Vehicle-road cooperative control device, system and cooperative method thereof

Abstract

The present invention discloses a road cooperative control device, including a signal processing module, an operation control module and a traffic light state isolation input module, characterized in that the traffic light state isolation input module and the DC signal isolation input module are connected to the signal processing module; the signal processing module is connected to the AC or DC signal isolation output module; by directly collecting the real-time status of each traffic light, the present invention can also provide various communication interfaces to receive the timing information of the traffic lights output by the traffic signal machine, thereby diversifying the real-time status information collection of the traffic lights, and is suitable for the real-time status collection of traffic lights at all intersections. In addition, the device of the present invention uses the on and off of multiple LED lights to indicate the real-time status of each traffic light at the intersection in real time. At the same time, the present invention also provides up to 8 AC output signals, which can drive 8 traffic lights to operate independently.

Description

Technical Field

[0001] The present invention relates to the field of road traffic technology, and specifically to a vehicle-road cooperative control device, system and control method thereof. Background Art

[0002] The existing vehicle-road cooperative control device uses the communication signal output by the signal machine to control the traffic light and directly uses the signal to perform vehicle-road cooperative control; or directly collects the real-time status of the traffic light to perform vehicle-road cooperative control. These two methods are relatively simple. For example, when the traffic signal machine at the intersection cannot directly output the communication signal to control the traffic light, or when the communication signal output by the traffic signal machine cannot be directly interpreted, it is also impossible to collect the real-time status of the traffic light.

[0003] For example, publication number CN109767630B discloses a traffic signal control system based on vehicle-road collaboration, including a vehicle-mounted device and an integrated traffic signal control machine. The integrated traffic signal control machine includes a roadside device, a core processor, and a signal light group control device. The integrated traffic signal control machine is connected to the traffic light group. The vehicle-mounted device is installed on the vehicle, and obtains the current speed information and location information of the vehicle in real time. Based on the wireless communication technology of the Internet of Vehicles, the real-time information of the vehicle is sent to the roadside device. The roadside device processes the real-time information of the vehicle and obtains the current traffic flow data of the intersection. The core processor monitors the current traffic conditions at the intersection based on the traffic flow data, and generates a new timing plan based on the current traffic flow data at the intersection and the monitoring results of the current traffic conditions at the intersection, and sends it to the signal light group control device. Finally, the signal light group control device controls the traffic light group to execute the new timing plan.

[0004] In order to overcome the problem of single signal light status collection in the existing market, the present invention provides a device with collection, processing, information exchange and signal light control. Summary of the invention

[0005] 1. Technical issues to be resolved

[0006] In view of the deficiencies in the prior art, the present invention provides a vehicle-road cooperative control device, system and control method thereof.

[0007] (II) Technical solution

[0008] To achieve the above objectives, the present invention is implemented through the following technical solutions: a vehicle-road cooperative control device, comprising a signal processing module, an operation control module and a traffic light state isolation input module, characterized in that the traffic light state isolation input module and the DC signal isolation input module are connected to the signal processing module; the signal processing module is connected to the AC or DC signal isolation output module;

[0009] The signal processing module is connected to the operation control module, and the operation control module is provided with multiple communication mode module ports, a whole machine debugging port, an Ethernet port, and a USB port. The operation control module is provided with a reset circuit, a BD+GPS dual-mode timing and positioning module, a 5G communication module, and a hardware encryption module. The hardware encryption module is connected to the signal processing module, and the operation control module is also connected to an LED display module.

[0010] Preferably, the Ethernet network port is two, a 100M network port and a 1000M network port, or a single 100M network port or a single 1000M network port.

[0011] Preferably, the multiple communication mode module ports include one or more of RS232, RS485, RS422, and CAN interfaces.

