A vehicle intersection parking frequency detection method and device

Abstract

The application discloses a kind of vehicle intersection parking frequency detection method and device, belong to traffic intersection monitoring technical field.The method is based on the vehicle data and intersection signal timing scheme extraction vehicle parking frequency of electronic police equipment snapshot, can solve the technical problem that vehicle parking frequency is difficult to obtain due to congestion and intersection control.By electronic police equipment, the vehicle data information and intersection signal control scheme running data information in different time length are obtained in different point position snapshot in single vehicle time length, first determine the initial vehicle of current intersection entrance, then determine the vehicle parking frequency in current intersection according to the initial vehicle and the latest vehicle in signal cycle release phase time of intersection, can distinguish the vehicle passing stop line in different signal cycle, improve the parking frequency of vehicle detected, provide key data support for traffic travel guidance and road network planning.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of traffic intersection monitoring, in particular to a vehicle intersection parking frequency detection method and device. BACKGROUND

[0002] Traffic is a basic industry and service industry for national economy and social development, and road monitoring of urban traffic is becoming more and more important. In order to ensure the traffic order of the city, the relevant departments often need to analyze the traffic situation of each road section according to the parking frequency (or parking rate) of the vehicle passing through the signal light intersection, vehicle delay and traffic capacity, and then adjust the traffic facilities of the city to better ensure the traffic order.

[0003] For example, adjusting the signal cycle of the signal light, adjusting the road section to be a single lane or double lane at a certain time period according to the traffic situation of the road section at different times, etc. Therefore, the vehicle parking frequency at the intersection can provide key data support for the formulation of road control measures, traffic travel guidance and road network planning.

[0004] At present, a lot of research has been conducted on the method of extracting vehicle running trajectory based on electronic police, and many theoretical and practical achievements have been made. However, there is relatively less research on how to calculate the vehicle parking frequency at the intersection. Although the vehicle parking frequency can be derived based on the vehicle running trajectory, the electronic police overpass data extraction of the driving path information of a single vehicle in the whole period does not consider the existence of incomplete electronic police city layout or detection data loss and errors, and lacks relevant research and verification of the possible driving path between adjacent detection points. Therefore, in the actual application process, it is impossible to provide relatively accurate data support. SUMMARY

[0005] In order to solve or at least partially solve the technical problem of difficulty in obtaining the parking frequency caused by congestion and intersection control in the related art, the present application provides a vehicle intersection parking frequency detection method, which determines the initial vehicle of the current intersection entrance, and determines the parking frequency of the vehicle in the current intersection according to the initial vehicle and the latest vehicle in the signal cycle release phase time of the intersection. It can accurately distinguish the vehicles passing through the stop line in different signal cycles, and improve the detected parking frequency of the vehicle.

[0006] To achieve the above purpose, the present application adopts the following technical scheme:

[0007] The first aspect of the present application provides a vehicle intersection parking frequency detection method, which comprises the following steps:

[0008] Obtain the overpass data of the intersection detection, sort the overpass vehicles according to the overpass time sequence, and extract the corresponding vehicle data in the overpass data;

[0009] According to the current intersection vehicle data and the corresponding vehicle data in the vehicle data, it is judged whether the vehicle passes the stop line after the intersection detection time;

[0010] In the current intersection, the vehicle passing the stop line or the vehicle not passing the stop line in the historical period closest to the current time is selected to determine the initial vehicle of the current intersection entrance;

[0011] According to the initial vehicle and the latest vehicle determined in the signal cycle release phase time of the intersection, the number of vehicle stops in the current intersection is determined.

[0012] As an example, the step of obtaining the corresponding vehicle data in the vehicle data further comprises:

[0013] Obtain the vehicle data of the current vehicle p at the previous intersection;

[0014] Obtain the turning time of the current vehicle at the previous intersection, and obtain the starting time of the path from the previous intersection of the current vehicle p to the current intersection;

[0015] Calculate the travel time of the path from the previous intersection to the current intersection.

[0016] As an example, the step of judging whether the vehicle passes the stop line after the intersection detection time further comprises:

[0017] According to the detection time of the current vehicle p at the current intersection n and the signal cycle phase release start time and end time corresponding to the detection time of the current vehicle p, it is judged whether the current vehicle passes the stop line at the intersection detection time;

[0018] When is established, it is determined whether the current vehicle p is incomplete section path vehicle data according to the difference between the detection time of the current vehicle p at the previous intersection to the current intersection; whether the vehicle of the incomplete section path can be used as the initial vehicle is judged;

[0019] Wherein, represents the phase release end time of the qth signal cycle at the detection time of the current vehicle p; represents the detection time of the current vehicle p at the intersection n.

[0020] As an example, the step of judging whether the current vehicle passes the stop line at the intersection detection time further comprises:

[0021] Extract the vehicle passing time of the vehicle (p+1) passing through the previous intersection (n-1) in the current intersection n;

[0022] When denotes the phase release end time of the qth signal cycle at the detection time of the current vehicle p; denotes the detection time of vehicle (p+1) at intersection (n-1).

[0023] extracts a vehicle s in the current intersection n, which is consistent with the turning path end point of the current vehicle p, and is in the same turning lane of the current vehicle p at the next intersection (n+1) at the detection time;

[0024] calculates the travel time difference of the adjacent vehicle s and the current vehicle p from the current intersection n to the next intersection (n+1) in the direction;

[0025] If the following first condition is met, the current vehicle p passes the stop line, otherwise, the current vehicle p does not pass the stop line;

[0026]

[0027] wherein, denotes the phase release end time of the qth signal cycle at the detection time of the current vehicle p; denotes the detection time of vehicle p at intersection (n+1); denotes the preliminary starting time of vehicle p from intersection (n+1) to intersection (n+2) in the direction; denotes the detection time of vehicle s at intersection (n+1); denotes the preliminary starting time of vehicle s from intersection (n+1) to intersection (n+2) in the direction; n(n+1) denotes the travel time difference of the vehicle from intersection n to intersection (n+1) in the direction; denotes the detection time of vehicle s at the current intersection n; denotes the phase release end time of the qth signal cycle at the detection time of the current vehicle s.

