersection of the target intersection are not in a multiple relationship, the target intersection enters single-point adaptive control.

[0189] For example, if there is a correlation between the target intersection and its adjacent intersections at the current moment, coordinated adaptive control is used, and if the difference between the minimum period value of the target intersection and the minimum period value of the adjacent intersections is 0.3 seconds, which is less than the preset difference of 0.5 seconds, the coordinated control phase is entered. Then, if a system instruction causes the target intersection to enter the traffic balance control strategy state, and the system does not have a balanced strategy, the overflow prevention strategy is selected. If the overflow prevention strategy determines that there is a solution to the overflow situation, the minimum green-to-signal ratio control strategy is selected as the target control strategy. The above system is a control terminal or device for a traffic light.

[0190] It should be noted that the above-mentioned actions of setting priority release control or anti-overflow control, being in the traffic balance control strategy state, setting the out-to-in strategy, etc. are all controlled or set by the preset instructions in the control terminal, system or equipment of the traffic light at the target intersection. When the selected target control strategy is a combination control strategy, it is adaptively combined according to the specific timing plan of each strategy in the combination control strategy. For example, the combination control strategy of the traffic balance control strategy ST2 and the overflow prevention strategy ST8 is to operate the traffic balance control strategy ST2 at the target intersection. When the queue overflow occurs at the target intersection, the overflow prevention strategy ST8 is operated instead. The combination control strategy of the traffic balance control strategy ST2 and the priority release control strategy ST6 is to operate the traffic balance control strategy ST2 at the target intersection. When the target intersection needs to increase the release volume, the priority release control strategy ST6 is operated instead.

[0191] It is worth mentioning that selecting a target control strategy from multiple control strategies can select a suitable and efficient control strategy for the target intersection based on the real-time status to meet the traffic needs of the target intersection.

[0192] Step 14: Control the target intersection according to the target control strategy.

[0193] In some embodiments of the present application, the timing of the traffic lights can be adjusted by the traffic light control terminal or device at the target intersection, and the timing scheme in the target control strategy can be applied to the traffic lights to achieve traffic control at the target intersection.

[0194] It is worth mentioning that by controlling the target intersection through control strategies, the timing of the traffic lights at the target intersection in each stage can be changed according to the needs of the target intersection, thereby increasing the traffic capacity of the intersection and improving the traffic efficiency of the intersection.

[0195] The traffic signal adaptive control method of the present application is exemplarily described below with reference to a specific example.

[0196] In some embodiments of the present application, the target intersection may be the Lugu Avenue-Yuelu Avenue intersection, which is a cross-shaped intersection with a waiting area in the north-south direction and a shared lane for left turns and straight driving in the east-west entrances. The stage of the background plan determined by comprehensive channelization, lighting layout and traffic organization information is a clockwise single-port release, namely, east left straight, south left straight, west left straight and north left straight. The intersection is a key intersection in the region, and traffic in all four directions is oversaturated during the evening rush hour, wherein a combination strategy of a green wave coordination control strategy and a priority release control strategy is adopted. The background plan cycle is 150 seconds, and the redistribution time value is 15 seconds. Among them, the south, north, west and east entrance stage lengths (including green light intervals) are 49, 36, 27 and 38 respectively, and the corresponding priority release weight ratios are 4:1:2:3.

[0197] The data collected after the background plan was implemented at the intersection of Lugu Avenue and Yuelu Avenue, including the number of vehicles queuing with the red light on at the intersection in the b-1th cycle and the bth cycle, are shown in Table 1.

[0198] Table 1

[0199] The traffic demand and theoretical green light duration estimated based on the above data are shown in Table 2.

[0200] Table 2

[0201] The traffic demand for a flow direction is the sum of the released traffic volume and the detained traffic volume.

[0202] Based on the above traffic demand, the optimal timing scheme has a cycle of 176 seconds, with south, north, west, and east entrance phases lasting 55, 37, 31, and 53 seconds, respectively. Based on the current traffic conditions at the intersection, a combination of green wave coordination and priority release control strategies is employed, scaling the timing scheme's cycle to 135 seconds. Based on the weights, the corresponding south, north, west, and east entrance phases last for 42, 28, 24, and 41 seconds, respectively, resulting in a total redistributed duration of 15 seconds. Based on the priority release weights for each flow direction, the redistributed durations for the south, north, west, and east entrance phases are 6, 3, 2, and 4 seconds, respectively. The final timing for each phase is the sum of the phase duration and the redistributed duration, resulting in a timing of 48 seconds for the east left straight, 31 seconds for the south left straight, 26 seconds for the west left straight, and 45 seconds for the north left straight. This timing scheme is applied to the traffic lights at the intersection through the traffic signal control terminal or system, controlling the duration of each phase.

