A simulation method, device and platform for traffic signal timing strategy

Abstract

The embodiment of the specification discloses a kind of traffic signal timing strategy simulation method, device and platform.The scheme can include: obtaining the actual traffic information of the preset area collected by information collection equipment;Obtain the high-precision map information of the preset area;According to the actual traffic information, the high-precision map information is corrected, and the corrected high-precision map information is obtained;The traffic infrastructure in the corrected high-precision map information is consistent with actual scene;The corrected high-precision map information is simulated, and the simulation scene consistent with the actual traffic information is obtained;Simulate the preset traffic signal timing strategy in the simulation scene, and obtain the simulation result of the preset traffic signal timing strategy in the preset area.

Description

Technical Field

[0001] This application relates to the field of traffic planning technology, and in particular to a simulation method, device and platform for traffic signal timing strategy. Background Technology

[0002] With the acceleration of urbanization and the increase in per capita car ownership, urban traffic is becoming increasingly congested, and traffic congestion and accidents on urban road networks are becoming more and more prominent. Currently, my country's roads mainly use traffic signal timing strategies based on traditional traffic rules and fixed configurations. However, the formulation and modification of these strategies have significant lags and cannot quickly respond to changes in traffic. Therefore, a simulation system is used to simulate traffic conditions under different circumstances, assisting in the formulation of traffic signal timing strategies.

[0003] In reality, intersections vary in shape, and there are subtle differences in lane distribution and direction. However, when using simulation systems for simulation, they cannot set and display the specific shapes of traffic facilities or the subtle differences in lane distribution and direction. They merely represent road networks, vehicles, traffic lights, etc., with some simple two-dimensional graphics. This makes the simulation environment significantly different from the real traffic environment. Based on this, traffic managers find it difficult to observe the expected effects of traffic signal timing strategies in actual traffic operations. Summary of the Invention

[0004] This specification provides a simulation method, apparatus, and platform for traffic signal timing strategies to address the problem that existing simulation methods for traffic signal timing strategies suffer from inconsistencies between the simulation environment and the actual environment, making it difficult for traffic managers to observe the expected effects achieved by using the traffic signal strategy in actual traffic operations.

[0005] To solve the above-mentioned technical problems, the embodiments in this specification are implemented as follows:

[0006] This specification provides a simulation method for a traffic signal timing strategy, characterized in that it may include:

[0007] Acquire actual traffic information of a preset area collected by information collection equipment;

[0008] Obtain high-precision map information of the preset area;

[0009] The high-precision map information is corrected based on the actual traffic information to obtain corrected high-precision map information; the traffic infrastructure in the corrected map information is consistent with the actual scene.

[0010] The corrected high-precision map information is simulated to obtain a simulation scenario that is consistent with the actual traffic information.

[0011] The preset traffic signal timing strategy is simulated in the simulation scenario to obtain the simulation results of the preset traffic signal timing strategy in the preset area.

[0012] This specification provides an embodiment of a traffic signal timing strategy simulation device, characterized in that it may include:

[0013] The information acquisition module is used to acquire actual traffic information of a preset area collected by the information collection device;

[0014] Obtain high-precision map information of the preset area;

[0015] The processing module is used to correct the high-precision map information based on the actual traffic information to obtain corrected high-precision map information; the traffic infrastructure in the corrected high-precision map information is consistent with the actual scene.

[0016] The simulation module is used to simulate the corrected high-precision map information to obtain a simulation scene that is consistent with the actual traffic information.

[0017] The preset traffic signal timing strategy is simulated in the simulation scenario to obtain the simulation results of the preset traffic signal timing strategy in the preset area.

[0018] This specification provides a simulation platform for a traffic signal timing strategy, characterized in that it may include:

[0019] The simulation platform includes a simulation system, a digital conversion system, and a digital twin system;

[0020] The simulation system acquires actual traffic information of a preset area collected by the information acquisition device;

[0021] Obtain high-precision map information of the preset area;

[0022] The high-precision map information is corrected based on the actual traffic information to obtain corrected high-precision map information; the traffic infrastructure in the corrected map information is consistent with the actual scene.

[0023] The digital conversion system performs data conversion based on the acquired corrected high-precision map information to obtain converted data information;

[0024] The digital twin system performs simulation based on the acquired transformed data information to obtain a simulation scenario consistent with the actual traffic information;

[0025] The digital twin system is used to simulate a preset traffic signal timing strategy in the simulation scenario and obtain the simulation results of the preset traffic signal timing strategy in the preset area.

