A Bus-Priority Adaptive Signal Control Method and System

Abstract

The present application relates to a method and system for adaptive signal control of bus priority. The method includes: an on-board electronic tag device on a bus sends a bus priority request to a roadside unit device; an edge computing device obtains the perception data of the perception device and the light state phase data of the signal machine in real time, and analyzes and determines whether the current environment of the intersection supports the signal priority request, and reports the signal priority request to the roadside unit device when the signal priority request is supported; when the bus priority request and the signal priority request are received at the same time, it is determined that the bus priority request can be executed and sent to the signal machine; the signal machine automatically schedules the remaining seconds of the current traffic light according to the remaining time of the current traffic light and the remaining time of the bus expected to arrive at the intersection, so that the bus has priority to pass through the intersection. This scheme is not subject to the conflict between the request to execute the signal priority phase and the current intersection traffic phase, and the bus priority scheme is adaptively executed according to the traffic profile of the intersection.

Description

Technical Field

[0001] This application relates to the field of signal control technology, and particularly to a bus priority adaptive signal control method and system. Background Art

[0002] The bus priority adaptive signal control system is a perfection and supplement to the functions of the traffic control system based on the urban traffic control system, and is a special control form for bus vehicles. By specially considering bus information, this system makes a macroscopic or microscopic adjustment to the timing plan of the traditional urban traffic control system, which is of great significance for alleviating traffic pressure and the sustainable development of the city.

[0003] Urban signalized intersections are prone to congestion during peak periods. The previous bus priority technologies do not consider whether the on-site environment is applicable, which instead affects the passage of more vehicles in other phases at the intersection and does not truly optimize traffic. Therefore, most of the existing bus signal priority systems are mechanical, and do not judge whether it is necessary to implement the bus priority plan according to the current intersection environment. Moreover, the RFID method is used to collect bus vehicle information, and this method has the following deficiencies: the implementation of the bus priority plan may affect the travel of other traffic participants and there are potential traffic accident hazards; the amount of information collected by RFID is small; the subsequent scalability is poor and it cannot well adapt to complex intersections in multiple directions. Summary of the Invention

[0004] Based on this, the present invention provides a bus priority adaptive signal control method and system, which can solve the technical problem that the current bus priority technology does not consider whether the on-site environment is applicable, which instead affects the passage of more vehicles in other phases at the intersection and does not truly optimize traffic.

[0005] On the one hand, a bus priority adaptive signal control method is provided, and the method includes:

[0006] When the bus travels to a first distance from the intersection, the on-vehicle electronic tag device on the bus sends a bus priority request to the roadside unit device located at the intersection;

[0007] The edge computing device continuously obtains the sensing data of the sensing device and the light state phase data of the signal machine, and analyzes and judges whether the current intersection environment supports the signal priority request. When the signal priority request is supported, it reports the signal priority request to the roadside unit device;

[0008] The roadside unit device performs AND-OR judgment analysis processing on the received bus priority request and the signal priority request. When both the bus priority request and the signal priority request are received, it is judged that the bus priority request can be executed and sent to the signal machine;

[0009] The signal lamp automatically schedules the remaining seconds of the current traffic light according to the remaining time of the current traffic light and the remaining time for the bus to reach the intersection, giving priority to the bus to pass through the intersection.

[0010] Further, when a bus equipped with an on-vehicle electronic tag device passes through an intersection, the on-vehicle electronic tag device actively reports the current high-precision map positioning, the lane ID number, the vehicle identification number, the route number, and the bus priority request data to the roadside unit device at the intersection based on the built-in V2X high-precision map.

[0011] Further, when the roadside unit device performs AND / OR judgment and analysis processing on the received bus priority request and the signal priority request, it confirms the driving route of the bus according to the intersection ID number sent by the on-vehicle electronic tag device. For multiple buses driving towards different directions of the intersection at the same time, the current light state phase sequence is maintained.

[0012] Further, the sensing device includes a roadside sensing device, a radar-vision integrated machine. The sensing device accurately detects all traffic participants, the traffic flow direction, the traffic flow size, and the traffic flow queue length at the intersection through the complementarity of visual sensing and millimeter-wave radar sensing. The traffic participants include pedestrians, motor vehicles, and non-motor vehicles. The detected raw data is calculated by the edge computing device to obtain structured data.

[0013] Further, when the edge computing device obtains the sensing data of the sensing device and the light state phase data of the signal lamp in real time and analyzes and judges whether the current environment at the intersection supports the signal priority request, the edge computing device performs analysis and processing according to the sensing data and the light state phase data. If the edge computing judges that the light state phase data and the current traffic environment are in a loose state, it is judged that the signal priority request is supported; otherwise, it is judged that the signal priority request is not supported.

