Traffic scheduling method, device and storage medium

Abstract

The present disclosure provides a traffic scheduling method, apparatus, and storage medium, relating to the field of communication technologies, and solving the technical problem in the related art that traffic scheduling cannot be performed according to real-time traffic conditions. The method includes: receiving real-time traffic condition information of an intersection; when it is determined that there is a traffic signal at the intersection, determining whether the traffic flow at the intersection is greater than a first threshold; if the traffic flow at the intersection is greater than the first threshold, determining a target lane whose traffic flow in the lanes at the intersection meets a preset condition; controlling the traffic signal of the target lane to display green for a preset duration, and the traffic signals of the lanes other than the target lane at the intersection to display red; if the traffic flow at the intersection is less than or equal to the first threshold, controlling the traffic signals of all lanes at the intersection to display green; determining a target driving speed corresponding to a vehicle based on the traffic signal information and vehicle state information of the intersection; and sending the corresponding target driving speed to the in-vehicle terminal of the vehicle. The present disclosure is used in the scenario of traffic scheduling.

Description

Technical Field

[0001] The present disclosure relates to the field of communication technologies, and in particular, to a traffic scheduling method, apparatus, and storage medium. Background Art

[0002] Currently, in the field of traffic scheduling, traffic information data is mainly collected through sensor technology, a traffic scheduling model is determined based on historical traffic information data, and traffic scheduling is performed according to the results calculated by the traffic scheduling model.

[0003] However, since the traffic scheduling model in the above method is determined based on historical traffic information data, it can only meet the traffic scheduling requirements during the daily passage of vehicles. When there are sudden changes in traffic flow, traffic scheduling cannot be performed according to the real-time traffic conditions. Summary of the Invention

[0004] The present disclosure provides a traffic scheduling method, apparatus, and storage medium, solving the technical problem in the related art that traffic scheduling cannot be performed according to real-time traffic conditions.

[0005] To achieve the above object, the present disclosure adopts the following technical solutions:

[0006] In a first aspect, a traffic scheduling method is provided, including: receiving real-time traffic condition information of an intersection; the traffic condition information includes at least one of the following: signal light information, traffic flow, and vehicle state information; the traffic flow includes the traffic flow at the intersection and the traffic flow of each lane at the intersection; the vehicle state information includes at least one of the following: the position of the vehicle, the speed of the vehicle, and the acceleration of the vehicle; when it is determined based on the signal light information that there is a signal light at the intersection, determining whether the traffic flow at the intersection is greater than a first threshold; if the traffic flow at the intersection is greater than the first threshold, determining a target lane whose traffic flow of the lanes at the intersection meets a preset condition; controlling the signal light of the target lane to display green for a preset duration, and the signal lights of the lanes other than the target lane at the intersection to display red; if the traffic flow at the intersection is less than or equal to the first threshold, controlling the signal lights of each lane at the intersection to display green; determining a target driving speed corresponding to each vehicle based on the signal light information and the vehicle state information at the intersection; and sending the target driving speed corresponding to each vehicle to the on-vehicle terminal of each vehicle.

[0007] Combined with the above first aspect, in a possible implementation manner, the method specifically includes: determining a priority coefficient for each lane based on the consecutive red light times, traffic flow coefficients, and number of vehicles in each lane of the intersection; combining the lanes whose priority coefficients meet the conditions in pairs, and determining a collision coefficient for the two lanes in each combination; the collision coefficient is used to characterize the probability of vehicles on the two lanes in each combination colliding; determining a passing benefit value for each combination based on the collision coefficient of each combination and the priority coefficients of the lanes within each combination; the passing benefit value is used to characterize the benefit of the number of vehicles that can pass after setting the traffic lights of the two lanes in the combination to green; determining the two lanes in the combination with the largest passing benefit value as the target lanes.

[0008] Combined with the above first aspect, in a possible implementation manner, the method specifically includes: determining the number of vehicles passing through the target lanes in the next traffic light cycle, where the number of vehicles is the minimum of the following numbers of vehicles: the number of vehicles in the first lane, the number of vehicles in the second lane, and the average number of vehicles in all lanes of the intersection; the first lane is any one of the target lanes, and the second lane is the other lane of the target lanes; based on the vehicle status information, determining the time for the target vehicle to pass through the intersection, where the target vehicle is the last vehicle passing through in the target lanes in the next traffic light cycle; determining that the time for the target vehicle to pass through the intersection is a preset time; controlling the traffic lights of the target lanes to display green within the preset time.