[0026] At least one embodiment in this specification can achieve the following beneficial effects: It acquires actual traffic information of a preset area collected by an information acquisition device; acquires high-precision map information of the preset area; corrects the high-precision map information based on the actual traffic information to obtain corrected high-precision map information; the traffic infrastructure conditions in the corrected high-precision map information are consistent with the actual scene; it simulates the corrected high-precision map information to obtain a simulation scene consistent with the actual traffic information; and it simulates a preset traffic signal timing strategy in the simulation scene to obtain the simulation results of the preset traffic signal timing strategy in the preset area. This makes the simulation environment consistent with the actual traffic environment, facilitating traffic managers to observe the expected effects achieved by using the traffic signal timing strategy in actual traffic, and also enabling the simulation platform to be better used to assist in the formulation of traffic signal timing strategies. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments or prior art of this specification, the drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of the overall scheme flow of a simulation method for a traffic signal timing strategy provided in the embodiments of this specification;

[0029] Figure 2 This is a flowchart illustrating a simulation method for a traffic signal timing strategy provided in the embodiments of this specification;

[0030] Figure 3 This is a schematic diagram illustrating the correspondence between actual lanes and traffic lights provided in the embodiments of this specification;

[0031] Figure 4 This is a schematic diagram illustrating the correspondence between lanes and traffic lights in a simulation system provided in the embodiments of this specification;

[0032] Figure 5 This is a schematic diagram of a practical traffic signal timing strategy provided in the embodiments of this specification;

[0033] Figure 6This is a schematic diagram of a traffic signal timing strategy for a simulation system provided in the embodiments of this specification;

[0034] Figure 7 This is a schematic diagram of the analysis result after phase analysis of a simulation system provided in the embodiments of this specification;

[0035] Figure 8 A schematic flowchart of a simulation device for a traffic signal timing strategy provided in the embodiments of this specification;

[0036] Figure 9 This is a schematic diagram of the structure of a simulation platform for a traffic signal timing strategy provided in the embodiments of this specification. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of one or more embodiments of this specification clearer, the technical solutions of one or more embodiments of this specification will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this specification, and not all of them. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of one or more embodiments of this specification.

[0038] The technical solutions provided in the various embodiments of this specification are described in detail below with reference to the accompanying drawings.

[0039] In existing technologies, simulation systems are used for traffic simulation to model traffic conditions under different circumstances, assisting in the formulation of traffic signal timing strategies. However, real-world intersections vary in shape, and lane distribution and direction have subtle differences. When using simulation systems, the specific shapes of traffic facilities and the subtle differences in lane distribution and direction cannot be set and displayed. They merely represent road networks, vehicles, and traffic lights with simple two-dimensional graphics, resulting in a significant difference between the simulated environment and the real traffic environment. Therefore, traffic managers find it difficult to observe the expected effects of traffic signal timing strategies developed based on this simulation in actual traffic operations.

[0040] To address the shortcomings of existing technologies, this solution provides the following embodiments:

[0041] Figure 1 This is a schematic diagram illustrating the overall process flow of a simulation method for a traffic signal timing strategy as described in this specification. Figure 1As shown, the scheme mainly includes: actual traffic environment 1, server 2, and simulation environment 3. In practical applications, server 2 acquires the actual traffic environment 1 based on roadside sensing devices. Server 2 then transforms the acquired actual traffic environment 1 into a simulation environment 3 that is consistent with the actual traffic environment. This allows the traffic signal timing strategy to operate in the simulation environment 3, which is consistent with the actual traffic environment. This enables traffic managers to intuitively observe whether the expected effect achieved by using the traffic signal timing strategy in actual traffic has optimized traffic conditions.

[0042] Next, a simulation method for a traffic signal timing strategy provided in the embodiments of the specification will be described in detail with reference to the accompanying drawings:

[0043] Figure 2 This is a flowchart illustrating a simulation method for a traffic signal timing strategy provided in an embodiment of this specification. From a programming perspective, the entity executing the process can be a program hosted on an application server or an application client.

[0044] like Figure 2 As shown, the process may include the following steps:

[0045] Step 202: Obtain actual traffic information of the preset area collected by the information collection device.

[0046] The data acquisition equipment described in this specification may include, but is not limited to, at least one roadside sensing device selected from traffic millimeter-wave radar equipment, lidar equipment, sensor equipment, and camera equipment. The preset area can represent the area where traffic signal timing strategy simulation needs to be performed, and can be understood as the target simulation area. The actual traffic information acquired can be historically collected information or real-time collected information; no specific limitation is made here.

[0047] Step 204: Obtain high-precision map information of the preset area.