[0014] Further, when the roadside unit device receives both the bus priority request and the signal priority request at the same time, and judges that the bus priority request can be executed and sends it to the signal lamp, it includes:

[0015] When the roadside unit device receives the signal priority request from the edge computing device, it selects the time stamp of the edge computing device closest to the time stamp of the on-vehicle electronic tag device according to the latest time stamp of the request sent by the on-vehicle electronic tag device for confirmation and comparison. If both are the bus priority request and the signal priority request, the roadside unit device sends a request to release the phase to the signal lamp. If the request to release the phase is not the next one in the current running phase sequence, the signal lamp reports a green conflict to the roadside unit device, and the signal lamp lists the released phase in the pending execution state.

[0016] Further, the signal machine automatically schedules the remaining seconds of the current traffic light according to the remaining time of the current traffic light and the remaining time for the bus to reach the intersection, giving priority to the bus to pass through the intersection, including:

[0017] The signal machine at the current intersection executes the nth sequence phase, where n is a positive integer. If the bus priority request is to execute the (n + 2)th phase, the signal machine receives the execution phase and lists it in the pending execution state. The edge computing device processes the length of the traffic flow in the (n + 1)th phase sensed by algorithm. If the edge computing device evaluates that the traffic flow volume and the passing time of the traffic flow length through the intersection can be reduced, the edge computing device reports to the roadside unit device that the execution signal passing duration of the (n + 1)th phase is reduced, so as to reduce the waiting time of the bus for passing. After the bus passes, the bus priority request for the nth phase listed in the pending execution is cleared.

[0018] On the other hand, the present application also provides a bus priority adaptive signal control system for giving priority to the release of buses. The system includes a plurality of on-vehicle electronic tag devices, a plurality of roadside unit devices, an edge computing device sensing device, and a signal machine;

[0019] The on-vehicle electronic tag device is installed on the bus; when the bus travels to the first distance from the intersection, the on-vehicle electronic tag device on the bus sends a bus priority request to the roadside unit device located at the intersection;

[0020] The edge computing device real-time obtains the sensing data of the sensing device and the light state phase data of the signal machine, and analyzes and judges whether the current environment at the intersection supports the signal priority request. When the signal priority request is supported, it reports the signal priority request to the roadside unit device;

[0021] The roadside unit device performs AND-OR judgment analysis processing on the received bus priority request and the signal priority request. When both the bus priority request and the signal priority request are received, it is judged that the bus priority request can be executed and sent to the signal machine;

[0022] The signal machine automatically schedules the remaining seconds of the current traffic light according to the remaining time of the current traffic light and the remaining time for the bus to reach the intersection, giving priority to the bus to pass through the intersection.

[0023] Further, the on-vehicle electronic tag device includes:

[0024] An on-vehicle WIFI communication module, connected to the on-vehicle display terminal;

[0025] An LTE-V2X communication module, whose PC5 communication interface performs short-range wireless communication with the roadside unit device, and whose wireless network card module is used to upload the data of the on-vehicle electronic tag device to the cloud server;

[0026] On-vehicle high-precision GPS module, with a built-in V2X high-precision map, where the map data includes bus line numbers, lane IDs of intersections to be passed, and vehicle coding numbers; the high-precision GPS module is used to communicate with the roadside unit device at intersections to confirm the driving route of the bus according to the data sent by the on-vehicle electronic tag device, so as to judge the driving direction of the bus.

[0027] Furthermore, the roadside unit device includes:

[0028] Roadside WIFI communication module, used to connect to maintenance equipment;

[0029] 4G / 5G - LTE-V2X communication module, whose PC5 communication interface performs short-range wireless communication with the on-vehicle electronic tag device, and whose wireless network card module is used to communicate with the signal machine and the cloud server;

[0030] Roadside high-precision GPS module, with a built-in V2X high-precision map, and adding the coding numbers of all buses passing through the same intersection to the map, communicating with the roadside unit device at intersections to confirm the driving route of the bus according to the bus coding number and the bus line number, so as to judge the driving direction of the bus.