[0009] Combined with the above first aspect, in a possible implementation manner, the method specifically includes: forming formations of multiple vehicles with the same driving route in the same lane, and determining multiple vehicle fleets; for the first vehicle fleet, determining whether there is a collision area for the first vehicle fleet; the first vehicle fleet is a fleet composed of vehicles in any one of the vehicle fleets at the intersection; if there is no collision area, then determining that the highest speed limit at the intersection is the target driving speed of the vehicles in the first vehicle fleet; if there is a collision area, then determining the time period when the first vehicle fleet reaches the collision area; and the second vehicle fleet that reaches the collision area within the time period; if the first vehicle fleet is the fleet that has priority to pass through the collision area, then determining the maximum safe speed of the first vehicle fleet; the maximum safe speed is the highest speed limit or the maximum speed at which the first vehicle fleet does not collide with other vehicles in the collision area; determining the maximum safe speed of the first vehicle fleet as the target driving speed of the vehicles in the first vehicle fleet; if the first vehicle fleet is not the fleet that has priority to pass through the collision area, then determining the latest time when the second vehicle fleet leaves the collision area at the target driving speed of the second vehicle fleet; determining the driving time for the first vehicle fleet to travel to the collision area as the duration within the current time to the latest time; based on the driving time and the distance between the first vehicle fleet and the collision area, determining the target driving speed of the first vehicle fleet.

[0010] Second aspect, a traffic scheduling device is provided. The traffic scheduling device includes: a communication unit and a processing unit; the communication unit is configured to receive real-time traffic condition information of an intersection; the traffic condition information includes at least one of the following: signal light information, traffic flow, vehicle status information; the traffic flow includes the traffic flow of the intersection and the traffic flow of each lane of the intersection; the vehicle status information includes at least one of the following: the position of the vehicle, the speed of the vehicle, and the acceleration of the vehicle; the processing unit is configured to determine whether the traffic flow of the intersection is greater than a first threshold when it is determined that there is a signal light at the intersection based on the signal light information; the processing unit is configured to, if the traffic flow of the intersection is greater than the first threshold, determine a target lane whose traffic flow of the lanes at the intersection meets a preset condition; the processing unit is configured to control the signal light of the target lane to display green for a preset duration, and the signal lights of the lanes other than the target lane at the intersection to display red; the processing unit is configured to, if the traffic flow of the intersection is less than or equal to the first threshold, control the signal lights of each lane at the intersection to display green; the processing unit is configured to determine a target driving speed corresponding to each vehicle based on the signal light information and the vehicle status information of the intersection; the communication unit is configured to send the target driving speed corresponding to each vehicle to the on-vehicle terminal of each vehicle.

[0011] Combined with the above second aspect, in a possible implementation manner, the processing unit is specifically configured to: determine a priority coefficient of each lane based on the number of consecutive red lights of each lane at the intersection, a traffic flow coefficient, and the number of vehicles; combine the lanes whose priority coefficients meet the conditions in pairs, and determine a collision coefficient of the two lanes in each combination; the collision coefficient is used to characterize the probability that vehicles on the two lanes in each combination collide; determine a passing benefit value of each combination based on the collision coefficient of each combination and the priority coefficient of the lanes within each combination; the passing benefit value is used to characterize the benefit of the number of vehicles that can pass after setting the signal lights of the two lanes in the combination to green; determine the two lanes in the combination with the largest passing benefit value as the target lanes.

[0012] Combined with the above second aspect, in a possible implementation manner, the processing unit is specifically configured to: determine the number of vehicles passing through the target lane in the next signal light cycle, and the number of vehicles is the minimum of the following numbers: the number of vehicles in the first lane, the number of vehicles in the second lane, and the average value of the number of vehicles in all lanes at the intersection; the first lane is any one of the target lanes, and the second lane is another one of the target lanes; based on the vehicle status information, determine the duration for the target vehicle to pass through the intersection, and the target vehicle is the last vehicle passing through the target lane in the next signal light cycle; determine that the duration for the target vehicle to pass through the intersection is the preset duration; control the signal light of the target lane to display green for the preset duration.

[0013] Combined with the above second aspect, in a possible implementation manner, the processing unit is specifically configured to: form multiple vehicle formations with the same driving routes within the same lane, and determine multiple vehicle fleets; for the first vehicle fleet, determine whether there is a collision area; the first vehicle fleet is a fleet composed of vehicles in any one of the vehicle fleets at the intersection; if there is no collision area, determine that the maximum speed limit at the intersection is the target driving speed of the vehicles in the first vehicle fleet; if there is a collision area, determine the time period when the first vehicle fleet reaches the collision area; and the second vehicle fleet that reaches the collision area within the time period; if the first vehicle fleet is the fleet with priority to pass through the collision area, determine the maximum safe speed of the first vehicle fleet; the maximum safe speed is the maximum speed limit or the maximum speed at which the first vehicle fleet does not collide with other vehicles in the collision area; determine the maximum safe speed of the first vehicle fleet as the target driving speed of the vehicles in the first vehicle fleet; if the first vehicle fleet is not the fleet with priority to pass through the collision area, determine the latest time when the second vehicle fleet leaves the collision area at the target driving speed of the second vehicle fleet; determine the driving duration for the first vehicle fleet to travel to the collision area as the duration within the current time to the latest time; based on the driving duration and the distance between the first vehicle fleet and the collision area, determine the target driving speed of the first vehicle fleet.