[0012] Based on the above device, the present invention also proposes a vehicle-road cooperative control system, which is characterized by comprising:

[0013] Traffic light status isolation input module, used to collect real-time status information of traffic lights and transmit the data to the signal processing module;

[0014] The DC signal isolation input module receives the DC signal sent by the external device, isolates and converts the signal, and transmits the data to the signal processing module;

[0015] An AC or DC signal isolation output module is used to receive information from the signal processing module and control the traffic lights based on the received information;

[0016] A signal processing module is used to receive data from the traffic light status isolation input module and the DC signal isolation input module for processing and transmit information to the AC or DC signal isolation output module; the signal processing module is connected to the operation control module for data exchange;

[0017] BD+GPS dual-mode timing and positioning module, the BD+GPS dual-mode timing and positioning module is used to transmit time and position information to the operation control module;

[0018] An operation control module, the operation control module is used to receive information from the BD+GPS dual-mode timing and positioning module to calibrate the time of the traffic signal timing plan, and at the same time calibrate the coordinate information of the traffic intersection, and receive the timing plan information of all traffic signals at the intersection transmitted by the signal processing module; the operation control module transmits data to the LED display module;

[0019] LED display module, used to receive data from the operation control module and display information;

[0020] A hardware encryption module, used to encrypt the signal processing module and the operation control module;

[0021] It also includes a plurality of communication mode modules, which are connected to the operation control module and are used to select a communication mode that is compatible with directly receiving traffic signal machine signals in real time for the operation control module.

[0022] Preferably, it also includes a 5G communication module, which is used to remotely upgrade the software, copy, upload / download data information, or remotely debug the operation control module through wireless communication; and

[0023] A USB port, which is connected to the operation control module and is used to perform software upgrades, copy data information, or upload / download information on the operation control module; and

[0024] The Ethernet port is connected to the operation control module and is used for the operation control module to connect to the central system platform for information exchange.

[0025] Preferably, it also includes a whole machine debugging port, which is connected to the operation control module and is used for software debugging or parameter setting of the operation control module. The whole machine debugging port adopts a DB9 interface or an RJ45 interface.

[0026] Preferably, a reset circuit is also included, which is connected to the operation control module and is used to perform a hardware reset on the vehicle-road cooperative control device.

[0027] Based on the above device, the vehicle-road cooperative control method is characterized by comprising the following steps:

[0028] S1: The real-time status signal of the traffic light is converted through the traffic light status isolation input module. The DC signal isolation input module collects the DC signal sent by the external device and isolates and converts the DC signal;

[0029] S2: The data converted by the two in S1 are transmitted to the signal processing module, and the signal processing module performs calculation processing on the obtained information to obtain the current timing plan of all traffic signals at the intersection, and transmits the plan to the calculation control module; or a communication mode that is consistent with the traffic signal is selected through the multiple communication mode module, and the calculation control module directly receives the current timing plan of all traffic signals at the intersection provided by the traffic signal in real time;

[0030] S3: The operation control module receives the time and position information transmitted by the BD+GPS dual-mode timing and positioning module in real time to calibrate the time of the traffic signal timing plan and the coordinate information of the traffic intersection;

[0031] S4: The operation control module exchanges the obtained traffic signal timing scheme information with the traffic command center platform or a device that needs to use the traffic signal timing scheme information in the traffic signal through Ethernet;

[0032] S5: The calculation control module sends the obtained data information to the LED display module for display.

[0033] Preferably, in step S1, the acquisition operation method in the signal processing module (110) is as follows:

[0034] S11: The signal processing module (110) receives the signal light status collected by the signal light status isolation input module (101);

[0035] S12: Importing phase and lane direction information in the global table;

[0036] S12: traverse 48 AC signal access terminals;

[0037] S13: Find the repetition phase in step S12, and set the repetition phase to 0;

[0038] S14: remove duplicate phase numbers and calculate the number of phases;

[0039] S15: Fill the valid phase number into the corresponding lane direction number;

[0040] S16: Supplement intersection number, plan number, phase number, control mode and time information;

[0041] S17: Calculate the operation cycle of the signal light;

[0042] S18: traverse the effective phase;

[0043] S19: Indicates lane directions (left turn, straight ahead, and right turn)

[0044] S20: Fill the light color and countdown of each phase into the global table;

[0045] S12: Calculate the real-time operation plan of the traffic lights at the intersection.