[0203] It is worth mentioning that establishing multiple control strategies can provide rich and efficient pre-selected control strategies for traffic control at the target intersection. By selecting a control strategy for the target intersection based on the current traffic status, a control strategy that is suitable for the target intersection and efficient can be selected. By controlling the target intersection through the control strategy, the traffic capacity of the intersection can be increased and the traffic efficiency of the intersection can be improved.

[0204] As shown in FIG2 , an embodiment of the present application provides a traffic signal adaptive control device, the control device 200 including:

[0205] Establishing module 201, establishing multiple control strategies for controlling the duration of traffic lights based on the background scheme and the optimal timing scheme pre-set for the target intersection;

[0206] Determining module 202, determining the current traffic state of the target intersection based on the released traffic volume, intersection capacity and number of queued vehicles at the target intersection at the current moment;

[0207] A selection module 203 selects a target control strategy from a plurality of control strategies based on a current traffic state of the target intersection and a correlation between the target intersection and adjacent intersections of the target intersection;

[0208] The control module 204 controls the target intersection according to the target control strategy.

[0209] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of this application. Their specific functions and technical effects can be found in the method embodiment section and will not be repeated here.

[0210] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0211] As shown in Figure 3, an embodiment of the present application provides a terminal device. The terminal device D10 of this embodiment includes: at least one processor D100 (only one processor is shown in Figure 3), a memory D101, and a computer program D102 stored in the memory D101 and capable of running on the at least one processor D100. When the processor D100 executes the computer program D102, the steps in any of the above-mentioned method embodiments are implemented.

[0212] Specifically, when the processor D100 executes the computer program D102, it establishes multiple control strategies for controlling the duration of traffic lights based on a background scheme and an optimal timing scheme pre-set for the target intersection. It then determines the current traffic state of the target intersection based on the released traffic volume, intersection capacity, and number of vehicles in queue at the target intersection at the current moment. It then selects a target control strategy from the multiple control strategies based on the current traffic state of the target intersection and the correlation between the target intersection and its adjacent intersections. Finally, it controls the target intersection according to the target control strategy. Establishing multiple control strategies can provide a rich and efficient pre-selected control strategy for traffic control at the target intersection. Selecting a control strategy for the target intersection based on the current traffic state allows a control strategy that is suitable for the target intersection and efficient to be selected. Controlling the target intersection through the control strategy can increase the traffic capacity of the intersection and improve the traffic efficiency of the intersection.

[0213] The processor D100 may be a central processing unit (CPU), or may be another general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. A general-purpose processor may be a microprocessor or any conventional processor.

[0214] In some embodiments, the memory D101 may be an internal storage unit of the terminal device D10, such as a hard disk or memory of the terminal device D10. In other embodiments, the memory D101 may also be an external storage device of the terminal device D10, such as a plug-in hard disk, a smart memory card (SMC, Smart Media Card), a secure digital (SD, Secure Digital) card, a flash card, etc. equipped on the terminal device D10. Furthermore, the memory D101 may also include both an internal storage unit of the terminal device D10 and an external storage device. The memory D101 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program. The memory D101 may also be used to temporarily store data that has been output or is to be output.

[0215] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned various method embodiments can be implemented.

[0216] An embodiment of the present application provides a computer program product. When the computer program product is run on a terminal device, the terminal device can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0217] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the process in the above-mentioned embodiment method by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, it can implement the steps of each of the above-mentioned method embodiments. The computer program includes computer program code, which can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium can at least include: any entity or device that can carry the computer program code to the traffic signal adaptive control method device / terminal device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, mobile hard disk, magnetic disk or optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0218] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0219] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0220] The above is a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles described in the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A traffic signal adaptive control method, characterized in that: include: Based on the background plan and optimal timing plan pre-set for the target intersection, multiple control strategies for controlling the duration of traffic lights are established; Determining the current traffic state of the target intersection based on the released traffic volume, intersection capacity and number of queued vehicles at the target intersection at the current moment; Selecting a target control strategy from the plurality of control strategies based on a current traffic state of the target intersection and a correlation between the target intersection and adjacent intersections of the target intersection; The target intersection is controlled according to the target control strategy.