[0031] The above-mentioned bus priority adaptive signal control method and system can control the signal machine to automatically adjust the remaining seconds of the current traffic light according to the remaining time of the current traffic light and the remaining time for the bus to reach the intersection, so that the bus can pass through the intersection first. This solution is not affected by the conflict between the requested execution of the signal priority phase and the current intersection passing phase. Considering the on-site environmental conditions, the current intersection passing phase and the bus priority signal request phase, it adaptively executes the bus priority plan according to algorithm processing based on the intersection traffic overview. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0033] Figure 1 It is a schematic flowchart of a bus priority adaptive signal control method in an embodiment;

[0034] Figure 2 It is a structural block diagram of a bus priority adaptive signal control system in an embodiment;

[0035] Figure 3Schematic diagram of the bus priority adaptive signal control method in another embodiment;

[0036] Figure 4 Schematic diagram of the bus priority adaptive signal control method in yet another embodiment;

[0037] Figure 5 Working principle diagram of the bus priority adaptive signal control method in one embodiment. Detailed implementation manners

[0038] In order to make the objectives, technical solutions and advantages of the present application more clear and understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0039] Embodiment 1

[0040] As Figure 1 shown, in Embodiment 1 of the present application, a bus priority adaptive signal control method based on a V2X high-precision map is provided, including the following steps:

[0041] S1. When a bus equipped with an on-vehicle electronic tag device (OBU) passes through an intersection, the OBU device will actively report the current high-precision map positioning, the ID number of the lane where it is located, the vehicle identification number (OBU identification number), the line number, and the bus priority request data to the roadside unit (Road Side Unit, RSU) device at the intersection based on the built-in V2X high-precision map.

[0042] S2. The sensing devices at the intersection will sense the traffic environment such as the length of the current traffic flow at the intersection and the general situation of pedestrians crossing the zebra crossing, and upload the data to the MEC edge computing device for analysis and processing.

[0043] S3. The signal machine will actively report the current signal phase to the MEC edge computing device continuously.

[0044] S4. The edge computing device will analyze and process according to the signal machine light state phase data and the sensing device data. If the edge computing determines that the light state phase data and the current traffic environment are in a loose state, it will be determined that the signal priority request can be executed.

[0045] S5. The RSU device judges according to the request data of the OBU and the MEC. If the signal priority request is received simultaneously, a passing request will be sent to the signal machine. When the signal priority request is not received simultaneously, no passing request will be sent to the signal machine, and this operation will end.

[0046] After the signal machine receives the passing request, it will intelligently schedule the remaining seconds of the current traffic light according to the remaining time of the current traffic light and the remaining time for the bus to reach the intersection, giving priority to the bus to pass through the intersection.

[0047] The V2X high-precision map is the application of the high-precision map in V2X. Vehicle-road cooperation from the terminal side to the roadside edge side, the cloud side and then to the final application is a very complex and huge system. Generally, the role of the high-precision map in this system is defined as "building a bridge between devices and applications". It can be said that there are many aspects of V2X applications. Once it comes to very precise applications, such as lane-level applications, including lane-level behaviors or dynamic information, it is actually very difficult to connect with the final application without high-precision positioning and high-precision maps. Including in the cloud V2X server, the final decision-making brain, the edge-side server, and also on the terminal, there needs to be such a high-precision map to build a bridge between various devices, perception results and final applications. Only when the high-precision map is applied in the V2X system does this application make sense, or rather, applications that require precise positioning can really be used.

[0048] The V2X cloud control platform will provide decisions on driving safety, including decisions on traffic efficiency, as well as visual management and other information services, and send these real-time information to roadside MEC devices and edge computing platforms for vehicle-side applications including navigation and autonomous driving applications. It will also integrate a lot of dynamic information services into the V2X architecture.

[0049] It involves typical application scenarios of V2X in connected autonomous driving, including three aspects: collaborative perception, collaborative decision-making, and collaborative control. There will be different application directions for different scenarios. In open scenarios with general road conditions, there is over-the-horizon perception and blind spot perception; in terms of collaborative decision-making, there are vehicle states, road states, etc.; in terms of collaborative control, there are cooperative adaptive cruise, lane-level control, etc. It should be said that V2X is a very good supplement to single-vehicle intelligence, improving the perception ability, decision-making ability and control ability of single-vehicle intelligence, which are all better than single-vehicle intelligence.

[0050] As Figure 2 shown, in Embodiment 1 of the present application, a bus selective priority signal control system 10 based on a V2X high-precision map is provided for giving priority to the release of buses, including a plurality of on-vehicle electronic tag devices 1 (OBUs) and a plurality of signal priority intersection devices, and the on-vehicle OBU devices are installed at the bus vehicle end.

[0051] The on-vehicle electronic tag device 1 (OBU) includes: an on-vehicle WIFI communication module 11, and the 16 vehicle network application scenarios built therein are connected to the WIFI display application of the OBU through an on-vehicle display terminal; an LTE-V2X communication module 12, and the PC5 communication of this module mainly performs short-range wireless communication with roadside devices, and the Uu module uploads the data of the OBU to the cloud; an on-vehicle high-precision GPS module 13, and this module builds a V2X high-precision map, and the map data includes bus line numbers, the lane IDs of the intersections to pass through, and vehicle coding numbers. When communicating with the RSU terminal at a signalized intersection, the driving route of the bus can be confirmed according to the data sent by the OBU, and the driving direction of the bus can be correctly judged.