[0046] (III) Beneficial effects

[0047] The present invention provides a vehicle-road cooperative control device, system and control method thereof. It has the following beneficial effects: by directly collecting the real-time status of each traffic light, the present invention can also provide various communication interfaces to receive the timing information of the traffic lights output by the traffic signal machine, thereby diversifying the real-time status information collection of the traffic lights, and is suitable for the real-time status collection of traffic lights at all intersections. In addition, the device of the present invention uses the on and off of multiple LED lights to indicate the real-time status of each traffic light at the intersection in real time. At the same time, the present invention also provides up to 8 AC output signals, which can drive 8 traffic lights to operate independently. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 This is a structural diagram of the vehicle-road cooperative control device of the present invention;

[0049] Figure 2 The vehicle-road cooperative control method of the present invention;

[0050] Figure 3 This is a three-way traffic signal light status collection isolation circuit diagram of the present invention;

[0051] Figure 4 This is a DC signal collection and isolation circuit diagram of the present invention;

[0052] Figure 5 The AC or DC signal output isolation circuit diagram of the present invention;

[0053] Figure 6 This is a circuit diagram of a USB port of the present invention;

[0054] Figure 7 This is a circuit diagram of the debugging port of the present invention;

[0055] Figure 8 The real-time status display circuit diagram of the traffic signal light of the present invention;

[0056] Fig. 9 The circuit diagram for displaying the AC or DC output signal of the present invention;

[0057] Fig.10 A logic diagram for collecting timing of the signal lights of the present invention. DETAILED DESCRIPTION

[0058] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0059] As shown in the figure, the vehicle-road cooperative control device 100 includes a signal processing module 110, an operation control module 108 and a traffic light status isolation input module 101. The traffic light status isolation input module 101 and the DC signal isolation input module 103 are connected to the signal processing module 110; the signal processing module 110 is connected to the AC or DC signal isolation output module 104.

[0060] Please participate in the circuit diagram of the traffic light status isolation input module Figure 3 In this embodiment, the number of traffic light status isolation input modules 101 is 48, three traffic lights form a group of traffic signals, and a total of 48 or 16 groups of traffic signal status are collected. In this way, real-time status information of up to 48 or 16 groups of traffic lights can be collected.

[0061] The circuit principle of the traffic light status isolation input module is as follows: Figure 3 The one marked as AC_L1_IN indicates the current status signal of the traffic light; the one marked as AC_N indicates the power neutral line of the traffic light; the one marked as R is a resistor with current limiting and voltage reducing function; the one marked as OP1 is an optocoupler with isolation function; the one marked as R2 is a resistor with pull-up function; VCC indicates a DC power supply; the one marked as C1 is a capacitor with filtering seat; the one marked as U1B is an inverter with Schmitt function; the one marked as AC_L1 indicates the DC signal which converts the AC state of the current status signal of the traffic light into the DC state.

[0062] The state signal AC_L1_IN of a traffic light is limited and reduced by the resistor R1 with current limiting and voltage reducing function, and then passes through the input port of the OP1 photoelectric coupler to form an AC loop with AC_N. After the input port of the OP1 photoelectric coupler works, it drives the output end of the OP1 photoelectric coupler to pull down the DC power supply VCC through the resistor R2 with current limiting function to generate a low-level signal. After the low-level signal is filtered by C1, it is inverted and shaped by U1B to form the AC_L1 DC high-level signal, which is further processed by the signal processing module 110 in the present invention.

[0063] In this embodiment, the DC signal isolation output module 104 includes eight identical modules as shown in the appendix of the specification. Figure 4 The DC signal acquisition isolation circuit shown in the figure is used to receive external DC signals. The principle of the DC signal acquisition isolation circuit is as follows: Figure 4The DC_1_IN marked in the figure indicates the DC signal provided by the external device, which can be either high or low; the DC_IN_COM marked in the figure indicates the common line of the DC signal, which can be either low or high; the resistor marked in the figure R3 has the current limiting and voltage reducing function; the optocoupler marked in the figure OP2 has the isolation function; the resistor marked in the figure R4 has the pull-up function; the DC power supply is indicated by the DC power supply; the capacitor marked in the figure C2 has the filter seat; the inverter marked in the figure U2B has the Schmitt function; the DC_1 indicates the current state signal of the traffic light, which is a DC signal converted from the AC state to the DC state.