[0048] The high-precision map information in the embodiments of this specification may include, but is not limited to, lane models, road components, and road attributes. The lane model may include information such as the number of lanes, lane type, lane width, and lane geometry, as well as the type and color of lane markings, speed limits and recommended speeds for each lane, and the width and material of median strips. Road components may include various signage information, such as traffic lights, signs, tunnels, and toll booths, and may also include arrow information, text content, absolute physical coordinates (location information), physical dimensions, and their characteristic features. Road attributes may include information such as highways, national highways, ramps, slope, curvature, heading, elevation, and side slope, and may also include specific road shape information. The high-precision map may be at least one of the following: 4D high-precision map, Gaode high-precision map, Baidu high-precision map, and KLD high-precision map.

[0049] Step 206: Correct the high-precision map information according to the actual traffic information to obtain corrected high-precision map information; the traffic infrastructure in the corrected high-precision map information is consistent with the actual scene.

[0050] The traffic infrastructure in the embodiments of this specification can refer to traffic lights, signs, sidewalks, lane directions, etc. In practical applications, some traffic infrastructure information in high-precision map information may be missing or inaccurate. The missing information in the high-precision map can be supplemented and calibrated based on the actual traffic information collected, and the inaccurate information can be corrected so that the traffic infrastructure in the high-precision map information can be consistent with the location, shape, and nature of the traffic infrastructure in the actual scene.

[0051] Step 208: Simulate the corrected high-precision map information to obtain a simulation scene consistent with the actual traffic information.

[0052] This specification describes an example where the Simulation of Urban Mobility (SUMO) system is used to simulate corrected high-precision map information. SUMO is a free, open-source traffic system simulation software that enables micro-control of traffic flow, allowing for individual planning of the route for each vehicle on a road. Using SUMO for simulation requires writing a road network file, a traffic flow information file, and a simulation configuration file. The road network file can be generated using SUMO's built-in road network editor or converted from the corrected high-precision map. The traffic flow information file defines the vehicle's departure time and its route within the road network file. The simulation configuration file specifies the road network file and traffic flow information file used in the simulation.

[0053] In practical applications, the corrected high-precision map information is imported into the simulation system to generate road network information. The simulation system then sets vehicle-related information based on the traffic flow information file. After the simulation system is configured, the simulation data is sent to the digital conversion system. The digital conversion system transforms the data into data consistent with the actual traffic environment and transmits it to the digital twin system, ensuring that the simulation scene displayed by the digital twin system matches the actual traffic scene.

[0054] Step 210: Simulate the preset traffic signal timing strategy in the simulation scenario to obtain the simulation results of the preset traffic signal timing strategy in the preset area.

[0055] The preset traffic signal timing strategy in the embodiments of this specification can be a traffic signal timing strategy to be implemented or a traffic signal timing strategy that is currently being implemented. The digital twin system simulates the preset traffic signal timing strategy based on the data converted by the digital conversion system. The simulation scenario of the digital twin system is consistent with the real traffic scenario, which makes it convenient for traffic managers to view the simulation results of the traffic signal timing strategy in the target simulation area, thereby judging the merits of the traffic signal timing strategy. For example, when simulating peak hours, if the simulation results show that vehicles are congested, moving slowly or even unable to move, the traffic manager can determine that the preset traffic signal timing strategy has poor performance and is not an optimization of the currently implemented traffic signal timing, and can be redesigned. If the simulation results show that vehicles flow smoothly and there is no congestion, the traffic manager can determine that the preset traffic signal timing strategy has good performance and can be considered an optimization of the existing traffic signal timing strategy, and can be implemented in real traffic. The simulation results are based on actual simulation scenarios. When considering the advantages and disadvantages of traffic signal timing strategies, other factors, such as pedestrian flow, can also be taken into account.

[0056] It should be understood that the order of some steps in the methods described in one or more embodiments of this specification may be interchanged according to actual needs, or some steps may be omitted or deleted.

[0057] Figure 2The method involves acquiring actual traffic information of a preset area collected by an information acquisition device; acquiring high-precision map information of the preset area; correcting the high-precision map information based on the actual traffic information to obtain corrected high-precision map information; ensuring that the traffic infrastructure in the corrected high-precision map information matches the actual scene; simulating the corrected high-precision map information to obtain a simulation scene consistent with the actual traffic information; and simulating a preset traffic signal timing strategy in the simulation scene to obtain the simulation results of the preset traffic signal timing strategy in the preset area. This ensures that the simulation environment matches the actual traffic environment, facilitating traffic managers to observe the expected effects of using the traffic signal timing strategy in actual traffic, and enabling the simulation platform to be better used to assist in the formulation of traffic signal timing strategies.

[0058] based on Figure 2 In addition to the method described herein, this specification also provides some specific implementation methods of this method, which will be described below.