[0052] The signal priority intersection device includes a roadside unit device 2 (RSU), and this device includes a roadside WIFI communication module 21, which is mainly used for device maintenance; a 4G / 5G-LTE-V2X communication module 22, and the PC5 communication of this module mainly performs short-range wireless communication with the on-vehicle OBU, and the Uu module mainly performs data communication with the neurons of the intersection signal machine 5 and the cloud server; a roadside high-precision GPS module 23, and this module builds a V2X high-precision map, and the map adds the bus coding numbers (OBU device identification numbers) of all buses passing through this intersection. When communicating with the RSU terminal at a signalized intersection, the driving route of the bus can be confirmed according to the bus coding number, and the bus line number, and the driving direction of the bus can be correctly judged.

[0053] The signal priority intersection device includes a sensing device 4. The sensing device 4 preferably uses a roadside sensing device, a radar-vision integrated machine. Sensing targets such as pedestrians, motor vehicles, and non-motor vehicles at the intersection can accurately detect the target status at the intersection through the complementarity of visual sensing and millimeter-wave radar sensing, and the detected raw data is processed by MEC to obtain structured data.

[0054] The signal priority intersection device includes an edge computing device 3 (MEC), and this device has a certain algorithm processing ability for data. An edge computing device 3 with appropriate computing power can be installed according to the traffic conditions of complex intersections. After the data detected by the radar-vision integrated machine is structurally processed, it can be judged whether the intersection supports bus priority, and a bus signal priority request is sent to the RSU terminal.

[0055] The signal priority intersection device includes a signal machine 5. The signal machine 5 automatically schedules the remaining seconds of the current traffic light according to the remaining time of the current traffic light and the remaining time for the bus to reach the intersection, so that the bus can pass through the intersection preferentially.

[0056] Combined with the bus selective priority signal control system 10 based on the V2X high-precision map, as Figure 3 shown, a bus priority adaptive signal control method includes the following steps:

[0057]

[0057] When a bus equipped with an in-vehicle OBU device passes through an intersection, the in-vehicle device will actively report the bus code number, intersection lane ID number, and real-time vehicle location to the signal priority intersection RSU device at the intersection, and send a bus priority request; the roadside radar-vision integrated machine can report the original data such as the traffic flow direction, traffic flow size, timestamp, traffic flow queue length, and pedestrian target density sensed at the intersection to the MEC, and the MEC processes the data algorithm into structured data, and judges whether the current environment supports the signal priority request, and reports the signal priority request to the RSU.

[0058] After the RSU device receives the perception data of the OBU and the roadside radar, it performs AND-OR judgment and analysis processing on the two types of data.

[0059]

[0058] 1) The driving route of the bus can be confirmed according to the intersection ID number sent by the OBU. For multiple buses driving in different directions at the intersection at the same time, driving towards different directions of the intersection at the same time, the signal is optimized according to the current light state phase sequence.

[0060] 2) When the RSU receives the signal priority data requested by the OBU and the MEC at the same time, it sends the request signal machine 5 signal priority data through the RSU terminal. If the MEC performs edge computing processing based on the data transmitted by the sensing device 4 and the request conclusion is not to send a signal optimization request to the signal machine 5, the current operation ends; otherwise, it enters step S30.

[0061]

[0059] After receiving the signal priority request, the signal machine 5 will intelligently schedule the remaining seconds of the current traffic lights according to the remaining time of the current traffic lights and the remaining time for the bus to reach the intersection, so that the bus can pass through the intersection first.

[0062] Furthermore, in step S10, the OBU sends a signal priority request to the RSU:

[0063]

[0060] When the bus OBU enters the communication range of the RSU terminal PC5 at the intersection, the OBU reports data to the RSU in real time, and will report a signal priority request within 50 meters of the lane stop line of the high-precision map.

[0064] Meanwhile, in step S10, the MEC sends a signal priority request to the RUS:

[0065]

[0061] The roadside radar-vision integrated machine senses all traffic participants, traffic flow direction, traffic flow size, and traffic flow queue length at the intersection and reports them to the MEC. The data of the signal machine 5 is reported to the MEC in real time. The MEC calculates the current signal operation phase according to the data of the signal machine 5. If the current traffic flow queue length exceeds 50 meters, it reports to the RSU not to execute the bus priority request and waits for the current phase to end. Otherwise, if the current traffic flow queue length does not exceed 50 meters, it reports to the RSU to execute the bus priority request.