[0064] A high-level or low-level DC signal DC_1_IN provided by an external device is limited and reduced in voltage by the resistor R2 with current limiting and voltage reducing function, and then passes through the input port of the OP2 photoelectric coupler to form a DC loop with the low-level or high-level DC_IN_COM common line. After the input port of the OP2 photoelectric coupler works, the output end of the OP2 photoelectric coupler is driven to pull down the DC power supply VCC through the resistor R4 with current limiting function to generate a low-level signal. After the low-level signal is filtered by C2, it is inverted and shaped by U2B to form a DC_1 DC high-level signal, which is further processed by the signal processing module 110 in the present invention.

[0065] The AC or DC signal isolation output module 104 includes eight identical Figure 5 The AC or DC signal output isolation circuit shown is used to output AC or DC signals. The principle of the AC or DC signal output isolation circuit is as follows: Figure 5 In the figure, AC / DC_OUT indicates a DC signal provided by the signal processing module 110 of the present invention, and this DC signal is a high level; LED_OUT indicates a DC signal displayed by the driving LED; R5 indicates a resistor; Q1 indicates an NPN transistor; D1 indicates a diode with a reverse freewheeling function; RL1 indicates a relay with an isolation function; VCC indicates a DC power supply; AC / DC_OUT_L indicates an input power supplied by an external device to the relay; AC / DC_OUT_H indicates an output power supply through the relay

[0066] The DC signal AC / DC_OUT provided by the signal processing module 110 of the present invention controls the base of the transistor after passing through the resistor R5, pulls down the potential on the anode of the diode and the second pin of the relay RL1, and works together with the DC power supply to operate the coil of the relay RL1, drives the relay RL1 to be attracted, short-circuits the sixth and eighth pins of the output port of the relay RL1, controls the input power AC / DC_OUT_L provided by the external device, provides power AC / DC_OUT_H to the external device, and operates the external device.

[0067] When the signal machine cannot provide the signal light timing scheme to the device through communication, the present invention (through Figure 2 The traffic light status isolation input module 101 marked in the figure collects the real-time status of the traffic lights at the intersection in real time. When the real-time status of up to 48 traffic lights is converted into a DC signal by the traffic light status isolation input module 101, it is provided to Figure 2 The signal processing module 110 marked in FIG. The acquisition operation logic in the signal processing module 110 is as follows: Fig.10 Finally, the real-time timing plan of the traffic lights at the current intersection is obtained. And the plan is provided to Figure 2 The core computing control module 108 marked in FIG.

[0068] The signal processing module 110 is connected to the operation control module 108. The operation control module 108 is provided with multiple communication mode module ports, a whole machine debugging port 116, an Ethernet port, and a USB port. The operation control module 108 is provided with a reset circuit 112, a BD+GPS dual-mode timing and positioning module 102, a 5G communication module 107 and a hardware encryption module 109. The hardware encryption module 109 is connected to the signal processing module 110. The operation control module 108 is also connected to an LED display module 111.

[0069] The LED display module 111 includes 16 Figure 8 The traffic light real-time status display circuit shown in the figure, the operation control module 108 drives the 16 traffic light real-time status display circuits in the LED display module 111 to operate to realize the real-time status display of up to 48 traffic lights at the intersection. The principle of the traffic light real-time status display circuit is as follows: Figure 8 Among them, R1 is marked as the DC status signal of the red traffic light; Y1 is marked as the DC status signal of the yellow traffic light; G1 is marked as the DC status signal of the green traffic light; RA1 is marked as an 8-port resistor with current limiting function; LD1 is marked as an LED display composed of 3 LEDs.

[0070] R1, Y1 and G1 represent the status of the red, yellow and green lights on a traffic light group.

[0071] The LED display module 111 includes two groups of Fig. 9 The AC or DC output signal display circuit shown in FIG. 1 is a circuit in which the operation control module 108 drives the LED display module 111 to display the two groups of LEDs. Fig. 9 The AC or DC output signal display circuit shown displays the real-time status of up to 8 peripherals driven by the device of the present invention; the principle of the AC or DC output signal display circuit is as follows: Fig. 9 In the figure, RA2 is an 8-port resistor with current limiting function; LD2 and LD3 are LED displays composed of 2 LEDs.