[0028] As an example, the step of determining the initial vehicle of the current intersection entrance includes:

[0029] selecting the vehicle passing data that passes the stop line immediately after the intersection detection time in the nearest historical period to the current time in the current intersection n, when the vehicle in the period meets the second condition;

[0030] determines that the current vehicle p passes the stop line of intersection n after stopping once in the direction from the previous intersection (n-1) to the current intersection n, and is set as the initial vehicle;

[0031] and / or selecting the vehicle passing data that passes the stop line immediately after the intersection detection time in the nearest historical period to the current time in the intersection n, when the vehicle in the period meets the third condition;

[0032] If the current vehicle p does not stop at the stop line of the intersection n from the road segment from the intersection (n-1) to the intersection n, the current vehicle p is determined as the initial vehicle.

[0033] As an example, the step of determining the number of stops of the vehicle at the current intersection includes:

[0034] The vehicles passing through the current intersection are sorted according to the passing time of the vehicles, and the current vehicle with the number of stops of 0 in the release phase time of the current signal cycle q of the current intersection n is selected as the latest vehicle p0.

[0035] If the latest vehicle p0 passes through the stop line of the intersection in the release phase time of the current signal cycle q, the number of stops of the vehicle passing through the intersection before the latest vehicle p0 in the current signal cycle q is determined. All are 0.

[0036] As an example, the step of determining the number of stops of the vehicle at the current intersection further includes:

[0037] The latest vehicle with the number of stops of 1 in the release phase time of the current signal cycle q of the current intersection n is selected as p0, and it is determined whether the following third condition is established:

[0038] Wherein, represents the checking time of the vehicle (p0+1) from the start of the road segment from the intersection (n-1) to the intersection n; represents the phase release start time of the (q+1) signal cycle at the detection time of the vehicle p0; represents the detection time of the vehicle p0 at the intersection n; θ (n-1)n represents the driving time difference of the vehicle from the road segment from the intersection (n-1) to the intersection n; represents the checking time of the vehicle p0 from the start of the road segment from the intersection (n-1) to the intersection n;

[0039] When the third condition is established, the number of stops of the vehicle passing through the stop line in the release phase time of the signal cycle q is 0 except that the number of stops of the initial vehicle p0 is 1;

[0040] When the third condition is not established, the latest vehicle with the number of stops of 1 in the release phase time of the current signal cycle q of the intersection n is selected as p0; it is determined whether the following fourth condition is established:

[0041] Wherein, represents the checking time of the vehicle (p0+1) from the start of the road segment from the intersection (n-1) to the current intersection n; represents the phase release start time of the (q+1) signal cycle at the detection time of the vehicle p0; represents the detection time of the vehicle p0 at the current intersection n; θ(n-1)n represents the difference of the non-stop driving time of the vehicle from the intersection (n-1) to the direction road section of the current intersection n, represents the checking time of the vehicle p0 from the intersection (n-1) to the start point of the direction road section of the current intersection n;

[0042] If the fourth condition is established, the number of stops of the vehicles p0 and (p0+1) through the stop line in the signal period q release phase time is both 1;

[0043] If the fourth condition is not established, it is judged whether the fifth condition is established: wherein, represents the detection time of the vehicle (p0+1) at the intersection n; represents the start time of the phase release of the vehicle p at the detection time; represents the detection time of the vehicle p0 at the intersection n;

[0044] If the fifth condition is established, it is determined that the number of stops of the vehicle (p0+1) in the signal period q release phase time is 0; if the fifth condition is not established, it is determined that the number of stops of the vehicle (p0+1) in the signal period q release phase time is 1.

[0045] The second aspect of the present application provides a vehicle intersection stop number detection device, the device comprises the following:

[0046] A data acquisition module is configured to acquire intersection detection passing vehicle data, sort the passing vehicles according to the passing time sequence of the current intersection, and acquire corresponding vehicle data in the passing vehicle data.

[0047] A stop judgment module is configured to judge whether the current vehicle passes the stop line at the intersection detection time according to the passing vehicle data of the current intersection and the corresponding vehicle data in the passing vehicle data.

[0048] A start judgment module is configured to select the passing vehicle data through the stop line in the intersection detection time of the nearest historical period to the current time in the current intersection, and determine the initial vehicle of the entrance road of the current intersection.

[0049] A stop calculation module is configured to determine the number of stops of the vehicle of the current intersection according to the initial vehicle and the latest vehicle determined in the signal period q release phase time of the current intersection.

[0050] The third aspect of the present application provides an electronic device, which comprises a processor, an input device, an output device and a memory, the processor, the input device, the output device and the memory are sequentially connected, the memory is used for storing a computer program, the computer program comprises program instructions, the processor is configured to call the program instructions, and the method as described above is executed.

[0051] The fourth aspect of the present application provides a readable storage medium, the storage medium stores a computer program, the computer program includes program instructions, the program instructions make the processor execute the above-mentioned method when the processor executes.

[0052] Compared with the prior art, the present application has the following beneficial effects:

[0053] (1) The example of the present application provides a vehicle intersection stopping frequency detection method, which can distinguish vehicles passing through the stop line in different signal periods and improve the stopping frequency of the detected vehicles by determining the initial vehicle of the current intersection entrance and the latest vehicle in the signal cycle release phase time of the intersection. On the other hand, the possible driving paths between adjacent detection points are distinguished by using the judgment condition, and the vehicle passing data of incomplete road section paths is discarded, thereby improving the accuracy of the passing data.