[0014] In a third aspect, a traffic scheduling device is provided, including: a processor and a memory; wherein, the memory is used to store computer execution instructions, and when the traffic scheduling device runs, the processor executes the computer execution instructions stored in the memory, so that the traffic scheduling device executes the traffic scheduling method described in the first aspect and any one of its possible implementation manners above.

[0015] In a fourth aspect, a computer-readable storage medium is provided, and instructions are stored in the computer-readable storage medium. When the instructions in the computer-readable storage medium are executed by the processor of the traffic scheduling device, the traffic scheduling device is enabled to execute the traffic scheduling method described in the first aspect and any one of its possible implementation manners above.

[0016] In the present disclosure, the name of the above traffic scheduling device does not constitute a limitation on the device or function module itself. In actual implementation, these devices or function modules may appear under other names. As long as the functions of each device or function module are similar to those of the present disclosure and fall within the scope of the present disclosure and its equivalent technologies.

[0017] These aspects or other aspects of the present disclosure will be more clearly understood in the following description.

[0018] The technical solutions provided by the present disclosure at least bring the following beneficial effects: In the present disclosure, the traffic dispatching device determines the traffic flow volume at an intersection with traffic lights according to the received real-time traffic condition information of the intersection; when the traffic flow volume is large, it determines the target lane where the traffic light shows green and the time for showing green; thus, it can quickly clear the vehicles on the lane with a large traffic flow volume and relieve the traffic congestion. When the traffic flow volume is small, it controls the traffic lights of each lane at the intersection to show green; and based on the traffic light information and vehicle state information of the intersection, it determines the target driving speed corresponding to each vehicle. It conducts traffic dispatching according to the real-time traffic conditions, so as to meet the traffic dispatching requirements when sudden changes occur in the traffic flow volume. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art.

[0020] Figure 1 Schematic diagram of the hardware structure of a traffic dispatching device provided by an embodiment of the present disclosure;

[0021] Figure 2 Schematic diagram of the architecture of a traffic dispatching system provided by an embodiment of the present disclosure;

[0022] Figure 3 Schematic diagram of the architecture of a traffic dispatching method provided by an embodiment of the present disclosure;

[0023] Figure 4 Schematic diagram of the traffic information fusion process provided by an embodiment of the present disclosure;

[0024] Figure 5 Schematic diagram of a traffic information fusion method provided by an embodiment of the present disclosure;

[0025] Figure 6 Schematic diagram of the all-weather traffic information detection process provided by an embodiment of the present disclosure;

[0026] Figure 7 Schematic diagram of the traffic light control process provided by an embodiment of the present disclosure;

[0027] Figure 8 Schematic diagram of the vehicle passing situation at an intersection without traffic lights provided by an embodiment of the present disclosure;

[0028] Figure 9 Schematic diagram of the traffic dispatching process at an intersection without traffic lights provided by an embodiment of the present disclosure;

[0029] Figure 10 Schematic diagram of the traffic dispatching process in the case of a collision between a straight-ahead vehicle and a left-turning vehicle provided by an embodiment of the present disclosure;

[0030] Figure 11 A schematic diagram of a traffic scheduling process in the case of a head-on collision between two vehicle fleets provided by an embodiment of the present disclosure;

[0031] Figure 12 A schematic diagram of a traffic scheduling process in the case of a left-turn collision between two vehicle fleets provided by an embodiment of the present disclosure;

[0032] Figure 13 A schematic diagram of a process of a traffic scheduling method provided by an embodiment of the present disclosure;

[0033] Figure 14 A schematic diagram of a process of another traffic scheduling method provided by an embodiment of the present disclosure;

[0034] Figure 15 A schematic diagram of a process of another traffic scheduling method provided by an embodiment of the present disclosure;

[0035] Figure 16 A schematic diagram of a process of another traffic scheduling method provided by an embodiment of the present disclosure;

[0036] Figure 17 A schematic diagram of the structure of a traffic scheduling device provided by an embodiment of the present disclosure. Detailed implementation manners

[0037] A traffic scheduling method, device, and storage medium provided by an embodiment of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0038] The term "and / or" in this document is merely a description of the association relationship between associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone.

[0039] The terms "first" and "second" in the specification and drawings of the present disclosure are used to distinguish different objects or different treatments of the same object, rather than to describe the specific order of the objects.

[0040] In addition, the terms "including" and "having" and any variations thereof mentioned in the description of the present disclosure are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally further include other steps or units not listed, or may optionally further include other steps or units inherent to these processes, methods, products, or devices. It should be noted that in the embodiments of the present disclosure, words such as "exemplary" or "for example" are used to represent examples, illustrations, or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the embodiments of the present disclosure should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary" or "for example" is intended to present relevant concepts in a specific manner.

[0041] In the description of the present disclosure, unless otherwise specified, the meaning of "a plurality of" refers to two or more.