[0072] The LED display module 111 includes 8-way DC signal status display circuits. The operation control module 108 drives the 8-way DC signal status display circuits included in the LED display module 111 to display up to 8-way DC signals provided by the peripheral device.

[0073] The LED display module 111 includes a status display circuit for all communication modes in the multiple communication mode module 105. The operation control module 108 drives the status display circuit for all communication modes in the multiple communication mode module 105 included in the LED display module 111 to display the status of various communication modes.

[0074] The LED display module 111 includes a running status display circuit of the device of the present invention. The operation control module 108 drives the running status display circuit of the device of the present invention included in the LED display module 111 to display the running status of the device of the present invention. The LED display module 111 includes a real-time working status display of the AC / DC power conversion module 106 in the device of the present invention.

[0075] In addition, the present invention also includes an AC power input + protection + control three-in-one port 117 and an AC / DC power conversion module 106. The AC power input + protection + control three-in-one port 117 is connected to the AC / DC power conversion module 106. The AC / DC power conversion module 106 converts the AC power input to the AC power input + protection + control three-in-one port 117, and directly connects to the vehicle-road cooperative control device 100 after conversion into DC power, providing power for the vehicle-road cooperative control device 100 as a whole, wherein: the AC power input + protection + control three-in-one port 117 can use discrete ports, namely, three single-function power access methods of input port, protection circuit, and control port. The AC / DC power conversion module 106 can also use an external adapter to provide power to the device.

[0076] In this embodiment, the Ethernet network port is two 100M network ports and a 100M network port, or a single 100M network port or a single 100M network port. The multiple communication mode module port includes one or more of RS232, RS485, RS422, and CAN interfaces. The multiple communication mode module 105 provided in this device includes an HDMI port, which can be connected to a display to play a real-time status video of the intersection. The whole machine debugging port 116 provided in this device uses a DB9 connector, and other connectors such as RJ45 can also be used.

[0077] Based on the above device, the present invention also proposes a vehicle-road cooperative control system, which is characterized by comprising:

[0078] Traffic light status isolation input module 101, used to collect real-time status information of traffic lights and transmit the data to signal processing module 110;

[0079] The DC signal isolation input module 103 receives the DC signal sent by the external device, isolates and converts the signal, and transmits the data to the signal processing module 110;

[0080] An AC or DC signal isolation output module 104, used to receive information from the signal processing module 110, and control the traffic light based on the received information;

[0081] The signal processing module 110 is used to receive data from the traffic light status isolation input module 101 and the DC signal isolation input module 103 for processing and transmit information to the AC or DC signal isolation output module 104; the signal processing module 110 is connected to the operation control module 108 for data exchange;

[0082] BD+GPS dual-mode timing and positioning module 102, the BD+GPS dual-mode timing and positioning module 102 is used to transmit time and position information to the operation control module 108;

[0083] The operation control module 108 is used to receive information from the BD+GPS dual-mode timing and positioning module 102 to calibrate the time of the traffic signal timing plan, and calibrate the coordinate information of the traffic intersection, and receive the timing plan information of all traffic signals at the intersection transmitted by the signal processing module 110; the operation control module 108 transmits data to the LED display module 111;

[0084] LED display module 111, used to receive data from the operation control module 108 and display information;

[0085] A hardware encryption module 109, used to encrypt the signal processing module 110 and the operation control module 108;

[0086] It also includes a multiple communication mode module 105, which is connected to the operation control module 108 and is used to select a communication mode that can directly receive traffic signal signals in real time for the operation control module 108.

[0087] Preferably, a 5G communication module 107 is further included, and the 5G communication module 107 is used to remotely upgrade the software, copy, upload / download data information, or remotely debug the operation control module 108 through wireless communication; and

[0088] A USB port 113, which is connected to the operation control module 108 and is used to perform software upgrades, copy data information, or upload / download information on the operation control module 108; and

[0089] The Ethernet port is connected to the operation control module 108 and is used for the operation control module 108 to connect to the central system platform for information exchange.