2. The traffic signal adaptive control method according to claim 1, characterized in that: The background scheme M' is: M' = {P', OS'} Where P'={t'1,...,t' i ,...,t' C }, P' represents the timing scheme in the background scheme, OS' represents the standard phase difference in the background scheme, t'1 represents the duration of the first stage in the timing scheme in the background scheme, t' i Indicates the duration of the i-th stage in the timing scheme in the background scheme, t' C represents the duration of the Cth stage in the timing scheme of the background scheme, i=1, 2, ..., C, C represents the last stage in the timing scheme of the background scheme, and the stage is the time period when the signal light is on; The optimal timing scheme P0 is: in, Indicates the duration of the first stage in the optimal timing plan, represents the duration of the i-th stage in the optimal timing plan, Indicates the duration of the Cth stage in the optimal timing scheme, and the period value of the optimal timing scheme 3. The traffic signal adaptive control method according to claim 1, characterized in that: The multiple control strategies include: Efficiency improvement control strategy ST1, traffic balance control strategy ST2, green wave coordination control strategy ST3, blue wave coordination control strategy ST4, red wave coordination control strategy ST5, priority release control strategy ST6, dynamic open source control strategy ST7, overflow prevention control strategy ST8, minimum green signal ratio control strategy ST9, independent phase control strategy ST 10 .

4. The traffic signal adaptive control method according to claim 3, characterized in that: The current traffic state includes saturation, emission ratio and minimum cycle value; The determining of the current traffic state of the target intersection based on the released traffic volume, the intersection capacity, and the number of queued vehicles at the target intersection at the current moment includes: By formula: Calculating the saturation sl of the target intersection; Among them, sl r represents the saturation of the rth flow direction, q r represents the released traffic volume in the rth direction, C r represents the traffic capacity of the rth flow direction, r=1, 2, ..., R, and R represents the total number of flow directions at the target intersection; By formula: Calculate the emission ratio of the rth flow direction of the target intersection in, represents the number of queued vehicles in the rth flow direction, represents the released traffic volume in the r-th direction; By formula Calculate the minimum cycle value of the target intersection in, represents the duration of the i-th stage in the optimal timing scheme, i=1, 2, ..., C, and C represents the last stage in the timing scheme in the background scheme.

5. The traffic signal adaptive control method according to claim 4, characterized in that: The selecting a target control strategy from the plurality of control strategies based on the current traffic state of the target intersection and the correlation between the target intersection and adjacent intersections of the target intersection comprises: When there is no correlation between the target intersection and adjacent intersections of the target intersection, single-point adaptive control is adopted; The single point adaptive control includes: Determining whether the saturation of the target intersection is less than a preset threshold value of the saturation; If yes, then select the efficiency improvement control strategy ST1 as the target control strategy; Otherwise, determine whether the target intersection is set with priority release control or anti-overflow control. If the target intersection is set with priority release control, the combined control strategy of traffic balance control strategy ST2 and priority release control strategy ST6 is selected as the target control strategy; if the target intersection is set with anti-overflow control, the combined control strategy of traffic balance control strategy ST2 and anti-overflow control strategy ST8 is selected as the target control strategy; if the target intersection is not set with priority release control or anti-overflow control, the traffic balance control strategy ST2 is used as the target control strategy; When there is a correlation between the target intersection and an adjacent intersection of the target intersection, adopting intersection coordinated adaptive control; The intersection coordinated adaptive control includes: Determine whether a difference between a minimum period value of the target intersection and a minimum period value of an adjacent intersection of the target intersection is less than a preset difference, or whether a multiple relationship exists between the minimum period value of the target intersection and the minimum period value of an adjacent intersection of the target intersection; If the difference between the minimum period value of the target intersection and the minimum period value of the adjacent intersection of the target intersection is less than the preset difference, or the minimum period value of the target intersection and the minimum period value of the adjacent intersection of the target intersection are in a multiple relationship, then it is determined whether the target intersection is in a traffic balance control strategy state. If the target intersection is in a traffic balance control strategy state, then it is determined whether the target intersection is set to have an outgoing traffic as an incoming traffic strategy. If the target intersection is set to have an outgoing traffic as an incoming traffic strategy, then the dynamic open source control strategy ST7 is selected as the target control strategy. If the target intersection is not set to have an outgoing traffic as an incoming traffic strategy, then the overflow prevention strategy ST8 is selected and it is determined whether there is a solution to the overflow situation. If there is a solution to the overflow situation, then the minimum green signal ratio control strategy ST9 is selected as the target control strategy. If there is no solution to the overflow situation, then the independent phase control strategy ST is selected. 10 as the target control strategy; if the target intersection is not in the traffic balance control strategy state, then determining whether the coordinated flow emission ratio of the target intersection is greater than a preset blue wave threshold; if the coordinated flow emission ratio of the target intersection is greater than the preset blue wave threshold, selecting the green wave coordinated control strategy ST3; if the coordinated flow emission ratio of the target intersection is less than or equal to the preset blue wave threshold, selecting the blue wave coordinated control strategy ST4 as the target control strategy; If the difference between the minimum period value of the target intersection and the minimum period value of the adjacent intersection of the target intersection is greater than or equal to the preset difference, or the minimum period value of the target intersection and the minimum period value of the adjacent intersection of the target intersection are not in a multiple relationship, the target intersection enters the single-point adaptive control.