[0054] (2) The present application aims at determining the stopping frequency of vehicles at the intersection based on the passing data and intersection signal control scheme operation data extracted by the electronic police equipment, focuses on exploring the mathematical model of the single vehicle operation characteristics and the stopping frequency of the dynamic traffic flow at the intersection, and can improve the detection rate of the stopping frequency of the vehicle. This method can provide key for real-time acquisition of important traffic operation parameters such as intersection stopping frequency of urban traffic network, and provide data support for traffic planning management and construction, and has broad application prospect. BRIEF DESCRIPTION OF DRAWINGS

[0055] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description of embodiments of the present application, taken in conjunction with the accompanying drawings. The drawings provided in the specification and the embodiments of the present application together serve to provide a further understanding that enables others skilled in the art to make or use the present application. The drawings constitute a part of the specification and are included to further provide explanation of the present application, but do not limit the present application. In the drawings, the same reference numerals generally refer to the same parts or steps.

[0056] Figure 1 is a flow chart of a vehicle intersection stopping frequency detection method provided by an embodiment of the present application;

[0057] Figure 2 is an example scenario of the present application;

[0058] Figure 3 is a block diagram of a vehicle intersection stopping frequency detection device provided by an embodiment of the present application;

[0059] Figure 4 Fig. 1 illustrates a block diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0060] Hereinafter, example embodiments according to the present application will be described in detail with reference to the accompanying drawings. Obviously, the term "example" in the context means that a specific feature, structure, or characteristic described in connection with the example can be included in at least one example of the application. The appearance of the phrase in various places in the specification does not necessarily all refer to the same example, nor is it necessarily mutually exclusive of other examples. It is explicitly and implicitly understood that the examples described herein can be combined with other examples.

[0061] The terms "first", "second", and the like in the specification and claims of the application and above-described drawings are used to distinguish different objects, not to describe a particular order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or units inherent to such processes, methods, products, or devices.

[0062] Example scenario

[0063] As Figure 2 shown, in order to illustrate the examples of the application, first introduce the example scenario of the application, it should be understood that the application is to monitor the number of times of stopping of vehicles in road intersections, therefore the intersection of urban roads should include electronic police, traffic signal control platform and control device, the traffic signal control platform obtains running data information in different intersection time lengths; the electronic police is generally located near the intersection road, the electronic police is used to record the time of vehicles passing through the corresponding position and vehicle information, and sends the data to the control device. The control device can execute the example method of the application, which is used to detect the number of times of stopping of vehicles in the intersection.

[0064] Example method

[0065] Referring to Figure 1 , the example provides a method for detecting the number of times of stopping of vehicles in an intersection, specifically comprising the following steps:

[0066] S100: obtaining passing vehicle data for intersection detection, sorting the passing vehicles in the order of passing time, and extracting corresponding vehicle data in the passing vehicle data.

[0067] Specifically, the passing vehicle data information at different point positions in the time length of a single vehicle is obtained by the electronic police device, and the running data information in the time length of different intersections is obtained by the signal control platform.

[0068] The vehicle data here refers to license plate information, vehicle model information, vehicle body length, and vehicle, etc. The passing vehicle data information here refers to the data detected by the electronic police, mainly the passing vehicle information through the intersection within the corresponding time. It includes various license plate information, vehicle model information, and detection time of passing through various intersections, etc. It should be noted that the detection time is the time when the current vehicle passes through the current intersection electronic police, and does not correspond to whether the vehicle can pass through the stop line of the intersection. Whether the vehicle can pass through the stop line of the intersection is determined according to step S200.

[0069] As an example, in order to facilitate the judgment condition of the following steps, the passing vehicle information and other data need to be processed, for example, the step of obtaining the corresponding vehicle data in the passing vehicle data further includes: obtaining the passing vehicle data of the current vehicle p at the previous intersection in the current intersection; obtaining the turning time of the current vehicle at the previous intersection, obtaining the starting time of the path from the previous intersection of the current vehicle p to the current intersection; and calculating the travel time of the path from the previous intersection to the current intersection.

[0070] As a specific implementation, steps S101-S104 can be referred to.

[0071] S101: The electronic police obtains the passing vehicle data on a certain turning function lane of a certain entrance branch in the current intersection n, and sorts the passing vehicles according to the order before and after the passing time;

[0072] S102, extract the electronic police passing vehicle data of the current vehicle p in the previous intersection (n-1) in the current intersection n obtained by the electronic police, and combine the turning path of the current vehicle p in the previous intersection (n-1) in the lane, see formula (1), obtain the average length of the turning path And the average speed Calculate the turning time of the current vehicle p in the intersection (n-1) The average length And the average speed The average length and the average speed can be obtained by field survey and measurement, or can be pre-configured in the control device after measurement.

[0073]

[0074] S103, calculate the preliminary starting time of the current vehicle p from the previous intersection (n-1) to the current intersection n direction section as

[0075]

[0076] In formula (2), represents the turning time of the current vehicle p in the intersection (n-1). represents the detection time of the current vehicle p at the previous intersection (n-1); represents the preliminary start time of the current vehicle p on the road segment from intersection (n-1) to n.

[0077] S104, calculate the travel time t of the current vehicle p on the road segment from the previous intersection (n-1) to the current intersection n direction p (n-1)n is:

[0078]

[0079] In formula (3), represents the detection time of the current vehicle p at the intersection n; represents the preliminary start time of the current vehicle p on the road segment from intersection (n-1) to n.

[0080] S200: According to the passing vehicle data of the current intersection and the corresponding vehicle data in the passing vehicle data, it is judged whether the vehicle passes the stop line after the intersection detection time. Here, in order to realize the data checking of the detection data of part of the vehicle and the actual passing of the stop line, improve the data reliability, and avoid affecting the accuracy of the vehicle parking times data.

[0081] Specifically, according to the detection time of the current vehicle p at the current intersection n and the signal cycle phase release start time and end time corresponding to the detection time of the current vehicle p, it is judged whether the current vehicle passes the stop line in the intersection detection time. It should be understood that when the vehicle passes the stop line after the intersection detection time, it can be understood that it does not stay at the current intersection, that is, the parking times is zero; if it does not pass the stop line after the detection time, it can be understood that it stays at the current intersection, that is, the parking times is one.