[0090] Preferably, a whole machine debugging port 116 is also included, and the whole machine debugging port 116 is connected to the operation control module 108 and is used for software debugging or parameter setting of the operation control module 108 . The whole machine debugging port 116 adopts a DB9 interface or an RJ45 interface.

[0091] Preferably, a reset circuit 112 is also included, and the reset circuit 112 is connected to the operation control module 108 and is used to perform a hardware reset on the vehicle-road cooperative control device.

[0092] Based on the above device, the vehicle-road cooperative control method is characterized by comprising the following steps:

[0093] S1: The real-time status signal of the traffic light is converted through the traffic light status isolation input module. The DC signal isolation input module collects the DC signal sent by the external device and isolates and converts the DC signal. External devices such as: traffic lights, geomagnetic detectors, radars or roadside detection devices;

[0094] S2: The data converted from S1 is transmitted to the signal processing module 110, and the signal processing module 110 performs calculations on the obtained information to obtain the current timing plan of all traffic signals at the intersection, and transmits the plan to the calculation control module 108; or a communication method that is consistent with the traffic signal is selected through the multiple communication method module 105, and the calculation control module 108 directly receives the current timing plan of all traffic signals at the intersection provided by the traffic signal in real time; that is, if the traffic signal can directly provide the timing plan through the communication method, the calculation control module 108 does not need to go through the signal processing module 110 but directly obtains the current timing plan of all traffic signals at the intersection through the communication method.

[0095] S3: The operation control module 108 receives the time and position information transmitted by the BD+GPS dual-mode timing and positioning module 102 in real time to calibrate the time of the traffic signal timing plan and the coordinate information of the traffic intersection;

[0096] S4: The operation control module 108 exchanges the obtained traffic signal timing information with the traffic command center platform or a device that needs to use the traffic signal timing information in the traffic signal through Ethernet;

[0097] S5: The operation control module 108 sends the obtained data information to the LED display module 111 for display.

[0098] Preferably, in step S1, the acquisition operation method in the signal processing module (110) is as follows:

[0099] S11: The signal processing module (110) receives the signal light status collected by the signal light status isolation input module (101);

[0100] S12: Importing phase and lane direction information in the global table;

[0101] S12: traverse 48 AC signal access terminals;

[0102] S13: Find the repetition phase in step S12, and set the repetition phase to 0;

[0103] S14: remove duplicate phase numbers and calculate the number of phases;

[0104] S15: Fill the valid phase number into the corresponding lane direction number;

[0105] S16: Supplement intersection number, plan number, phase number, control mode and time information;

[0106] S17: Calculate the operation cycle of the signal light;

[0107] S18: traverse the effective phase;

[0108] S19: Indicates lane directions (left turn, straight ahead, and right turn)

[0109] S20: Fill the light color and countdown of each phase into the global table;

[0110] S12: Calculate the real-time operation plan of the traffic lights at the intersection.