6. The traffic signal adaptive control method according to claim 3, characterized in that: The efficiency improvement control strategy ST1 includes: The target intersection applies the optimal timing plan in, Indicates the duration of the first stage in the optimal timing plan, represents the duration of the i-th stage in the optimal timing plan, Indicates the duration of the Cth stage in the optimal timing scheme, i = 1, 2, ..., C, C represents the last stage of the timing scheme in the background scheme, and the period value of the optimal timing scheme The traffic balance control strategy ST2 includes: If the minimum cycle value of the target intersection is greater than a preset cycle upper limit value, the preset cycle upper limit value is used as the cycle value of the timing scheme of the traffic balance control strategy; Otherwise, the minimum cycle value of the target intersection is used as the cycle value of the timing scheme of the traffic balance control strategy; By formula: Calculate the duration of the i-th stage in the timing scheme of the traffic balance control strategy Among them, t i represents the duration of the i-th stage of the target intersection, represents the preset minimum green light duration of the i-th stage, represents the preset maximum green light duration of the i-th stage; If the duration of the i-th stage of the target intersection is t i satisfy Then by the formula: Calculate the duration of the i-th stage in the timing scheme of the traffic balance control strategy Wherein, T2 represents the period value of the timing scheme of the traffic balance control strategy, represents the duration of the jth stage in the timing scheme of the traffic balance control strategy, wherein the jth stage is a stage whose adjusted duration is the preset minimum green light duration of the jth stage or the preset maximum green light duration of the jth stage, j∈{1,2,...,C}; Get the timing scheme of the traffic balance control strategy in, represents the duration of the first phase in the timing scheme of the traffic balance control strategy, represents the duration of the Cth phase in the timing scheme of the traffic balance control strategy; The target intersection applies the timing plan P2 of the traffic balance control strategy; The green wave coordinated control strategy ST3 includes: The period value of the timing scheme of the green wave coordinated control strategy is a preset coordination period; Determine whether the duration of the i-th stage of the target intersection is equal to the duration of the i-th stage of the adjacent intersection of the target intersection. If so, the i-th stage of the target intersection is the coordination stage; otherwise, the i-th stage of the target intersection is other stages. If the i-th stage of the target intersection is the coordination stage, determine whether the duration of the i-th stage is less than the duration of the coordination stage in the timing scheme P' in the background scheme. If so, use the duration of the coordination stage in the timing scheme P' in the background scheme as the duration of the i-th stage of the green wave coordination control strategy. If the i-th stage of the target intersection is other stages, then the formula is: Calculate the duration of the i-th phase in the timing scheme of the green wave coordinated control strategy If the duration of the i-th stage of the target intersection is t i satisfy Then by the formula: Calculate the duration of the i-th phase in the timing scheme of the green wave coordinated control strategy Wherein, T3 represents the period value of the timing scheme of the green wave coordinated control strategy, represents the duration of the jth phase in the timing scheme of the green wave coordinated control strategy; Get the timing scheme of the green wave coordinated control strategy in, represents the duration of the first phase in the timing scheme of the green wave coordinated control strategy, represents the duration of the Cth phase in the timing scheme of the green wave coordinated control strategy; By formula: Calculating the phase difference OS3 of the green wave coordinated control strategy; Wherein, OS' represents the standard phase difference in the background scheme, represents the duration of the coordination phase in the timing scheme of the green wave coordinated control strategy, t' x represents the duration of the coordination phase in the timing scheme in the background scheme, x∈{1,2,...,C}; The