[0082] In one specific embodiment, step 200 can refer to steps S201-S206.

[0083] S201: If the detection time of the current vehicle p in the current intersection n satisfies the inequality (4), it can be judged that the current vehicle p is likely to pass the stop line immediately after detection;

[0084] If the detection time of the current vehicle p in the current intersection n satisfies the inequality (5), it can be judged that the current vehicle p is likely not to pass the stop line after detection;

[0085] If the detection time of the current vehicle p in the intersection n satisfies the inequality (6), whether the current vehicle p passes the stop line needs to be judged in step S202; it should be noted that the judgment logic here is mainly based on the detection time of the vehicle obtained by the electronic police, and can also be implemented by clustering the passing vehicle data or extracting the motion trajectory of the vehicle.

[0086]

[0087]

[0088] In the formula (4) to (6): represents the phase release start time of the qth signal cycle in the corresponding intersection at the detection time of the current vehicle p; represents the phase release start time of the (q+1)th signal cycle in the corresponding intersection at the detection time of the current vehicle p; represents the phase release end time of the qth signal cycle at the detection time of the current vehicle p; represents the detection time of the current vehicle p at the intersection n.

[0089] As preferred, referring to step S202: in order to determine the case of formula (6) in step S201, it is necessary to discard vehicles without complete paths, or directly determine whether it can be an initial vehicle, so as to improve the accuracy of the vehicle passing data.

[0090] Determine the difference between the detection time of the current vehicle p at the previous intersection (n-1) and the current intersection n. If formula (7) is satisfied, the current vehicle p has a valid complete path from intersection (n-1) to the current intersection n, and enters step S203; otherwise, it can be determined that the current vehicle p does not pass through the previous intersection (n-1) within the valid path travel time, or it occurs after driving into the intersection n from the road side parking or the road side parking, that is, it has an incomplete path vehicle, which can be discarded. The process data, or directly determine whether it can be an initial vehicle, enter the following step S301.

[0091]

[0092] wherein represents the detection time of the current vehicle p at the previous intersection (n-1); represents the detection time of the current vehicle p at the intersection n; represents the maximum travel time of the complete path travel from intersection (n-1) to the current intersection n in the direction of the road section, which can be obtained according to historical data analysis.

[0093] S203: When step S202 determines that the current vehicle has a complete path, the passing time of the vehicle (p+1) passing through the previous intersection (n-1) in the current intersection n needs to be extracted for judgment:

[0094]

[0095] wherein, Tq(n) represents the phase release start time of the qth signal cycle at the corresponding intersection at the detection time of the current vehicle p; Tq(n-1) represents the detection time of the vehicle (p+1) at the intersection (n-1); Tq(n) represents the phase release end time of the qth signal cycle at the detection time of the current vehicle p.

[0096] If the inequality (8) is not established, go to step S205; if the inequality (8) is established, the passing time of the previous intersection (n-1) of the (p+1)th vehicle passing through the current intersection n needs to be extracted for judgment, and the same is true for the subsequent intersections until the intersection that can make the inequality not established is found, and step S204 is entered.

[0097] S204: The passing time of the (p+1)th vehicle passing through the current intersection n and the current vehicle p needs to be judged:

[0098]

[0099] In the formula: Tq+1(n) represents the phase release start time of the (q+1)th signal cycle at the detection time of the current vehicle p; Tq(n) represents the phase release end time of the qth signal cycle at the detection time of the current vehicle p; Tq(n) represents the detection time of the current vehicle p at the intersection n; Tq(n-1) represents the detection time of the vehicle (p+1) at the intersection n; Tq(n) represents the red light time of the release phase of the current vehicle p from the qth signal cycle to the (q+1)th signal cycle; Tq(n-1) represents the preliminary start time of the current vehicle p on the road segment from intersection (n-1) to n in the direction of the road segment; Tq+1(n-1) represents the preliminary start time of the vehicle (p+1) on the road segment from intersection (n-1) to n in the direction of the road segment; θ (n-1)n Tq(n-1) represents the non-stopping driving time difference of the vehicle from intersection (n-1) to n in the direction of the road segment, which can be determined by field investigation or pre-configured.

[0100] If the inequality (9) is established, the electronic police obtains the passing time of the current vehicle p, and the current vehicle p does not immediately pass through the stop line; if the inequality (10) is established, the electronic police obtains the passing time of the current vehicle p, and the current vehicle p immediately passes through the stop line; if neither inequality (9) nor (10) is established, go to step S205.

[0101] S205: Extract the adjacent vehicle S in the current intersection n which is consistent with the turning path end point of the current vehicle p and is in the same turning lane as the current vehicle p at the next intersection (n+1) detection moment, calculate the travel time difference of the adjacent vehicle s and the current vehicle p from the current intersection n to the next intersection (n+1) direction, if the first condition is established, that is, inequality (11) is established, the current vehicle p passes through the stop line, otherwise, the current vehicle p does not pass through the stop line.

[0102]

[0103] wherein, represents the phase release end time of the qth signal cycle at the detection moment of the current vehicle p; represents the detection moment of the vehicle p at the intersection (n+1); represents the preliminary starting moment of the vehicle p from the intersection (n+1) to (n+2) direction road section; represents the detection moment of the vehicle s at the intersection (n+1); represents the preliminary starting moment of the vehicle s from the intersection (n+1) to (n+2) direction road section; n(n+1) represents the non-stopping travel time difference of the vehicle from the intersection n to (n+1) direction road section, which needs to be determined by field investigation; represents the detection moment of the vehicle a at the intersection n.

[0104] S206, after the electronic police obtains the detection moment of the current vehicle p, the current vehicle p does not immediately pass through the stop line, and the starting point checking moment of the road section from the current intersection n to the next intersection (n+1) direction is calculated

[0105]

[0106] wherein, represents the phase release start time of the (q+1)th signal cycle at the detection moment of the vehicle p; represents the turning time of the current vehicle p in the current intersection (n-1).