[0066] Further, in step S20, the MEC selects to send a signal priority request to the RUS:

[0067] Upon receiving the signal priority request from the MEC, the RSU selects the MEC timestamp closest to the OBU timestamp for confirmation and comparison with reference to the latest timestamp of the request sent by the OBU. If both select the signal priority request, the RSU sends the green phase to the signal machine 5. If the requested green phase is not the next one in the current running phase sequence, the signal machine 5 reports a green conflict to the RSU, and the signal machine 5 includes the green phase in the pending execution state.

[0068] Further, in step S30, signal time reduction is performed during the non-bus travel phase operation to assist in achieving the bus priority purpose:

[0069] The current intersection executes the nth sequence phase, where n is a positive integer. If the bus priority request executes the (n + 2)th phase, the signal machine 5 receives the execution phase and includes it in the pending execution state. The MEC processes the traffic flow length of the (n + 1)th phase sensed by the algorithm. If the MEC evaluates that the traffic flow volume and the traffic flow length of this phase can be reduced for passing through the intersection, then the MEC reports to the RSU that the execution signal passing duration of the (n + 1)th phase is reduced, thereby reducing the waiting time of the bus for passing. After the bus passes, the bus priority request for the nth phase included in the pending execution is cleared.

[0070] Embodiment 2

[0071] As Figure 4 shown, Embodiment 2 of the present application provides a bus priority adaptive signal control method, which is also based on the V2X high-precision map. The method includes the following steps:

[0072] S11. When the bus travels to the first distance from the intersection, the on-vehicle electronic tag device (OBU) on the bus sends a bus priority request to the roadside unit device (RSU) located at the intersection; the first distance is preferably 50m;

[0073] S12. The edge computing device (MEC) obtains the sensing data of the sensing device and the light state phase data of the signal machine in real time, analyzes and judges whether the current environment of the intersection supports the signal priority request, and reports the signal priority request to the roadside unit device (RSU) when it supports the signal priority request;

[0074] S13. The roadside unit device (RSU) performs AND-OR judgment and analysis processing on the received bus priority request and signal priority request, and judges that the bus priority request can be executed and sends it to the signal machine when both the bus priority request and the signal priority request are received;

[0075] S14. The signal controller automatically schedules the remaining seconds of the current traffic light according to the remaining time of the current traffic light and the remaining time for the bus to reach the intersection, giving priority to the bus to pass through the intersection.

[0076] Further, when a bus equipped with an on-vehicle electronic tag device (OBU) passes through an intersection, the on-vehicle electronic tag device (OBU) actively reports the current high-precision map positioning, the ID number of the lane where it is located, the vehicle identification number (OBU identification number), the route number, and bus priority request data to the roadside unit device (Road Side Unit, RSU) at the intersection based on the built-in V2X high-precision map.

[0077] Further, when the roadside unit device (RSU) performs AND / OR judgment and analysis processing on the received bus priority request and the signal priority request, it confirms the driving route of the bus according to the intersection ID number sent by the on-vehicle electronic tag device (OBU). For multiple buses driving in different directions towards the intersection at the same time, the current light state phase sequence is maintained.

[0078] Further, the sensing device includes a road-side integrated radar-vision sensor. The sensing device accurately detects all traffic participants, traffic flow direction, traffic flow volume, and traffic flow queue length at the intersection through the complementarity of visual perception and millimeter-wave radar perception. The traffic participants include pedestrians, motor vehicles, and non-motor vehicles. The detected raw data is calculated by an edge computing device (MEC) to obtain structured data.

[0079] Further, when the edge computing device (MEC) obtains the sensing data of the sensing device and the light state phase data of the signal controller in real time and analyzes and judges whether the current environment at the intersection supports the signal priority request, the edge computing device (MEC) performs analysis and processing according to the sensing data and the light state phase data. If the edge computing judges that the light state phase data and the current traffic environment are in a loose state, it is judged that the signal priority request is supported; otherwise, it is judged that the signal priority request is not supported.

[0080] Further, when the roadside unit device (RSU) receives both the bus priority request and the signal priority request simultaneously, it determines that the bus priority request is executable and sends it to the signal machine. Specifically, when the roadside unit device (RSU) receives the signal priority request from the mobile edge computing device (MEC), it selects the MEC timestamp closest to the timestamp of the on-vehicle electronic tag device (OBU) for confirmation and comparison based on the latest timestamp of the request sent by the on-vehicle electronic tag device (OBU). If both are the bus priority request and the signal priority request, the roadside unit device (RSU) sends a request for a green light phase to the signal machine. If the requested green light phase is not the next phase in the current running phase sequence, the signal machine reports a green conflict to the roadside unit device (RSU), and the signal machine lists the released phase in a pending execution state.