target intersection applies the timing scheme P3 of the green wave coordinated control strategy and the phase difference OS3 of the green wave coordinated control strategy; The blue wave coordinated control strategy ST4 includes: The period value of the timing scheme of the blue wave coordinated control strategy is the coordination period; Determine whether the duration of the i-th stage of the target intersection is equal to the duration of the i-th stage of the adjacent intersection of the target intersection. If so, the i-th stage of the target intersection is the coordination stage; otherwise, the i-th stage of the target intersection is other stages. If the i-th stage of the target intersection is the coordination stage, determine whether the duration of the i-th stage is less than the duration of the coordination stage in the timing scheme P' in the background scheme. If so, use the duration of the coordination stage in the timing scheme P' in the background scheme as the duration of the i-th stage of the blue wave coordination control strategy. If the i-th stage of the target intersection is other stages, then the formula is: Calculate the duration of the i-th stage in the timing scheme of the blue wave coordinated control strategy If the duration of the i-th stage of the target intersection is t i satisfy Then by the formula: Calculate the duration of the i-th stage in the timing scheme of the blue wave coordinated control strategy Wherein, T4 represents the period value of the timing scheme of the blue wave coordinated control strategy, represents the duration of the jth stage in the timing scheme of the blue wave coordinated control strategy; Get the timing scheme of the blue wave coordinated control strategy in, represents the duration of the first phase in the timing scheme of the blue wave coordinated control strategy, represents the duration of the Cth phase in the timing scheme of the blue wave coordinated control strategy; By formula: Calculating the phase difference OS4 of the blue wave coordinated control strategy; in, represents the duration of the coordination phase in the timing scheme of the blue wave coordinated control strategy, t' x Indicates the duration of the coordination phase in the timing scheme in the background scheme; The target intersection applies the timing scheme P4 of the blue wave coordinated control strategy and the phase difference OS4 of the blue wave coordinated control strategy; The red wave coordinated control strategy ST5 includes: The period value of the timing scheme of the red wave coordinated control strategy is the coordination period; Determine whether the duration of the i-th stage of the target intersection is equal to the duration of the i-th stage of the adjacent intersection of the target intersection. If so, the i-th stage of the target intersection is the coordination stage; otherwise, the i-th stage of the target intersection is other stages. If the i-th stage of the target intersection is the coordination stage, determine whether the duration of the i-th stage is less than the duration of the coordination stage in the timing scheme P' in the background scheme. If so, use the duration of the coordination stage in the timing scheme P' in the background scheme as the duration of the i-th stage of the red wave coordination control strategy. If the i-th stage of the target intersection is other stages, then the formula is: Calculate the duration of the i-th stage in the timing scheme of the red wave coordinated control strategy If the duration of the i-th stage of the target intersection is t i satisfy Then by the formula: Calculate the duration of the i-th stage in the timing scheme of the red wave coordinated control strategy Wherein, T5 represents the period value of the timing scheme of the red wave coordinated control strategy, represents the duration of the jth stage in the timing scheme of the red wave coordinated control strategy; Get the timing scheme of the red wave coordinated control strategy in, represents the duration of the first phase in the timing scheme of the red wave coordinated control strategy, represents the duration of the Cth phase in the timing scheme of the red wave coordinated control strategy; The phase difference of the red wave coordinated control strategy OS5=OS'; The target intersection applies the timing plan P5 of the red wave coordinated control strategy and the phase difference OS5 of the red wave coordinated control strategy.