[0042] Figure 1 The following is a schematic structural diagram of a traffic scheduling device provided for an embodiment of the present disclosure. As Figure 1 shown, the traffic scheduling device 100 includes at least one processor 101, a communication line 102, and at least one communication interface 104, and may further include a memory 103. Among them, the processor 101, the memory 103, and the communication interface 104 can be connected through the communication line 102.

[0043] The processor 101 may be a central processing unit (CPU), or may be an application specific integrated circuit (ASIC), or may be one or more integrated circuits configured to implement the embodiments of the present disclosure. For example: one or more digital signal processors (DSPs), or one or more field programmable gate arrays (FPGAs).

[0044] The communication line 102 may include a path for transmitting information between the above components.

[0045] The communication interface 104 is used to communicate with other devices or communication networks, and any transceiver-like device can be used, such as Ethernet, radio access network (RAN), wireless local area networks (WLAN), etc.

[0046] The memory 103 can be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or can also be an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to include or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0047] In a possible design, the memory 103 can exist independently of the processor 101, that is, the memory 103 can be a memory external to the processor 101. At this time, the memory 103 can be connected to the processor 101 through the communication line 102, used to store execution instructions or application program codes, and controlled by the processor 101 to execute, so as to implement the traffic scheduling method provided in the following embodiments of the present disclosure. In another possible design, the memory 103 can also be integrated with the processor 101, that is, the memory 103 can be an internal memory of the processor 101. For example, the memory 103 is a cache and can be used to temporarily store some data and instruction information, etc.

[0048] As an implementable manner, the processor 101 can include one or more CPUs, such as Figure 1 CPU0 and CPU1 in Figure 1 As another implementable manner, the traffic scheduling device 100 can include multiple processors, such as

[0049] the processor 101 and the processor 107 in As yet another implementable manner, the traffic scheduling device 100 can further include an output device 105 and an input device 106.

[0049] Through the description of the above embodiments, those skilled in the art can clearly understand that for the convenience and conciseness of description, only the above division of each functional module is used as an example. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the network node is divided into different functional modules to complete all or part of the functions described above. The specific working processes of the systems, modules, and network nodes described above can refer to the corresponding processes in the foregoing method embodiments and will not be repeated here.

[0050] With the continuous increase of vehicles on the road, traffic congestion and traffic accidents have brought severe challenges to the transportation system. Since the fixed traffic signal strategy cannot be adjusted according to the real-time traffic intersection conditions, when there is an emergency at the intersection and the traffic volume is large, the fixed traffic dispatch system cannot meet the complex and changing traffic needs. How to dispatch traffic according to real-time traffic conditions is the key to solving the current problem. Traffic dispatch is to command and dispatch vehicles on the road through methods such as traffic lights and traffic police commands.

[0051] At present, traffic scheduling is mainly based on controlling the duration of traffic lights. Traffic scheduling is carried out by changing the timing of traffic lights in real time based on fixed phase changes. Common algorithms are to control traffic lights based on real-time traffic flow or to predict traffic flow and then control traffic lights based on dynamic similarity matching between historical traffic volume and current traffic volume.

[0052] In order to achieve real-time adaptive traffic signal control and provide accurate information of dynamic origin-destination flow, a combined model for minimizing cumulative queues is proposed in the prior art, which uses short-term turning flow data for signal timing adjustment to respond to the changes of real-time origin-destination flow.

[0053] The prior art also provides a least squares time difference learning method for solving the problem of adaptive traffic signal control scheduling at intersections. However, when there is a sudden change in traffic volume at the intersection, the above method cannot perform adaptive timing of traffic lights according to real-time traffic conditions and cannot complete traffic scheduling.

[0054] In addition, traffic information is usually collected through sensors. However, when a single sensor collects information, there may be inaccurate data, which leads to low traffic dispatch efficiency. With the continuous maturity and development of vehicle wireless communication, high-precision positioning, radar and other technologies, holographic intersections have laid a complete data foundation for refined intersection management, reducing the pressure of computing, storage, space and network transmission on the center side.

[0055] In order to solve the above technical problems, the present disclosure provides a traffic dispatch system architecture 200, such as Figure 2 As shown, the traffic dispatch system architecture 200 includes: a road test unit 201, a vehicle-mounted unit 202, a sensor device 203 and a traffic dispatch device 204, wherein the sensor device 203 is used to fuse the traffic object information collected by each sensor, accurately determine the vehicle's position, speed and other information and send it to the road test unit 201.

[0056] The on-vehicle unit 202 is used to send the status information of the vehicle to the roadside unit 201 via vehicle wireless communication, and at the same time receive the traffic scheduling policy information determined by the traffic scheduling device sent through the roadside unit 201.