[0107] After the electronic police obtains the passing moment of the current vehicle p, the current vehicle p immediately passes through the stop line; the starting point checking moment of the road section from the current intersection n to the next intersection (n+1) direction is calculated

[0108]

[0109] S300: In the current intersection, select the vehicle passing through the stop line or the vehicle not passing through the stop line in the historical period closest to the current time, and determine the initial vehicle of the entrance of the current intersection.

[0110] Specifically, the initial vehicle here refers to a calibration vehicle that can determine the number of times it stops within a signal cycle, i.e. when the vehicle does not stop at the intersection and passes the stop line, the number of times it stops is zero, or it stops once and passes the stop line, and the number of times it stops is one. For such a vehicle that can clearly determine the number of times it stops, this vehicle attribute can be defined as an initial vehicle, and the subsequent vehicles can be calculated according to the initial vehicle to calculate the number of times other vehicles stop. The initial vehicle is used by the system to calculate the number of times the vehicle stops, and generally needs to determine that the vehicle stops 0 or once, etc., and the number of times other vehicles stop needs to be calculated according to the initial vehicle to obtain the number of times each vehicle stops. The latest vehicle is the vehicle with the latest detection time among vehicles with the same number of stops.

[0111] As an example, the step of determining the initial vehicle of the current intersection entrance includes:

[0112] S301: Select the vehicle passing data immediately after passing the stop line at the intersection detection time of the nearest historical period of the current intersection n at the current time, when the vehicle in the period meets the second condition;

[0113] Then determine that the current vehicle p passes the stop line of intersection n after stopping once on the road segment from the previous intersection (n-1) to the current intersection n in the direction, and set it as the initial vehicle; wherein the second condition is formula (14).

[0114]

[0115] In the formula: represents the phase release start time of the qth signal cycle at the detection time of the current vehicle p; represents the phase release start time of the (q+1)th signal cycle at the detection time of the current vehicle p; represents the phase release end time of the qth signal cycle at the detection time of the current vehicle p; represents the detection time of vehicle (p-1) at intersection n; represents the detection time of the current vehicle p at the current intersection n.

[0116] and / or S302: Select the vehicle passing data immediately after passing the stop line at the intersection detection time of the nearest historical period of the current intersection n at the current time, when the vehicle in the period meets the second condition;

[0117] Then determine that the current vehicle p passes the stop line of intersection n without stopping on the road segment from the previous intersection (n-1) to the current intersection n in the direction, and set it as the initial vehicle; wherein the third condition is formula (15).

[0118]

[0119] In the formula represents the phase release start time of the qth signal cycle at the detection time of the current vehicle p; represents the detection time of the current vehicle p at the current intersection n; represents the detection time of the vehicle (p-1) at the intersection n; represents the phase release end time of the qth signal cycle at the detection time of the current vehicle p.

[0120] Preferably, based on the initial vehicle p1 stopping times in the historical period closest to the current time in the current intersection n, if the initial vehicle p1 stopping times is 0, then step S401 is entered; otherwise, step S402 is entered.

[0121] S400: Determine the vehicle stopping times in the current intersection according to the latest vehicle determined from the initial vehicle and the signal cycle release phase time of the intersection.

[0122] Specifically, the latest vehicle here refers to the vehicle with the latest detection time among the vehicles with the same stopping times, which can be obtained from the intersection passing vehicle data.

[0123] As an example, the step of determining the vehicle stopping times in the current intersection further comprises:

[0124] S401: Sort the passing vehicles in the current intersection according to the passing time sequence, and select the current vehicle with stopping times of 0 in the current signal cycle q release phase time of the current intersection n as the latest vehicle p0;

[0125] When the latest vehicle p0 passes the intersection stop line at the end of the current release phase time, the stopping times of the vehicles passing the intersection stop line before the latest vehicle p0 in the current signal cycle q are determined to be 0.

[0126] Preferably, when the intersection signal cycle q release phase time does not stop passing the stop line vehicle, there is no vehicle passing the stop line before the next signal cycle (q+1) release phase time, then step S402 is entered; otherwise, the stopping times of the current vehicle p passing the stop line in the signal cycle (q+1) release phase time are all 0; in turn, until the stopping times of all vehicles at the passing time of the current intersection are determined.

[0127] S402: Select the latest vehicle with stopping times of 1 in the current signal cycle q release phase time of the current intersection n as p0, then the following inequality needs to be judged:

[0128]

[0129] wherein, ​​The checking time of the vehicle (p0+1) from the start of the road segment at intersection (n-1) to intersection n; The phase release start time of the (q+1) signal period at the detection time of the vehicle p0; The detection time of the vehicle p0 at intersection n; θ (n-1)n The non-stopping travel time difference of the vehicle from intersection (n-1) to intersection n; it needs to be determined by field investigation; The checking time of the vehicle p0 from the start of the road segment at intersection (n-1) to intersection n.

[0130] If inequality (16) is established, the number of stopping times of the vehicle passing the stop line in the release phase time of the signal period q is 1 except for the initial vehicle p0, and the number of stopping times of the vehicle passing the stop line after the non-stopping vehicle passing the stop line in the release phase time of the signal period q is 0. For the vehicle not passing the stop line before the release phase time of the signal period (q+1), step S402 can be used for judgment; otherwise, the number of stopping times of the vehicle passing the stop line in the release phase time of the signal period (q+1) is 0, and if inequality (16) is not established, step S403 is entered.