[0059] Optionally, the actual traffic information described in the embodiments of this specification may specifically include at least one of the following in the actual scenario: road information, road segment length information, number of lanes information, lane width information, lane direction information, intersection information, traffic light location information, number of traffic lights information, traffic flow information, vehicle type ratio information, and day-night ratio information.

[0060] The day-night ratio information in the embodiments of this specification can include daytime traffic volume and nighttime traffic volume. Daytime traffic volume can refer to the average hourly traffic volume during the period from 6:00 to 22:00; nighttime traffic volume can refer to the average hourly traffic volume during the period from 22:00 to 6:00. Vehicle types can be classified according to the vehicles in actual traffic, such as buses, taxis, water trucks, trucks, cars, and trams. Vehicle types can also be classified according to at least one factor such as vehicle length, vehicle load capacity, and vehicle passenger capacity. No specific limitations are imposed here; users can classify vehicle types according to their own preferences.

[0061] To ensure that the simulated scenario matches the actual traffic scenario, the embodiments of this specification describe simulating the corrected high-precision map information to obtain a simulated scenario consistent with the actual traffic information. Specifically, this may include:

[0062] Based on the actual traffic information, simulation parameters are determined; the simulation parameters may include at least one of parameters representing traffic flow, number of vehicles, and vehicle trajectory; based on the simulation parameters and the corrected high-precision map information, a simulation scene containing dynamic information is obtained.

[0063] In the embodiments of this specification, dynamic information can refer to information such as the vehicle's operating status, driving trajectory, and speed. The corrected high-precision map information can be understood as static information, such as road network information, number of lanes, lane direction, traffic light positions, and the positions of some signs—information about fixed locations.

[0064] In practical applications, after importing the corrected high-precision map information into the simulation system, it is also necessary to set vehicle-related information such as traffic flow, number of vehicles, and vehicle driving trajectory so that the final simulation scene is a dynamic simulation scene rather than a fixed static simulation scene.

[0065] Different parameters will be set for different scenarios. The simulation scenarios described in the embodiments of this specification may include simulation scenarios for peak traffic hours and simulation scenarios for smooth traffic hours.

[0066] When simulating peak traffic hours, the parameter representing traffic flow in the simulation parameters is greater than or equal to the peak actual traffic flow corresponding to the actual traffic information.

[0067] When simulating traffic during periods of stable traffic, the parameter representing traffic flow in the simulation parameters is equal to the actual average traffic flow corresponding to the actual traffic information.

[0068] In this embodiment, a peak traffic flow is set based on historically collected traffic flow data. This peak flow can be greater than or equal to the highest traffic flow value in the historical data. This allows the simulation platform to verify the simulation results of the traffic signal timing strategy during peak traffic hours, facilitating the observation of whether the strategy is applicable. Conversely, when simulating during stable periods, the average traffic flow value is selected to verify the traffic signal timing strategy. Stable periods can be understood as non-peak traffic hours, i.e., periods with relatively low traffic flow. Peak periods can be understood as periods of high traffic congestion and relatively high traffic flow.

[0069] Adjusting some data in the simulation system based on actual traffic scenarios, as described in the embodiments of this specification, involves simulating the corrected high-precision map information to obtain a simulation scenario consistent with the actual traffic information. Specifically, this may include:

[0070] The corrected high-precision map information may include at least one traffic light that corresponds to multiple lanes or one multi-functional lane.

[0071] A traffic light can be split into multiple lanes or multi-functional lanes to obtain the split lanes; one of the split lanes represents a single-function lane.

[0072] Each lane in the split lane is configured with a corresponding traffic light to obtain a simulation scenario in which one traffic light corresponds to one lane with a single function.

[0073] In the embodiments of this specification, when there may be differences between the actual traffic information and the information in the simulation system, the simulation system can be split and adjusted according to the lane information in the actual traffic information, so that one lane in the simulation system represents a single-function lane, and then a traffic light is configured for each lane in the simulation system, so that each lane has a corresponding traffic light. Figure 3 This is a schematic diagram illustrating the correspondence between actual lanes and traffic lights provided in the embodiments of this specification. If the actual lane and traffic light situation is as follows... Figure 3 As shown, the simulation system cannot have multiple roads corresponding to a single traffic light, nor can it allow a single lane to have multiple functions (e.g., left turn and U-turn sharing a lane). The simulation system will process the imported lane information accordingly, ensuring that one lane corresponds to one driving route and one traffic light corresponds to one lane. Figure 4 This is a schematic diagram illustrating the correspondence between lanes and traffic lights in a simulation system provided in this embodiment of the specification. The lane and traffic light configurations after adjustment by the simulation system are as follows. Figure 4 As shown. It should be understood that this is just a simplified illustration, and the specific configuration needs to be tailored to the actual target simulation area.