7. The traffic signal adaptive control method according to claim 3, characterized in that: The priority release control strategy ST6 includes: The period value T6 of the timing scheme of the priority release control strategy is T x -Sα 6 ; Among them, T x represents the coordination period, Sα 6 Indicates the reallocation duration; By formula: Calculate the first duration of the i-th phase in the timing scheme of the priority release control strategy Among them, t i represents the duration of the i-th stage of the target intersection, represents the preset minimum green light duration of the i-th stage, represents the preset maximum green light duration of the i-th stage, represents the duration of the i-th stage in the optimal timing plan; By formula: Calculate the second duration of the i-th phase in the timing scheme of the priority release control strategy in, represents the priority release weight of the i-th stage, i=1, 2, ..., C, and C represents the last stage in the timing plan in the background plan; By formula Calculate the duration of the i-th phase in the timing scheme of the priority release control strategy Get the timing plan of the priority release control strategy The target intersection applies the timing plan P6 of the priority release control strategy; The dynamic open source control strategy ST7 includes: The period value T7 of the timing scheme of the dynamic open source control strategy is T x -Sα 7 ; Among them, T x represents the coordination period, Sα 7 Indicates the duration of interception allocation; By formula: Calculate the first duration of the i-th phase in the timing scheme of the dynamic open source control strategy By formula: Calculate the second duration of the i-th phase in the timing scheme of the dynamic open source control strategy in, represents the left-turn interception allocation weight of the i-th stage, represents the straight interception allocation weight of the i-th stage. When the i-th stage is a left-turn associated stage, When the i-th stage is a straight-line association stage, By formula Calculate the duration of the i-th phase in the timing scheme of the priority release control strategy Get the timing plan of the priority release control strategy The target intersection applies the timing plan P7 of the priority release control strategy; The overflow prevention control strategy ST8 includes: Determine whether the overflow situation of the minimum green signal ratio control strategy ST9 has a solution. If so, select the minimum green signal ratio control strategy ST9. Otherwise, select the independent phase control strategy ST 10 ; The minimum green-to-signal ratio control strategy ST9 includes: The period value of the timing scheme of the minimum green-to-signal ratio control strategy is the coordination period; If the i-th stage of the target intersection is the interception-related stage, then the formula Calculate the duration of the i-th stage in the timing scheme of the minimum green-to-signal ratio control strategy If the i-th stage of the target intersection is not the interception-related stage, then the formula is: Calculate the duration of the i-th stage in the timing scheme of the minimum green-to-signal ratio control strategy Wherein, T9 represents the period value of the timing scheme of the minimum green-to-signal ratio control strategy, Indicates the duration of the rth stage in the timing scheme of the minimum green-to-signal ratio control strategy, and the rth stage is the preset minimum green light duration of the rth stage. stage, Get the timing scheme of the minimum green-to-signal ratio control strategy When the i-th stage in the timing scheme of the minimum green-to-signal ratio control strategy is not a cut-off associated stage, determine the duration of the i-th stage in the timing scheme of the minimum green-to-signal ratio control strategy Is it greater than the preset maximum green light duration value of the i-th stage? If so, then the overflow case has no solution, otherwise, the overflow case has a solution; When the overflow situation has a solution, the target intersection applies the timing plan P9 of the minimum green-to-signal ratio control strategy; The independent phase control strategy ST 10 include: The period value of the independent phase control strategy is a coordination period; If the target intersection at stage i is not an interception-related stage, then the formula is: Calculate the duration of the i-th phase in the timing scheme of the independent phase control strategy If the i-th stage of the target intersection is the interception association stage, then the formula is: Calculate the duration of the i-th phase in the timing scheme of the independent phase control strategy in, represents the duration of the kth flow direction in the i-th stage of the target intersection, k=1, 2, ..., K, and K represents the total number of non-intercepted associated flow directions in the i-th stage of the target intersection; Get the timing scheme of the independent phase control strategy in, represents the duration of the i-th phase in the timing scheme of the independent phase control strategy, represents the duration of the Cth phase in the timing scheme of the independent phase control strategy; The target intersection applies the timing scheme P of the independent phase control strategy 10 .

8. A traffic signal adaptive control device, characterized in that: include: Establish a module to establish multiple control strategies for controlling the duration of traffic lights based on the background plan and optimal timing plan pre-set for the target intersection; a determination module, which determines the current traffic state of the target intersection based on the released traffic volume, the intersection capacity and the number of queued vehicles at the target intersection at the current moment; a selection module, which selects a target control strategy from the plurality of control strategies based on a current traffic state of the target intersection and a correlation between the target intersection and adjacent intersections of the target intersection; A control module controls the target intersection according to the target control strategy.

9. A terminal device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the traffic signal adaptive control method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the traffic signal adaptive control method according to any one of claims 1 to 7 is implemented.

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