[0131] S403: Select the latest vehicle with the number of stopping times of 1 in the release phase time of the current signal period q at the current intersection n as p0, and then determine the fourth condition, that is, inequality (17):

[0132]

[0133] Wherein The checking time of the vehicle (p0+1) from the start of the road segment at intersection (n-1) to intersection n; The phase release start time of the (q+1) signal period at the detection time of the vehicle p0; The detection time of the vehicle p0 at intersection n; θ (n-1)n The non-stopping travel time difference of the vehicle from intersection (n-1) to intersection n; it needs to be determined by field investigation; The checking time of the vehicle p0 from the start of the road segment at intersection (n-1) to intersection n.

[0134] If inequality (17) is established, the number of stopping times of the vehicles p0 and (p0+1) passing the stop line in the release phase time of the signal period q is 1, then step S402 is entered to determine the number of stopping times of the vehicle passing the stop line after (p0+1) in the release phase time of the signal period q; if inequality (17) is not established, step S403 is entered to determine the number of stopping times of the vehicle passing the stop line after p0 in the release phase time of the signal period q;

[0135] S404: Select the latest vehicle with one stop in the release phase time of intersection n in the current signal cycle q as p0, if neither inequality (16) nor inequality (17) is established, then the fifth condition, i.e. inequality (18) needs to be determined:

[0136]

[0137] wherein represents the detection time of vehicle (p0+1) at intersection n; represents the detection time of vehicle p at the start of phase release in the qth signal cycle; represents the detection time of vehicle p0 at intersection n;

[0138] If inequality (18) is established, the number of stops of vehicle (p0+1) in the release phase time of signal cycle q is 0, and step S401 is entered; if inequality (18) is not established, the number of stops of vehicle (p0+1) in the release phase time of signal cycle q is 1, and step S402 is entered.

[0139] S405: Through the cyclic repetition of steps S401, S402, S403 and S404, the number of stops of vehicles is determined one by one in the order of the passing time of vehicles at intersection n, and so on, until the determination of the number of stops of vehicles at the current intersection passing time.

[0140] The present example aims at the determination of the number of stops of vehicles at intersection based on the passing data captured by electronic police equipment and the operation data of intersection signal control scheme, focuses on exploring the mathematical model of the running characteristics of dynamic traffic flow at a single vehicle at intersection and the number of stops thereof, can distinguish vehicles passing the stop line in different signal cycles, and improves the number of stops of detected vehicles.

[0141] Exemplary device

[0142] As shown in Figure 3 A vehicle intersection stop number detection device, the device comprises:

[0143] A data acquisition module 20 is configured to acquire intersection detection passing data, sort the passing vehicles in the order of the passing time of the current intersection, and acquire corresponding vehicle data in the passing data;

[0144] A stop judgment module 30 is configured to determine whether the current vehicle passes the stop line at the intersection detection time according to the passing data of the current intersection and the corresponding vehicle data in the passing data;

[0145] The start judging module 40 selects the vehicle data passing through the stop line in the historical intersection detection time of the nearest time period to the current time in the current intersection, and determines the initial vehicle of the entrance of the current intersection;

[0146] The parking calculating module 50 determines the number of vehicle parking of the current intersection according to the initial vehicle and the latest vehicle in the signal cycle q release phase time of the current intersection.

[0147] Exemplary electronic device

[0148] Below, an electronic device according to embodiments of the present application will be described with reference to Figure 4 The electronic device can be the mobile device itself, or a stand-alone device that can communicate with the mobile device to receive input signals collected therefrom and send selected target decision actions thereto.

[0149] Figure 4 Fig. 1 illustrates a block diagram of an electronic device according to embodiments of the present application.

[0150] As shown in Figure 4 The electronic device 10 includes one or more processors 11 and a memory 12.

[0151] The processor 11 can be a central processing unit (CPU) or other form of processing unit that has data processing and / or instruction execution capabilities, and can control other components in the electronic device 10 to perform desired functions.

[0152] The memory 12 can include one or more computer program products that can include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory, for example, can include random access memory (RAM), cache memory, and / or the like. The non-volatile memory, for example, can include read only memory (ROM), hard disk, flash memory, and / or the like. One or more computer program instructions can be stored on the computer-readable storage media, and the processor 11 can execute the program instructions to implement the decision behavior decision method of various embodiments of the present application described above and / or other desired functions.

[0153] In one example, the electronic device 10 can further include an input device 13 and an output device 14, which components are interconnected through a bus system and / or other forms of connection mechanisms (not shown). For example, the input device 13 can include various devices such as an on-board diagnostic system (OBD), a unified diagnostic services (UDS), an inertial measurement unit (IMU), a camera, a laser radar, a millimeter wave radar, an ultrasonic radar, a vehicle-to-everything (V2X), and the like. The input device 13 can further include, for example, a keyboard, a mouse, and the like. The output device 14 can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and the like.

[0154] Of course, in order to simplify, Figure 4 In the electronic device 10, only some of the components related to the present application are shown, and components such as buses, input / output interfaces, and the like are omitted. In addition to this, the electronic device 10 can further include any other appropriate components according to the specific application.

[0155] Exemplary computer program product and computer readable storage medium

[0156] In addition to the above-mentioned methods and devices, embodiments of the present application can also be a computer program product, which includes computer program instructions, which, when executed by a processor, cause the processor to perform the steps of the decision-making behavior decision-making method according to various embodiments of the present application described in the above "Exemplary Method" section of the present specification.

[0157] The computer program product can be written in any combination of one or more programming languages, including an object-oriented programming language such as Java, C++, and the like, and conventional procedural programming languages, such as the "C" programming language, or the like. The program code can execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.

[0158] In addition, embodiments of the present application can also be a computer readable storage medium, which stores computer program instructions, which, when executed by a processor, cause the processor to perform the steps of the decision-making behavior decision-making method according to various embodiments of the present application described in the above "Exemplary Method" section of the present specification.

[0159] The computer readable storage medium can be a combination of one or more computer readable media. The computer readable media can be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium include an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0160] The above description of the disclosed aspects is merely exemplary in nature and is not intended to limit the present disclosure, application, and uses. The description of the aspects together with the accompanying drawings are intended to explain aspects of the present disclosure and are not intended to limit the scope of the disclosure, its application, or uses. Notwithstanding the description of the aspects, the aspects are not limited to the specific aspects described, but include any and all aspects including those claimed by the inventor or inventors.