[0074] Before simulating the preset traffic signal timing strategy in the simulation scenario as described in the embodiments of this specification, it may further include:

[0075] The preset traffic signal timing strategy may include timing in at least one phase direction;

[0076] If the phase direction corresponds to multiple signal lights in the simulation system, then establish a correspondence between the multiple signal lights in the simulation system and the phase direction;

[0077] Simulation is performed based on the correspondence to obtain the first simulation result; the first simulation result indicates that the timing of the multiple traffic lights is consistent with the timing of the corresponding phase direction.

[0078] The phase direction described in the embodiments of this specification can represent directions with the same phase within the same time period. Phase can be understood as the phase of a traffic light at a signalized intersection, where each control state (right of way) corresponds to a combination of different light colors displayed for different directions of various approach lanes. The simulation system cannot directly identify and configure the timing strategy. Instead, the digital conversion system can establish a correspondence between the traffic lights in the simulation system and the phase directions in the timing strategy. Based on this correspondence, the timing strategy is broken down to obtain the timing data for each traffic light in the simulation system. This allows the simulation system to output corresponding simulation data based on the timing strategy, facilitating the final simulation result to reflect the effect of using the corresponding timing strategy and improving the accuracy of the simulation. Figure 5 This is a schematic diagram of a practical traffic signal timing strategy provided in the embodiments of this specification; if the actual timing strategy can be as follows... Figure 5 As shown, the digital conversion system needs to establish a correspondence between the phase direction and the traffic lights in the simulation system based on the timing strategy, thereby obtaining the timing strategy for the traffic lights corresponding to each lane in the simulation system. This allows the simulation system to set or adjust the timing of each traffic light accordingly. For example, based on the specific timing in the timing strategy, the duration of all traffic lights controlling eastbound and westbound traffic in the simulation system can be configured as 60s green, 3s yellow, and 60s red, respectively, according to the timing strategy for the eastbound and westbound phase directions. Other phase directions can be timed according to this method, and then the timing sequence of each traffic light can be adjusted based on the actual situation. For example, when all traffic lights controlling eastbound and westbound traffic are configured as 60s green, the traffic lights for other phase directions in the simulation system can be configured as 60s red during the same time period. Simulation is then performed in the simulation system to obtain the first simulation result. It should be understood that this embodiment is only a simple example; the actual settings also need to consider the corresponding timing strategy and the influence of vehicle travel direction. For example, the phase direction for east-west straight travel can include east-west right turns, and the phase direction for north-south straight travel can include north-south right turns; or there can be a fifth phase direction indicating east-west right turns and a sixth phase direction indicating north-south right turns; or the traffic lights for north-south right turns and east-west right turns can be configured to always allow passage with the corresponding light colors.

[0079] To ensure the final simulation scenario matches the actual traffic scenario, the traffic lights in the simulation system need to be integrated. In the embodiments of this specification, the simulation results are generated in a digital twin system, where the traffic lights are identical to those in reality. The simulation of a preset traffic signal timing strategy in the simulation scenario, obtaining the simulation results of the preset traffic signal timing strategy in the preset area, can specifically include:

[0080] If one twin traffic light in the simulation result generated by the digital twin system corresponds to multiple traffic lights in the simulation system, then the digital conversion system obtains the timing information of each traffic light in the traffic signal timing strategy of the simulation system.

[0081] Determine the correspondence between each traffic light in the simulation system and the twin traffic lights;

[0082] Based on the correspondence and the timing information, the timing information of multiple traffic lights in the simulation system is fused to obtain fused traffic light timing information; the fused traffic light timing information represents the timing information of the twin traffic light.

[0083] In practical applications, digital twin systems cannot directly adjust to traffic instructions or traffic signal timing strategies. Therefore, it is necessary to acquire data from the digital conversion system after converting the traffic signal timing strategy of the simulation system, and then perform simulation demonstrations based on this converted data. Since all lanes and traffic light phases in the simulation system are managed uniformly, it is necessary to analyze the traffic light phases. The analyzed phases are then used to reconstruct the phase situation in the actual traffic scenario. Figure 6 This is a schematic diagram of a traffic signal timing strategy for a simulation system provided in the embodiments of this specification; taking a certain intersection as an example, the timing strategy of the simulation system is as follows. Figure 6 As shown, Figure 6 The 12 letters in the code represent the light colors for the 12 lane directions, but this doesn't provide a direct visual understanding of the phase information for each lane direction. Therefore, the digital conversion system, based on the simulation results from the simulation system, adjusts the... Figure 6 The phase in the timing strategy is analyzed. Figure 7 This is a schematic diagram of the analytical result after phase analysis of a simulation system provided in the embodiments of this specification; the result is as follows: Figure 7 The analysis results shown provide the phase information for each lane, allowing for a clear understanding of the phase information corresponding to each lane. It should be understood that this is only a simplified illustration; specific details can be analyzed based on simulation data from the simulation system. Figure 6 Cases 1, 2, and 3 refer to the timing of the 12 lanes in three time periods.