[0057] The roadside unit 201 is used to send the above information to the traffic scheduling device after receiving the status information of the vehicle and the traffic object information collected by the multi-source sensors. The traffic scheduling device 204 determines the intersection, lane position, motion state, etc. of the vehicle according to the traffic object information after multi-source sensor fusion and the status information of the vehicle, controls the traffic lights through the roadside unit 201 according to the current traffic flow situation, sends instructions to the vehicle to adjust the motion state of the vehicle, and conducts traffic scheduling.

[0058] Optionally, the traffic scheduling device can be an independently set device. It can also be integrally set in the roadside unit 201, for example, integrated in the roadside unit 201 in the form of a module or a chip. The present disclosure does not make any limitations in this regard.

[0059] In a specific implementation manner, the roadside unit fuses the vehicle data information and the vehicle status information, and determines the framework of the traffic scheduling method of the traffic scheduling model according to the current traffic roadside model and the speed limit at the intersection as Figure 3 shown. Among them, the fused information includes at least one of the following: the status of the traffic object, the position of the traffic object, the category of the traffic object, the driving direction of the traffic object, and the driving speed of the traffic object.

[0060] This traffic scheduling method architecture determines the traffic scheduling model in two cases of having traffic lights and not having traffic lights in combination with the current traffic roadside model.

[0061] The traffic scheduling model with traffic lights is specifically as follows: when the traffic flow is small, set the traffic lights of all lanes at the intersection to green, use the traffic scheduling method without traffic lights, determine the movement trajectory of the vehicle and the safe driving speed of the vehicle according to the vehicle status information, and send the safe driving speed to the vehicle via vehicle wireless communication to conduct traffic scheduling. When the traffic flow at the intersection is large, determine the two lanes adjusted to green based on the game theory algorithm, and determine the green light duration of the two lanes adjusted to green.

[0062] The traffic scheduling model without traffic lights is specifically as follows: at an intersection without traffic lights, the roadside unit obtains the vehicle status information at the intersection through vehicle wireless communication, determines the vehicle formation, and according to the movement trajectory of the vehicle, judges the possible collision types and collision areas of the vehicle fleet, determines the safe driving speed for the vehicle fleet to pass through the intersection, and sends the safe driving speed at this time to the vehicle via vehicle wireless communication to conduct traffic scheduling.

[0063] In a possible implementation manner, in combination with Figure 2The traffic dispatching system, in which the sensor devices shown include at least an intelligent camera and a millimeter-wave radar. After the intelligent camera and the millimeter-wave radar collect vehicle data information, the traffic dispatching device will perform information fusion on the vehicle data information collected by the intelligent camera and the millimeter-wave radar. The specific process of information fusion is as Figure 4 shown. The intelligent camera and the millimeter-wave radar respectively collect traffic object information and send it to the traffic dispatching device. The traffic dispatching device receives the traffic object information, performs preprocessing and feature extraction, fuses the traffic object information collected by the intelligent camera and the millimeter-wave radar through coordinate transformation and error covariance, and predicts the state of weighted fusion.

[0064] In a possible implementation, as Figure 5 shown, the fusion process of the vehicle data information collected by the intelligent camera and the millimeter-wave radar includes: early fusion, three-dimensional object detection extraction (3D Region Proposal Network, 3DRPN), and deep fusion. The specific process is as follows: The camera collects the image information of the intersection, and the radar collects the point cloud information of the intersection. Feature extraction is performed on the image information of the intersection to determine the first data set in the 3DRPN; the image information of the intersection is matched with the point cloud information to determine the second data set in the early fusion process, and then the voxel network and the REV technology are used to process the second data set to determine the third data set and the fourth data set in the 3DRPN. At the same time, in the 3DRPN process, the 3Danchors technology is used to detect through rough detection and fine detection heads. According to the obtained 3D recommendations, the fourth data set is deeply fused with the fifth data set. In the deep fusion process, fusion full convolution is performed, and the fusion convolutional layer includes a classifier, a bounding box regression, and a direction classifier, etc.

[0065] Since the existing pure vision object detection methods cannot well meet the requirements of all-weather traffic scene detection, in a possible implementation, the present disclosure also provides an all-weather traffic subject detection strategy as Figure 6 shown. This strategy constructs a two-stage fusion detection framework for parallel fusion. According to the brightness of the input image, the input image is divided into three situations: good lighting, weak lighting, and dark environment. In the case of good lighting and dark environment, a multi-level fusion detection network and a three-dimensional occluded vehicle detection network are respectively used for detection; in the case of weak lighting, the image quality is improved through an image adaptive enhancement algorithm based on point cloud, and finally a multi-stage multi-modal fusion network is used to perform the detection task. After the detection is completed, the detection result is output, and this detection result can meet the requirements of all-weather traffic scene detection.

[0066] In a possible implementation, combined with Figure 2 the traffic dispatching model in the case of signals shown, the specific process of signal lamp control is as Figure 7 shown.