[0161] The block diagrams of the devices, apparatus, systems, and flowcharts of the present disclosure are only exemplary and are not intended to require or imply that the devices, apparatus, systems, and flowcharts are the only manner in which aspects of the present disclosure can be implemented. As will be readily appreciated, the devices, apparatus, systems, and flowcharts can be connected, arranged, and configured in any manner as will serve the conveniences and advantages of the present disclosure. The terms "comprises", "comprising", "includes", "including", "has", "having" and the like are open-ended terms that are intended to mean "including but not limited to". The phrase "and / or", as used herein, generally means "and", "or", "and or", and is used to indicate that the listed items can be used individually, in combination, or in any suitable combination. The term "or" as used herein, is used to mean "and / or", unless otherwise indicated by context. The phrase "such as", as used herein, is used to mean "such as but not limited to".

[0162] It is also noted that the devices, apparatus, and methods of the present disclosure can be implemented in various manners. These implementations are considered equivalents of the present disclosure.

[0163] The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein can be applied to other aspects without departing from the scope of the present disclosure. Thus, the present disclosure is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0164] The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of the application to the forms disclosed herein. Although various example aspects and embodiments have been discussed above, those of ordinary skill in the art will appreciate a variety of modifications, alternatives, permutations, additions, and sub-combinations, which fall within the scope of the application.

Claims

1. A method for detecting the number of times vehicles stop at an intersection, characterized in that, The method includes the following steps: Obtain vehicle passage data from the intersection detection, sort the passing vehicles according to the passage time, and extract the corresponding vehicle data from the passage data; Based on the current vehicle passage data at the intersection and the corresponding vehicle data in the vehicle passage data, determine whether the vehicle has crossed the stop line after the intersection detection time; select vehicles that have crossed the stop line or have not crossed the stop line in the current intersection from the historical time period closest to the current time to determine the initial vehicles at the current intersection approach lane; The initial vehicle refers to the calibrated vehicle whose number of stops can be determined within one signal cycle; Based on the initial vehicle and the latest vehicle determined in the signal cycle release phase time of the intersection, determine the number of times the vehicle stops at the current intersection. The latest vehicle refers to the vehicle with the latest vehicle inspection time among vehicles that have stopped the same number of times; The steps for determining the number of times vehicles stop at the current intersection also include: The vehicles are sorted according to their passing time at the current intersection, and the vehicle that stops 0 times during the current signal period q at the current intersection n is selected as the latest vehicle p0. If the latest vehicle p0 passes the intersection stop line last within the current permitted phase time, then the number of stops for vehicles that passed before the latest vehicle p0 within the current signal cycle q is determined. All are 0; Select the latest vehicle that stops once within the current signal cycle q of the current intersection n as p0; The number of times a vehicle stops after passing the stop line after vehicle p0 within the signal period q and the release phase time is determined based on the following parameters. The parameters include: This indicates the check time for vehicle (p0+1) from intersection (n-1) to the starting point of the road segment in the direction of intersection n; This indicates the start time of phase release in the (q+1)th signal cycle at the vehicle p0 detection time; θ represents the detection time of vehicle p0 at intersection n; (n-1)n This represents the difference in non-stop travel time for a vehicle from intersection (n-1) to the n-direction road segment of intersection; This indicates the check time for vehicle p0 from the intersection (n-1) to the starting point of the road segment in the direction of intersection n.

2. The method for detecting the number of stops at a vehicle intersection according to claim 1, characterized in that, The steps for obtaining the corresponding vehicle data from the vehicle data also include: Get the vehicle passing data of the current vehicle p at the current intersection at the previous intersection; Get the turning time of the current vehicle at the previous intersection, and get the start time of the path from the previous intersection to the current intersection for the current vehicle p. Calculate the travel time for this segment of the path from the previous intersection to the current intersection; The step of obtaining the turning time of the current vehicle at the previous intersection includes: S101: Vehicle passing data acquired on a turning lane of a branch of an approach road within the current intersection n, and the passing vehicles are sorted according to the order of their passing times. S102. Extract the vehicle passage data of the current vehicle p obtained by the electronic police in the current intersection n within the previous intersection (n-1), and combine it with the turning path of the current vehicle p in the lane in the previous intersection (n-1), referring to formula (1), to obtain the average length of the turning path. and average speed Calculate the turning time of vehicle p within the intersection (n-1).

3. The method for detecting the number of times a vehicle stops at an intersection according to claim 1, characterized in that, The steps for determining whether a vehicle has crossed the stop line after the intersection detection time also include: Based on the detection time of the current vehicle p at the current intersection n and the start and end times of the phase release in the signal cycle corresponding to the detection time of the current vehicle p, determine whether the current vehicle has passed the stop line after the detection time at the intersection. when Established, based on the difference between the detection time of the current vehicle p at the previous intersection and the current intersection; determine whether the current vehicle p is a vehicle passing data of an incomplete road segment path, and determine whether the vehicle of the incomplete road segment path can be used as the initial vehicle; in, This indicates the end time of phase release in the q-th signal cycle at the current vehicle p detection time; This indicates the detection time of vehicle p at intersection n.