[0084] After analyzing the phase of the traffic lights, the digital conversion system merges the traffic lights corresponding to the lanes in the simulation system based on the number of traffic lights for each lane in the actual traffic information, resulting in a traffic light twin that matches the real-world scenario. Simultaneously, the timing of the merged traffic lights is also merged to obtain the timing of the corresponding twin traffic light. For example, in actual traffic, there might be two eastbound straight lanes corresponding to one traffic light. The digital conversion system merges the two traffic lights corresponding to the two lanes in the simulation system into one, and merges the timing of the two traffic lights to obtain the actual timing of one traffic light. During timing merging, if the timings of the two traffic lights are the same, the merged timing will be the same as the timings of both traffic lights. If the timings of the two traffic lights are different, the merged timing can be matched with the timing of the traffic light with the longer permitted passage time. If there are differences in the timing of the merged traffic lights, the specific settings can be adjusted according to the actual situation. This is just an illustrative example and not a specific limitation.

[0085] To conform to real-world scenarios, the timing of all traffic lights also needs to be processed. Before simulating the preset traffic signal timing strategy in the simulation scenario as described in the embodiments of this specification, the following may also be included:

[0086] Obtain the simulation system timing strategy that meets the simulation requirements of the simulation system, generated based on the preset traffic signal timing strategy in the simulation system;

[0087] Based on the timing strategy of the simulation system, the first state of the traffic light corresponding to a phase in the simulation system is determined; the first state may include the color and first duration of the traffic light.

[0088] Determine the second state of the signal light corresponding to the phase in the simulation system; the second state may include the color and duration of the signal light.

[0089] Determine whether the color of the signal light is the same in the first state and the second state;

[0090] If so, the first and second states of the traffic light are merged to obtain a merged state for display in the digital twin system; the fusion duration of the merged state is the sum of the first duration and the second duration; the color of the merged state is the color.

[0091] The signal timing in the embodiments of this specification may consider the overall duration of stopping and the duration of continued driving. However, in the simulation system, because all phases of all lanes are managed uniformly, the timing of all signal lights in the simulation system is uniformly timed when configuring signal durations. (Refer to...) Figure 6 As shown. Figure 6The horizontal axis represents the timing of traffic lights for a given period across all phases. In the "light color" column, each position in the vertical column represents a phase. Regarding phases, it can be understood that going straight from east to west is one phase, turning left from east to west is another phase, making a U-turn from east to west is yet another phase, and so on. This allows us to obtain the state of the traffic lights corresponding to each phase in the simulation system. It can be understood that when the light color of a traffic light corresponding to at least one phase in the simulation system changes, the light colors and durations of all traffic lights corresponding to all phases in the simulation system before the change are in the first state, and the light colors and durations of all traffic lights corresponding to all phases in the simulation system after the change are in the second state.

[0092] In the embodiments of this specification, the digital conversion system processes the traffic lights by determining whether the colors of the traffic lights corresponding to each phase in the simulation system are the same in the first state and the second state. The digital conversion system merges the first and second durations of the traffic lights of the same phase whose colors are the same in the first and second states, and uses the merged duration as the duration for which the corresponding traffic light in the digital twin system maintains this color. For example, if there are 6 phases of traffic lights in the simulation system, their timing may be 3 seconds in the rryyrr state, which can be used as the first state. When the color of at least one of the traffic lights in the phase changes, all traffic lights need to be re-tied. For example, when the color of the traffic light is rrrrgg, the timing of the traffic light is re-tied to 60 seconds, resulting in the second state. In the case of two traffic lights corresponding to the first and second phases, both states have the color red (r). The first and second durations of these two traffic lights can be added together to obtain the duration of the red light state of the two traffic lights, so that the traffic light timing can conform to the actual traffic light timing situation. It should be understood that this is only a simplified illustration, and the specific situation needs to be integrated based on the simulation system data and the real traffic environment. Since the simulation system does not have a countdown function, the need to configure a countdown can be selected based on the actual traffic scenario. If the traffic lights in the actual scenario have a countdown, the digital conversion system can add a countdown function to the traffic lights after the same state duration is integrated, so that the simulation scenario displayed by the digital twin system is consistent with the actual traffic scenario.