[0067] When the total traffic flow at an intersection is less than the traffic flow in the vehicle free - passage state, it can be determined that the current intersection is in a low - traffic - flow state. At this time, all the signal lights in the next cycle are set to green. Vehicles send vehicle data to roadside equipment through vehicle wireless communication. After receiving the vehicle data, the roadside equipment sends it to the traffic dispatching device. The traffic dispatching device analyzes the vehicle trajectories passing through the intersection to determine whether a collision may occur. If there is a possibility of a collision, it determines the possible collision location and calculates the target driving speed. Driving at this target speed can avoid a collision, and the target speed is sent to the corresponding vehicle through the roadside unit for speed guidance.

[0068] When the total traffic flow at an intersection is greater than the traffic flow in the vehicle free - passage state, it can be determined that the current intersection is in a high - traffic - flow state. At this time, the priority of the lanes is determined. According to the lane priority, two passable lanes are determined, and the maximum number of vehicles that can pass in the next signal - light cycle is determined. According to the maximum number of vehicles that can pass in the next signal - light cycle, the green - light duration is determined, and the signal lights of the two passable lanes are controlled to turn green, while the signal lights of other lanes are red.

[0069] In a possible implementation, the traffic flow P in the vehicle free - passage state T satisfies the following formula:

[0070]

[0071] where P lf is the traffic flow at the free - flow speed of the left - turn lane, P rf is the traffic flow at the free - flow speed of the right - turn lane, P zf is the traffic flow at the free - flow speed of the straight - through lane, and x, y, and z are the number of lanes for left - turn, straight - through, and right - turn respectively.

[0072] The traffic flow P of each lane at the intersection lanen = N 1n + N 2n + N 3n + N 4n , where: N 1n , N 2n , N 3n , N 4n respectively represent the number of mini - cars, small cars, medium - sized cars, and large cars in the nth lane. The total traffic flow size at the intersection

[0073] The traffic capacity of a traffic intersection refers to the sum of the traffic capacities of roads in all directions. Among them, the traffic capacity of the straight - through lane T is the signal - light cycle, t l is the green - light duration in each signal - light cycle, ts is the lost green time within a cycle, and h is the average interval time for the front and rear vehicles to pass through the stop line. The traffic capacity of the left-turn lane where P n is the left-turn vehicle flow within a cycle. The vehicle flow within the time when the vehicle travels from the starting position to the ending position of the straight-through lane at the free-flow speed L is the length from the starting position to the ending position of the lane, and V f is the vehicle speed at the free-flow rate. The vehicle flow at the free-flow speed of the left-turn lane The traffic P at the free-flow speed of the right-turn lane rf is the same as the straight-through situation.

[0074] In a possible implementation, the traffic scheduling method for an intersection with traffic lights is as follows: The traffic scheduling device counts the vehicle data of the current holographic intersection, including information such as quantity, type, size, and acceleration, calculates the vehicle flow when the vehicles pass through the intersection freely and the current total vehicle flow;

[0075] If the current total vehicle flow is greater than or equal to the vehicle flow when the intersection passes through freely, then the priority levels of each lane are obtained according to the number of queuing vehicles and waiting time parameters in each current lane, the passable lanes under the optimal strategy are obtained, the number of vehicles allowed to pass in the next cycle is determined according to the number of queuing vehicles in the lane, and the green light duration is set by calculating the time for the vehicles to pass through the intersection, thus completing the traffic scheduling.

[0076] If the current total vehicle flow is less than the vehicle flow when the intersection passes through freely, then it is determined that the traffic lights of all lanes in the next cycle are set to green, the same number of vehicles are found to form a convoy according to the timing principle, the first-come-first-served and straight-through priority principles are adopted, the time for the passing vehicles to reach the collision area is determined, and the recommended vehicle speed is sent to the vehicles through vehicle wireless communication, thus completing the traffic scheduling.

[0077] In a possible implementation, the vehicle passing situation at an intersection without traffic lights is as Figure 8 shown, which includes but is not limited to four vehicle driving directions and three possible collision situations: collision between the straight-through convoy 1 and the left-turn convoy 2, collision between the straight-through convoy 1 and the straight-through convoy 3, and collision between the left-turn convoy 2 and the left-turn convoy 4.

[0078] In a possible implementation, in the traffic scheduling model without traffic lights as Figure 2 shown, the specific process of traffic scheduling at an intersection without traffic lights is as Figure 9 shown. The traffic scheduling device predicts the vehicle driving trajectories. When it is determined that one of the two convoys goes straight and the other turns left, according to the following Figure 10 shown traffic scheduling flow chart in the case of collision between the two convoys going straight and turning left, traffic scheduling is carried out. When it is determined that both convoys go straight, according to the followingFigure 11 The traffic dispatching flowchart in the case of a head-on collision between two-way vehicle fleets as shown is used for traffic dispatching. When it is determined that both vehicle fleets turn left, according to the following Figure 12 The traffic dispatching flowchart in the case of a left-turn collision between two-way vehicle fleets as shown is used for traffic dispatching.