[0081] Further, the signal machine automatically schedules the remaining seconds of the current traffic lights based on the remaining time of the current traffic lights and the remaining time for the bus to reach the intersection, enabling the bus to pass through the intersection first. Specifically, the signal machine at the current intersection executes the nth sequence phase, where n is a positive integer. If the bus priority request executes the (n + 2)th phase and the signal machine receives the execution phase and lists it in the pending execution state, the mobile edge computing device (MEC) processes the length of the traffic flow in the (n + 1)th phase sensed. If the mobile edge computing device (MEC) evaluates that the traffic flow volume and the traffic flow length in this phase can reduce the passing time through the intersection, the mobile edge computing device (MEC) reports to the roadside unit device (RSU) that the signal passing duration in the (n + 1)th phase is reduced, achieving the reduction of the waiting time for the bus to pass. After the bus passes, the bus priority request for the nth phase listed in the pending execution is cleared.

[0082] As Figure 2 shown, the present application also provides a bus priority adaptive signal control system 10 for giving priority to the release of buses. The system 10 includes a plurality of on-vehicle electronic tag devices 1 (OBUs), a plurality of roadside unit devices 2 (RSUs), a mobile edge computing device 3 (MEC), a sensing device 4, and a signal machine 5.

[0083] The on-vehicle electronic tag device 1 (OBU) is installed on the bus; when the bus travels to a first distance from the intersection, the on-vehicle electronic tag device 1 (OBU) on the bus sends a bus priority request to the roadside unit device 2 (RSU) located at the intersection.

[0084] The edge computing device 3 (MEC) obtains the sensing data of the sensing device 4 and the light state phase data of the signal machine 5 in real time, analyzes and judges whether the current road environment supports the signal priority request, and reports the signal priority request to the roadside unit device 2 (RSU) when the signal priority request is supported.

[0085] The roadside unit device 2 (RSU) performs AND / OR judgment analysis and processing on the received bus priority request and signal priority request. When both the bus priority request and the signal priority request are received simultaneously, it is determined that the bus priority request can be executed and sent to the signal machine 5.

[0086] The signal machine 5 automatically schedules the remaining seconds of the current traffic lights according to the remaining time of the current traffic lights and the remaining time for the bus to reach the intersection, so that the bus can pass through the intersection first.

[0087] Further, the on-vehicle electronic tag device 1 (OBU) includes: an on-vehicle WIFI communication module 11 connected to an on-vehicle display terminal; an LTE-V2X communication module 12 whose PC5 communication interface performs short-range wireless communication with the roadside unit device 2 (RSU), and whose wireless network card (Uu) module is used to upload the data of the on-vehicle electronic tag device (OBU) to the cloud server; an on-vehicle high-precision GPS module 13 with a built-in V2X high-precision map, and the map data includes the bus line number, the lane ID of the intersection to pass through, and the vehicle coding number; the high-precision GPS module is used to communicate with the roadside unit device 2 (RSU) at the intersection to confirm the driving route of the bus according to the data sent by the on-vehicle electronic tag device (OBU) to judge the driving direction of the bus.

[0088] Further, the roadside unit device 2 (RSU) includes: a roadside WIFI communication module 21 for connecting to maintenance equipment; a 4G / 5G - LTE-V2X communication module 22 whose PC5 communication interface performs short-range wireless communication with the on-vehicle electronic tag device (OBU), and whose wireless network card (Uu) module is used to communicate with the signal machine 5 and the cloud server; a roadside high-precision GPS module 23 with a built-in V2X high-precision map, and all the bus coding numbers (OBU device identification numbers) passing through the same intersection are added to the map. It communicates with the roadside unit device 2 (RSU) at the intersection to confirm the driving route of the bus according to the bus coding number and the bus line number to judge the driving direction of the bus.

[0089] In the above bus priority adaptive signal control method and system, the signal controller 5 can automatically adjust the remaining seconds of the current traffic lights according to the remaining time of the current traffic lights and the remaining time for the bus to reach the intersection, enabling the bus to pass through the intersection preferentially. This solution is not affected by the conflict between the requested execution of the signal priority phase and the current traffic phase at the intersection. Considering the on-site environmental conditions, the current traffic phase at the intersection, and the bus priority signal request phase, it adaptively executes the bus priority plan according to algorithm processing based on the general traffic situation at the intersection.