[0093] The above method can make the final simulated scenario consistent with the actual traffic scenario, allowing traffic managers to intuitively observe the expected effect of running the preset traffic signal timing strategy in the actual traffic scenario, thereby judging the merits of the preset traffic signal timing strategy and obtaining a preset traffic signal timing strategy that optimizes the existing traffic signal timing strategy.

[0094] Based on the same idea, this specification also provides a flowchart of a simulation device for traffic signal timing strategies. For example...Figure 8 As shown, the device may include:

[0095] Information acquisition module 802 is used to acquire actual traffic information of a preset area collected by information acquisition equipment;

[0096] Obtain high-precision map information of the preset area;

[0097] The processing module 804 is used to correct the high-precision map information based on the actual traffic information to obtain corrected high-precision map information; the traffic infrastructure in the corrected high-precision map information is consistent with the actual scene.

[0098] The simulation module 806 is used to simulate the corrected high-precision map information to obtain a simulation scene consistent with the actual traffic information.

[0099] The preset traffic signal timing strategy is simulated in the simulation scenario to obtain the simulation results of the preset traffic signal timing strategy in the preset area.

[0100] Based on the same idea, the embodiments of this specification also provide a simulation platform corresponding to the above method. Figure 9 The embodiments provided in this specification correspond to Figure 2 A schematic diagram of the structure of a simulation platform for a traffic signal timing strategy. (See diagram below.) Figure 9 As shown, the simulation platform may include:

[0101] The simulation platform 900 includes a simulation system 910, a digital conversion system 920, and a digital twin system 930;

[0102] The simulation system 910 is used to acquire actual traffic information of a preset area collected by the information acquisition device;

[0103] The simulation system 910 acquires actual traffic information of a preset area collected by the information collection device;

[0104] Obtain high-precision map information of the preset area;

[0105] The high-precision map information is corrected based on the actual traffic information to obtain corrected high-precision map information; the traffic infrastructure in the corrected map information is consistent with the actual scene.

[0106] The digital conversion system 920 performs data conversion based on the acquired corrected high-precision map information to obtain converted data information;

[0107] The digital twin system 930 performs simulation based on the acquired transformed data information to obtain a simulation scenario consistent with the actual traffic information;

[0108] The preset traffic signal timing strategy is simulated in the simulation scenario to obtain the simulation results of the preset traffic signal timing strategy in the preset area.

[0109] The digital twin system can receive traffic commands, but it cannot make corresponding changes based on those commands. Therefore, the digital twin system can transmit traffic commands to a digital conversion system. The digital conversion system converts the traffic commands into data that the simulation system can recognize. The simulation system then performs a simulation based on the converted traffic command data and transmits the simulation data back to the digital conversion system. The digital conversion system then performs data conversion based on the simulation data and transmits the converted data back to the digital twin system for simulation, enabling the digital twin system to make corresponding changes based on traffic commands. This decoupling of the various systems facilitates expansion and debugging, resulting in optimized performance of the entire simulation platform.

[0110] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on its differences from other embodiments. In particular, for... Figure 9 As the simulation platform shown is basically similar to the method embodiment, the description is relatively simple. For relevant details, please refer to the description of the method embodiment.

[0111] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A simulation method for traffic signal timing strategies, characterized in that, include: Acquire actual traffic information of a preset area collected by information collection equipment; Obtain high-precision map information of the preset area; The high-precision map information is corrected based on the actual traffic information to obtain corrected high-precision map information; the traffic infrastructure in the corrected map information is consistent with the actual scene. The corrected high-precision map information is simulated to obtain a simulation scenario that is consistent with the actual traffic information. The preset traffic signal timing strategy is simulated in the simulation scenario to obtain the simulation results of the preset traffic signal timing strategy in the preset area; The step of simulating the corrected high-precision map information to obtain a simulation scenario consistent with the actual traffic information specifically includes: The corrected high-precision map information includes at least one traffic light that corresponds to multiple lanes or one multi-functional lane. A traffic light can be split into multiple lanes or multi-functional lanes to obtain the split lanes; one of the split lanes represents a single-function lane. Each lane in the split lane is configured with a corresponding traffic light to obtain a simulation scenario in which one traffic light corresponds to one lane with a single function. The simulation results are generated in a digital twin system, where the traffic lights are identical to those in the actual system. The simulation of a preset traffic signal timing strategy within the simulation scenario, obtaining the simulation results of the preset traffic signal timing strategy in the preset area, specifically includes: If one twin traffic light in the simulation result generated by the digital twin system corresponds to multiple traffic lights in the simulation system, then the digital conversion system obtains the timing information of each traffic light in the traffic signal timing strategy of the simulation system. Determine the correspondence between each traffic light in the simulation system and the twin traffic lights; Based on the aforementioned correspondence and timing information, the timing information of multiple traffic lights in the simulation system is fused to obtain fused traffic light timing information. The fused traffic light timing information represents the timing information of a twin traffic light. This includes: merging two traffic lights corresponding to two lanes in the simulation system into one, and merging the timing of the two traffic lights to obtain the actual timing of a single traffic light. During timing fusion, if the timings of the two traffic lights are the same, the fused timing is the same as the timings of both traffic lights. If the timings of the two traffic lights are inconsistent, the fused timing is consistent with the timing of the traffic light with the longer permitted passage time. If there are differences in the timing of the merged traffic lights, the settings are adjusted according to the actual situation.