[0079] The specific traffic dispatching process in the case of a head-on and left-turn collision is as follows: The traffic dispatching device determines the time T when fleet 1 arrives at the collision area p1 , determines the time T when fleet 2 arrives at the collision area p2 , determines the time T when fleet 1 leaves the collision area l1 , determines the time T when fleet 2 leaves the collision area l2 .

[0080] According to the straight-ahead priority principle, it is judged whether a collision is likely to occur. When it is determined that T p1 is less than or equal to T p2 is less than or equal to T l1 , a collision may occur. At this time, fleet 2 makes a uniformly decelerated motion, reduces to the recommended speed at the moment of entering the traffic intersection T p2 , the vehicle maintains a uniform motion and enters the curve, and enters the collision area at the time T l1 when fleet 1 leaves the collision area. It is determined that the speed V1 of fleet 2 just arriving at the collision area at the critical time is the recommended speed, and the first target driving speed is sent to the corresponding vehicle through vehicle wireless communication.

[0081] When T l1 is less than or equal to T p2 , it is determined that no collision will occur. The speed V1' of the fleet just arriving at the collision area at the critical time is determined, and it is determined whether this speed exceeds the maximum safe speed for turning. If it exceeds the maximum safe speed for turning, the recommended vehicle speed at this time is determined to be the maximum safe speed. If it does not exceed the maximum safe speed for turning, the recommended vehicle speed at this time is determined to be V1', and the second target driving speed is sent to the corresponding vehicle through vehicle wireless communication.

[0082] The specific traffic dispatching process in the case of a head-on collision between two-way vehicle fleets is as follows: The traffic dispatching device determines the time T when fleet 1 arrives at the collision area p1 , determines the time T when fleet 3 arrives at the collision area p3 , determines the time T when fleet 1 leaves the collision area l1 , determines the time T when fleet 3 leaves the collision area l3 , compares the times when the straight-ahead vehicle fleets arrive at the collision area, and determines that the vehicle arriving first has the priority to pass through the collision area. When they arrive at the collision area simultaneously, the lengths of the fleets are compared, and the fleet with the smaller length has the priority to pass. It is determined whether a collision is predicted to occur at this time. When it is determined that T p1 is less than or equal to T p3Less than or equal to T l1 When it is less than or equal to T, collisions may occur. At this time, Fleet 3 decelerates uniformly and reaches the collision area. Determine the speed V2 of Fleet 3 when it just reaches the collision area at the critical time. Fleet 3 leaves the traffic intersection at the recommended speed V2 and sends the third target driving speed to the corresponding vehicles through vehicle wireless communication.

[0083] When determining that when T l1 Less than or equal to T p3 When it is less than or equal to T, Fleet 3 accelerates uniformly to the collision area. Calculate the speed V2' of Fleet 3 when it just reaches the collision area at the critical time. Determine whether this speed exceeds the maximum speed limit for driving at the current traffic intersection. If it exceeds the maximum speed limit for driving at the current traffic intersection, the recommended vehicle speed is the maximum speed limit. If the speed of Fleet 3 is less than or equal to the maximum speed limit, the recommended current vehicle speed remains V2' unchanged. Send the fourth target driving speed to the corresponding vehicles through vehicle wireless communication.

[0084] The specific traffic dispatching process in the case of a left-turn collision between the two fleets is as follows: The traffic dispatching device determines the time T when Fleet 2 reaches the collision area p2 , determines the time T when Fleet 4 reaches the collision area p4 , determines the time T when Fleet 2 leaves the collision area l2 , determines the time T when Fleet 4 leaves the collision area l4 , compares the times when the two fleets reach the collision area, and determines that the fleet that arrives first has priority to pass through the collision area. Taking Fleet 2 as an example, judge whether the speed of Fleet 2 exceeds the maximum safe speed for turning. If the speed of Fleet 2 exceeds the maximum safe speed, it first decelerates uniformly in a straight line before entering the intersection, and the speed reduces to the maximum safe speed when entering the traffic intersection. Determine the total departure time T2 of Fleet 2. The total departure time is the sum of the time from before entering the intersection to when entering the traffic intersection to when leaving the collision area. Determine whether a collision may occur. If a collision may occur, control Fleet 4 to take a uniformly decelerated straight-line motion to reach the collision area. Determine the uniform circular motion speed V3 of Fleet 4 when it just reaches the collision area after T2, and send the fifth target driving speed to the corresponding vehicles through vehicle wireless communication.

[0085] If it exceeds the maximum safe speed for turning, keep the original speed unchanged. Calculate the total departure time T2 of Fleet 2. The total departure time is the sum of the time from before entering the intersection to when entering the traffic intersection to when leaving the collision area. Determine whether a collision may occur. If a collision is impossible, calculate the uniform circular motion speed V3' of Fleet 4 when it just reaches the collision area after T2. Determine whether it exceeds the maximum speed limit for driving at the current traffic intersection. If it exceeds the maximum speed limit for driving at the current traffic intersection, the recommended vehicle speed at this time is the maximum safe speed. If the speed of Fleet 2 is less than or equal to the maximum safe speed, the recommended current vehicle speed is V3', and send the sixth target driving speed to the corresponding vehicles through vehicle wireless communication.