4. The method for detecting the number of stops at a vehicle intersection according to claim 3, characterized in that, The steps for determining whether a vehicle has passed the stop line at the intersection detection time also include: Extract the time when a vehicle (p+1) arriving at the current intersection n passes through the previous intersection (n-1); When satisfied This indicates the end time of phase release in the q-th signal cycle at the current vehicle p detection time; This indicates the detection time of vehicle (p+1) at intersection (n-1); Extract vehicles s within the current intersection n that have the same ending point of the turning path of the current vehicle p and are adjacent to the current vehicle p at the detection time in the same turning lane at the next intersection (n+1); Calculate the travel time difference between adjacent vehicle s and current vehicle p from the current intersection n to the next intersection (n+1); If the first condition is true, then the current vehicle p has passed the stop line; otherwise, the current vehicle p has not passed the stop line. in, This indicates the end time of phase release in the q-th signal cycle at the current vehicle p detection time; This indicates the detection time of vehicle p at intersection (n+1); This indicates the initial starting time of vehicle p on the road segment from intersection (n+1) to intersection (n+2); This indicates the detection time of vehicle s at intersection (n+1); θ represents the initial starting time of vehicle s on the road segment from intersection (n+1) to intersection (n+2); n(n+1) This represents the difference in non-stop travel time for a vehicle from intersection n to the section of road in the direction of intersection (n+1); This indicates the detection time of vehicle s at the current intersection n; This indicates the start time of phase release in the q-th signal cycle of the current vehicle p detection time.

5. The method for detecting the number of times a vehicle stops at an intersection according to claim 1, characterized in that, The steps to determine the initial vehicles at the current intersection approach lane include: Select the vehicle data that passes through the stop line immediately after the detection time of the historical intersection within the current intersection n, when the vehicles in that time period meet the second condition; Then, determine that the current vehicle p stops once on the road segment from the previous intersection (n-1) to the current intersection n and then passes through the stop line of intersection n, and set it as the initial vehicle; And / or select the vehicle passing data of vehicles that immediately pass through the stop line after the intersection detection time in the historical time period closest to the current time within the intersection n, when the vehicles in that time period meet the third condition; Then, determine that the current vehicle p passes through the stop line of intersection n without stopping from the previous intersection (n-1) to the n-direction road segment, and set it as the initial vehicle; The second condition is: In the formula: This indicates the start time of phase release in the q-th signal cycle at the current vehicle p detection time; This indicates the start time of phase release in the (q+1)th signal cycle of the current vehicle p detection time; This indicates the end time of phase release in the q-th signal cycle at the current vehicle p detection time; This indicates the detection time of vehicle (p-1) at intersection n; This indicates the detection time of vehicle p at the current intersection n; Third condition: in, This indicates the check time for vehicle (p0+1) from intersection (n-1) to the starting point of the road segment in direction n; This indicates the start time of phase release in the (q+1)th signal cycle at the vehicle p0 detection time; θ represents the detection time of vehicle p0 at intersection n; (n-1)n This represents the difference in non-stop travel time for a vehicle from intersection (n-1) to the n-direction road segment; This indicates the verification time for vehicle p0 from the intersection (n-1) to the starting point of the road segment in the n direction; p0 represents the latest vehicle, which is selected as the latest vehicle by selecting the current vehicle that stops 0 times during the current signal cycle q of the current intersection n.

6. The method for detecting the number of stops at a vehicle intersection according to claim 1, characterized in that, The steps to determine the number of times vehicles will stop at the current intersection include: The vehicles are sorted according to their passing time at the current intersection, and the vehicle that stops 0 times during the current signal period q at the current intersection n is selected as the latest vehicle p0. If the latest vehicle p0 passes the intersection stop line last within the current permitted phase time, then the number of stops for vehicles that passed before the latest vehicle p0 within the current signal cycle q is determined. All are 0; p0 represents the latest vehicle. The latest vehicle is the one that stops 0 times during the current signal period q of the current intersection n.

7. A device for detecting the number of times a vehicle stops at an intersection, characterized in that, The device includes the following: The data acquisition module is used to acquire vehicle passage data detected at the intersection, sort the passing vehicles according to the current passage time order of the intersection, and acquire the corresponding vehicle data in the passing data. The parking judgment module is used to determine whether the current vehicle has passed the stop line at the intersection detection time based on the current vehicle passing data at the intersection and the corresponding vehicle data in the vehicle passing data. The initial judgment module selects the vehicle data that passed the stop line from the historical time period of the intersection that is closest to the current time in the current intersection to determine the initial vehicles at the approach lane of the current intersection; The initial vehicle refers to the calibrated vehicle whose number of stops can be determined within one signal cycle; The parking calculation module determines the number of times vehicles will stop at the current intersection based on the initial number of vehicles and the latest vehicle determined in the signal cycle q of the current intersection. The latest vehicle refers to the vehicle with the latest vehicle inspection time among vehicles that have stopped the same number of times; The steps for determining the number of times vehicles stop at the current intersection also include: The vehicles are sorted according to their passing time at the current intersection, and the vehicle that stops 0 times during the current signal period q at the current intersection n is selected as the latest vehicle p0. If the latest vehicle p0 passes the intersection stop line last within the current permitted phase time, then the number of stops for vehicles that passed before the latest vehicle p0 within the current signal cycle q is determined. All are 0; Select the latest vehicle that stops once within the current signal cycle q of the current intersection n as p0; The number of times a vehicle stops after passing the stop line after vehicle p0 within the signal period q and the release phase time is determined based on the following parameters. The parameters include: This indicates the check time for vehicle (p0+1) from intersection (n-1) to the starting point of the road segment in the direction of intersection n; This indicates the start time of phase release in the (q+1)th signal cycle at the vehicle p0 detection time; θ represents the detection time of vehicle p0 at intersection n; (n-1)n This represents the difference in non-stop travel time for a vehicle from intersection (n-1) to the n-direction road segment of intersection; This indicates the check time for vehicle p0 from the intersection (n-1) to the starting point of the road segment in the direction of intersection n.

8. An electronic device, characterized in that, The system includes a processor, an input device, an output device, and a memory, which are connected in sequence. The memory is used to store a computer program, which includes program instructions. The processor is configured to invoke the program instructions to execute the method as described in any one of claims 1-6.

9. A readable storage medium, characterized in that, The storage medium stores a computer program, the computer program including program instructions that, when executed by a processor, cause the processor to perform the method as described in any one of claims 1-6.

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