[0111] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A vehicle-road cooperative control method of a vehicle-road cooperative control device, comprising a signal processing module (110), an operation control module (108) and a traffic light state isolation input module (101), characterized in that: The traffic light state isolation input module (101) and the DC signal isolation input module (103) are connected to the signal processing module (110); the signal processing module (110) is connected to the AC or DC signal isolation output module (104); The signal processing module (110) is connected to the operation control module (108), the operation control module (108) is provided with a plurality of communication mode module ports, a whole machine debugging port (116), an Ethernet network port, and a USB port, the operation control module (108) is provided with a reset circuit (112), a BD+GPS dual-mode timing and positioning module (102), a 5G communication module (107), and a hardware encryption module (109), the hardware encryption module (109) is connected to the signal processing module (110), and the operation control module (108) is also connected to an LED display module (111); The vehicle-road cooperative control method comprises the following steps: S1: The real-time status signal of the traffic light is converted through the traffic light status isolation input module (101), and the DC signal isolation input module (103) collects the DC signal sent by the external device and isolates and converts the DC signal; S2: transmitting the data converted by S1 to the signal processing module (110), the signal processing module (110) performs calculation processing on the obtained information, obtains the current timing plan of all traffic signals at the intersection, and transmits the plan to the calculation control module (108); or selects a communication mode that is consistent with the traffic signal through the multiple communication mode module (105), and the calculation control module (108) directly receives the current timing plan of all traffic signals at the intersection provided by the traffic signal in real time; S3: the operation control module (108) receives in real time the time and position information transmitted by the BD+GPS dual-mode timing and positioning module (102) to calibrate the time of the traffic signal timing plan and the coordinate information of the traffic intersection; S4: the operation control module (108) exchanges the obtained traffic signal timing scheme information with the traffic command center platform or a device that needs to use the traffic signal timing scheme information in the traffic signal machine through Ethernet; S5: the operation control module (108) sends the obtained data information to the LED display module (111) for display; In step S1, the acquisition operation method in the signal processing module (110) is as follows: S11: The signal processing module (110) receives the signal light status collected by the signal light status isolation input module (101); S12: Importing phase and lane direction information in the global table; S12: traverse 48 AC signal access terminals; S13: Find the repetition phase in step S12, and set the repetition phase to 0; S14: Remove duplicate phase numbers and calculate the number of phases; S15: Fill the valid phase number into the corresponding lane direction number; S16: Supplement intersection number, plan number, phase number, control mode and time information; S17: Calculate the operation cycle of the signal light; S18: traverse the effective phase; S19: Indicates lane directions (left turn, straight ahead, and right turn) S20: Fill the light color and countdown of each phase into the global table; S12: Calculate the real-time operation plan of the traffic lights at the intersection.

2. The vehicle-road cooperative control method according to claim 1, characterized in that: The Ethernet network ports include two 100M network ports and one 100M network port, or a single 100M network port or a single 100M network port.

3. The vehicle-road cooperative control method according to claim 1, characterized in that: The multiple communication mode module ports include one or more of RS232, RS485, RS422, and CAN interfaces.

4. The vehicle-road cooperative control system is characterized by: include, A traffic light status isolation input module (101), used to collect real-time status information of the traffic light and transmit the data to a signal processing module (110); A DC signal isolation input module (103) receives a DC signal sent from an external device, performs isolation conversion on the signal, and transmits the data to a signal processing module (110); An AC or DC signal isolation output module (104) is used to receive information from a signal processing module (110) and control a traffic light based on the received information; A signal processing module (110) is used to receive data from a traffic light status isolation input module (101) and a DC signal isolation input module (103), process the data, and transmit the information to an AC or DC signal isolation output module (104); the signal processing module (110) is connected to an operation control module (108) for data exchange; A BD+GPS dual-mode timing and positioning module (102), wherein the BD+GPS dual-mode timing and positioning module (102) is used to transmit time and position information to the operation control module (108); An operation control module (108), the operation control module (108) is used to receive information from the BD+GPS dual-mode timing and positioning module (102) to calibrate the time of the traffic signal timing plan, and simultaneously calibrate the coordinate information of the traffic intersection, and receive the timing plan information of all traffic signals at the intersection currently transmitted by the signal processing module (110); the operation control module (108) transmits data to the LED display module (111); An LED display module (111), used for receiving data from the operation control module (108) and displaying information; A hardware encryption module (109) is used to encrypt the signal processing module (110) and the operation control module (108); It also includes a multiple communication mode module (105), which is connected to the operation control module (108) and is used to select a communication mode that is compatible with the operation control module (108) and can directly receive traffic signal signals in real time; It also includes a 5G communication module (107), wherein the 5G communication module (107) is used to remotely upgrade the software, copy, upload / download data information, or remotely debug the operation control module (108) through wireless communication; and A USB port (113), the USB port (113) being connected to the operation control module (108) and used for performing software upgrades, copying data information, or uploading / downloading information on the operation control module (108); and An Ethernet port, the Ethernet port being connected to the operation control module (108) and used for the operation control module (108) to connect to the central system platform for information exchange; It also includes a whole machine debugging port (116), which is connected to the operation control module (108) and is used to perform software debugging or parameter setting on the operation control module (108), and the whole machine debugging port (116) adopts a DB9 interface or an RJ45 interface; It also includes a reset circuit (112), which is connected to the operation control module (108) and is used to perform a hardware reset on the vehicle-road cooperative control device.

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