2. The method according to claim 1, characterized in that, The actual traffic information specifically includes at least one of the following in the actual scenario: road information, road segment length information, number of lanes information, lane width information, lane direction information, intersection information, traffic light location information, number of traffic lights information, traffic flow information, vehicle type ratio information, and day-night ratio information.

3. The method according to claim 1, characterized in that, The step of simulating the corrected high-precision map information to obtain a simulation scenario consistent with the actual traffic information specifically includes: Based on the actual traffic information, simulation parameters are determined; the simulation parameters include at least one of parameters representing traffic flow, number of vehicles, and vehicle trajectory; based on the simulation parameters and the corrected high-precision map information, a simulation scene containing dynamic information is obtained.

4. The method according to claim 3, characterized in that, The simulation scenarios include simulation scenarios for peak traffic hours and simulation scenarios for smooth traffic hours. When simulating peak traffic hours, the parameter representing traffic flow in the simulation parameters is greater than or equal to the peak actual traffic flow corresponding to the actual traffic information. When simulating traffic during periods of stable traffic, the parameter representing traffic flow in the simulation parameters is equal to the actual average traffic flow corresponding to the actual traffic information.

5. The method according to claim 1, characterized in that, Before simulating the preset traffic signal timing strategy in the simulation scenario, the method further includes: The preset traffic signal timing strategy includes timing in at least one phase direction; If the phase direction corresponds to multiple signal lights in the simulation system, then establish a correspondence between the multiple signal lights in the simulation system and the phase direction; Simulation is performed based on the correspondence to obtain the first simulation result; the first simulation result indicates that the timing of the multiple traffic lights is consistent with the timing of the corresponding phase direction.

6. The method according to claim 1, characterized in that, Before simulating the preset traffic signal timing strategy in the simulation scenario, the method further includes: Obtain the simulation system timing strategy that meets the simulation requirements of the simulation system, generated based on the preset traffic signal timing strategy in the simulation system; Based on the timing strategy of the simulation system, the first state of the traffic light corresponding to a phase in the simulation system is determined; the first state includes the color and first duration of the traffic light. Determine the second state of the signal light corresponding to the phase in the simulation system; the second state includes the color and second duration of the signal light. Determine whether the color of the signal light is the same in the first state and the second state; If so, the first and second states of the traffic light are merged to obtain a merged state for display in the digital twin system; the fusion duration of the merged state is the sum of the first duration and the second duration; the color of the merged state is the color.

7. A simulation device for traffic signal timing strategies, used to execute the method according to any one of claims 1-6, characterized in that, include: The information acquisition module is used to acquire actual traffic information of a preset area collected by the information collection device; Obtain high-precision map information of the preset area; The processing module is used to correct the high-precision map information based on the actual traffic information to obtain corrected high-precision map information; the traffic infrastructure in the corrected high-precision map information is consistent with the actual scene. The simulation module is used to simulate the corrected high-precision map information to obtain a simulation scene that is consistent with the actual traffic information. The preset traffic signal timing strategy is simulated in the simulation scenario to obtain the simulation results of the preset traffic signal timing strategy in the preset area.

8. A simulation platform for traffic signal timing strategies, used to execute the method described in any one of claims 1-6, characterized in that, include: The simulation platform includes a simulation system, a digital conversion system, and a digital twin system; The simulation system acquires actual traffic information of a preset area collected by the information acquisition device; Obtain high-precision map information of the preset area; The high-precision map information is corrected based on the actual traffic information to obtain corrected high-precision map information; the traffic infrastructure in the corrected map information is consistent with the actual scene. The digital conversion system performs data conversion based on the acquired corrected high-precision map information to obtain converted data information; The digital twin system performs simulation based on the acquired transformed data information to obtain a simulation scenario consistent with the actual traffic information; The preset traffic signal timing strategy is simulated in the simulation scenario to obtain the simulation results of the preset traffic signal timing strategy in the preset area.

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