[0090] This bus priority plan is different from the previous ones. Currently, most are based on the construction of traditional roadside RFID and on-vehicle RFID and other traffic equipment, with single functions. At present, the country is vigorously developing the vehicle networking technology. The commonly used equipment in vehicle networking construction, such as RSU, OBU, MEC, and perception radar, can be used for multiple functions. It can not only meet the vehicle-road-network-cloud communication function. Compared with traditional technologies, the basic data of the bus priority plan can be reported to the cloud for management and can be integrated and used in future traffic optimization and digital twin.

[0091] In the traditional priority plan, the signal at the intersection executes the nth phase, and the bus priority request for the (n + 1)th phase will only succeed. For a complex intersection with at least 4 phases, the success rate of the traditional technology request is only 1 / 4. When the new technology starts to execute the signal priority for the bus request, it will appropriately shorten the duration of each phase according to the traffic flow at the intersection and execute the bus priority request in the shortest time.

[0092] As Figure 5 shown, Figure 5 is the working principle diagram of the bus priority adaptive signal control method. When the sensing devices 4 and the signal controller 5 transmit the sensed raw data to the edge computing device 3 (MEC), after fusing and calculating the data, it is judged whether the current intersection environment is suitable for starting the bus priority plan, and the bus priority request data is reported to the roadside unit device 2 (RSU).

[0093] When the bus terminal is about to reach the intersection, it will actively report the bus priority request data to the roadside unit device 2 (RSU). The roadside unit device 2 (RSU) terminal will judge according to whether the edge computing device 3 (MEC) and the bus request bus priority. If both pieces of data request bus priority at the same time, then the roadside unit device 2 (RSU) will send a bus priority request to the signal controller 5, and then the signal controller 5 will execute the bus priority plan. If the edge computing device 3 (MEC) reports not to execute the bus priority request data, the roadside unit device 2 (RSU) will send the bus priority request failure data to the bus.

[0094] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0095] The above-described embodiments merely represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. A bus-priority adaptive signal control method, characterized in that Including: When the bus travels to the first spacing distance from the intersection, the on-vehicle electronic tag device on the bus sends a bus priority request to the roadside unit device located at the intersection; The edge computing device real-time obtains the sensing data of the sensing device and the light state phase data of the signal machine, analyzes and judges whether the current environment of the intersection supports the signal priority request, and reports the signal priority request to the roadside unit device when it supports the signal priority request; The roadside unit device performs AND / OR judgment analysis processing on the received bus priority request and the signal priority request. When both the bus priority request and the signal priority request are received simultaneously, it is judged that the bus priority request can be executed and sent to the signal machine; The signal machine automatically schedules the remaining seconds of the current traffic lights according to the remaining time of the current traffic lights and the remaining time for the bus to reach the intersection, so that the bus can pass through the intersection preferentially; When the edge computing device real-time obtains the sensing data of the sensing device and the light state phase data of the signal machine, and analyzes and judges whether the current environment of the intersection supports the signal priority request, the edge computing device performs analysis processing according to the sensing data and the light state phase data. If the edge computing judges that the light state phase data and the current traffic environment are in a loose state, it is judged that the signal priority request is supported, otherwise it is judged that the signal priority request is not supported; When the roadside unit device judges that the bus priority request can be executed and sends it to the signal machine when both the bus priority request and the signal priority request are received simultaneously, it includes: When the roadside unit device receives the signal priority request from the edge computing device, it selects the edge computing device timestamp closest to the timestamp of the on-vehicle electronic tag device according to the latest timestamp of the request sent by the on-vehicle electronic tag device for confirmation comparison. If both are the bus priority request and the signal priority request, the roadside unit device sends a request for a release phase to the signal machine. If the requested release phase is not the next one in the current running phase sequence, the signal machine reports a green conflict to the roadside unit device, and the signal machine lists the released phase in the pending execution state.

2. The bus priority adaptive signal control method according to claim 1, wherein When a bus equipped with an on-vehicle electronic tag device passes through an intersection, the on-vehicle electronic tag device actively reports the current high-precision map positioning, the lane ID number where it is located, the vehicle identification number, the line number, and the bus priority request data to the roadside unit device at the intersection based on the built-in V2X high-precision map.

3. The bus priority adaptive signal control method according to claim 2, wherein When the roadside unit device performs AND / OR judgment analysis processing on the received bus priority request and the signal priority request, it confirms the driving route of the bus according to the intersection ID number sent by the on-vehicle electronic tag device. For multiple buses driving towards different directions of the intersection at the same time, the current light state phase sequence is maintained.

4. The bus priority adaptive signal control method according to claim 1, wherein The sensing device includes a roadside sensing device, a radar-vision integrated machine. The sensing device accurately detects all traffic participants, traffic flow direction, traffic flow size, and traffic flow queue length at the intersection through the complementarity of visual sensing and millimeter-wave radar sensing. The traffic participants include pedestrians, motor vehicles, and non-motor vehicles. The detected raw data is calculated by the edge computing device to obtain structured data.

5. The bus priority adaptive signal control method according to claim 1, wherein The signal controller automatically schedules the remaining seconds of the current traffic light according to the remaining time of the current traffic light and the remaining time for the bus to reach the intersection, enabling the bus to pass through the intersection first, including: The signal controller at the current intersection executes the n-th sequence phase, where n is a positive integer. If the bus priority request is to execute the (n + 2)-th phase, the signal controller receives the execution phase and lists it in the pending execution state. The edge computing device processes the perceived vehicle flow length of the (n + 1)-th phase through an algorithm. If the edge computing device evaluates that the vehicle flow volume and the vehicle flow length of this phase can reduce the passing time through the intersection, the edge computing device reports to the roadside unit device that the execution signal passing duration of the (n + 1)-th phase is reduced, so as to reduce the waiting time for the bus to pass. After the bus passes, the bus priority request for the n-th phase listed in the pending execution is cleared.

6. A bus-priority adaptive signal control system for preferentially releasing buses, characterized in that, The system includes multiple on-vehicle electronic tag devices, multiple roadside unit devices, edge computing device sensing devices, and signal controllers; The on-vehicle electronic tag devices are installed on the buses; when the bus travels to a first distance from the intersection, the on-vehicle electronic tag device on the bus sends a bus priority request to the roadside unit device located at the intersection; The edge computing device real-time obtains the sensing data of the sensing device and the light state phase data of the signal controller, and analyzes and judges whether the current environment of the intersection supports the signal priority request. When it supports the signal priority request, it reports the signal priority request to the roadside unit device; The roadside unit device performs AND-OR judgment and analysis processing on the received bus priority request and signal priority request. When both the bus priority request and the signal priority request are received simultaneously, it is judged that the bus priority request can be executed and sent to the signal controller; The signal controller automatically schedules the remaining seconds of the current traffic light according to the remaining time of the current traffic light and the remaining time for the bus to reach the intersection, enabling the bus to pass through the intersection first; When the edge computing device real-time obtains the sensing data of the sensing device and the light state phase data of the signal controller, and analyzes and judges whether the current environment of the intersection supports the signal priority request, the edge computing device performs analysis and processing according to the sensing data and the light state phase data. If the edge computing judges that the light state phase data and the current traffic environment are in a loose state, it is judged that the signal priority request is supported, otherwise it is judged that the signal priority request is not supported; When the roadside unit device simultaneously receives the bus priority request and the signal priority request, judging that the bus priority request can be executed and sending it to the signal controller, including: When the roadside unit device receives a signal priority request from the edge computing device, it selects the edge computing device timestamp closest to the timestamp of the on-vehicle electronic tag device according to the latest timestamp of the request sent by the on-vehicle electronic tag device for confirmation and comparison. If both are the bus priority request and the signal priority request, the roadside unit device sends a request for a release phase to the signal machine. If the requested release phase is the next one in the non-currently running phase sequence, the signal machine reports a green conflict to the roadside unit device, and the signal machine lists the released phase in a pending execution state.

7. The bus priority adaptive signal control system according to claim 6, wherein, The on-vehicle electronic tag device includes: An on-vehicle WIFI communication module, connected to the on-vehicle display terminal; An LTE-V2X communication module, whose PC5 communication interface performs short-range wireless communication with the roadside unit device, and whose wireless network card module is used to upload the data of the on-vehicle electronic tag device to the cloud server; An on-vehicle high-precision GPS module, with a built-in V2X high-precision map, and the map data includes the bus line number, the lane ID of the intersection to pass through, and the vehicle coding number; the high-precision GPS module is used to communicate with the roadside unit device at the intersection to confirm the driving route of the bus according to the data sent by the on-vehicle electronic tag device to judge the driving direction of the bus.

8. The bus priority adaptive signal control system according to claim 6, wherein The roadside unit device includes: A roadside WIFI communication module, used to connect to the maintenance device; A 4G / 5G - LTE-V2X communication module, whose PC5 communication interface performs short-range wireless communication with the on-vehicle electronic tag device, and whose wireless network card module is used to communicate with the signal machine and the cloud server for data communication; A roadside high-precision GPS module, with a built-in V2X high-precision map, and adding all the bus coding numbers passing through the same intersection to the map, and communicating with the roadside unit device at the intersection to confirm the driving route of the bus, the bus line number, to judge the driving direction of the bus.

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