[0086] Currently, in the scenario of traffic scheduling, traffic information data is mainly collected through sensor technology. A traffic scheduling model is determined based on historical traffic information data, and traffic scheduling is carried out according to the results calculated by the traffic scheduling model. However, since the traffic scheduling model in the above method is determined based on historical traffic information data, it can only meet the traffic scheduling needs during the daily passage of vehicles. When there are sudden changes in traffic flow, traffic scheduling cannot be carried out according to the real-time traffic conditions.

[0087] To solve the technical problems existing in the related art, the present disclosure provides a traffic scheduling method. The traffic scheduling device determines the traffic flow volume at an intersection with traffic lights based on the received real-time traffic condition information at the intersection; when the traffic flow is large, it determines the target lane where the traffic light shows green and the time for showing green; thus, it can quickly clear the vehicles in the lane with a large traffic flow and relieve the traffic congestion. When the traffic flow is small, it controls the traffic lights of each lane at the intersection to show green; and based on the traffic light information and vehicle status information at the intersection, it determines the target driving speed corresponding to each vehicle. Traffic scheduling is carried out according to the real-time traffic conditions, so as to meet the traffic scheduling needs when there are sudden changes in traffic flow.

[0088] As Figure 13 shown, Figure 13 For the traffic scheduling method provided by the present disclosure, the method includes the following S1301 - S1307, which will be described in detail below.

[0089] S1301. The traffic scheduling device receives the real-time traffic condition information at the intersection.

[0090] Among them, the traffic condition information includes at least one of the following: traffic light information, traffic flow, vehicle status information; the traffic flow includes the traffic flow at the intersection and the traffic flow of each lane at the intersection; the vehicle status information includes at least one of the following: the position of the vehicle, the speed of the vehicle, and the acceleration of the vehicle.

[0091] In a possible implementation manner, the traffic device receives the traffic condition information sent by multi-source sensors and in-vehicle units, performs information fusion, and determines the real-time traffic condition information at the intersection.

[0092] S1302. When the traffic scheduling device determines that there are traffic lights at the intersection based on the traffic light information, it determines whether the traffic flow at the intersection is greater than a first threshold.

[0093] In a possible implementation manner, the first threshold of the traffic flow at the intersection is the traffic flow at the intersection in the vehicle free passage state. When the traffic flow at the intersection is greater than the first threshold, it can be determined that the intersection is in a high traffic flow state at this time. When the traffic flow at the intersection is less than or equal to the first threshold, it can be determined that the intersection is in a low traffic flow state at this time.

[0094] S1303. If the traffic flow at the intersection is greater than the first threshold, the traffic dispatching device determines the target lanes in the intersection where the traffic flow of the lanes meets the preset conditions.

[0095] Among them, the preset condition is the lane combination with the maximum passing revenue value at the intersection.

[0096] In a possible implementation, the target lane is the lane with the maximum passing revenue value. To relieve the traffic pressure at the intersection, the signal light of the target lane shows a green light in the next signal light cycle.

[0097] S1304. The traffic dispatching device controls the signal light of the target lane to show a green light within a preset duration, and the signal lights of the lanes other than the target lane in the intersection show red lights.

[0098] In a possible implementation, the traffic dispatching device sends an instruction to the signal lights at the intersection to determine whether the signal lights of the lanes show green lights or red lights and the duration of showing green lights or red lights.

[0099] S1305. If the traffic flow at the intersection is less than or equal to the first threshold, the traffic dispatching device controls the signal lights of each lane at the intersection to show green lights.

[0100] In a possible implementation, when the traffic flow at the intersection is less than or equal to the first threshold, the traffic dispatching device determines that the intersection is in a low traffic flow state at this time. At this time, the traffic dispatching device sends an instruction to the signal lights at the intersection to control the signal lights of each lane to show green lights.

[0101] S1306. The traffic dispatching device determines the target driving speed corresponding to each vehicle based on the signal light information and vehicle status information at the intersection.

[0102] Among them, the target driving speed is the maximum driving speed to avoid vehicle collisions.

[0103] S1307. The traffic dispatching device sends the target driving speed corresponding to each vehicle to the on-vehicle terminal of each vehicle.

[0104] In a possible implementation, the traffic dispatching device can send the target driving speed to the corresponding vehicle through vehicle wireless communication for traffic dispatching.

[0105] The technical solutions provided by the above embodiments can at least bring the following beneficial effects: The traffic scheduling device determines the traffic flow volume at an intersection with traffic lights based on the received real-time traffic condition information of the intersection; when the traffic flow volume is large, it determines the target lane where the traffic light shows green and the time for showing green; thus, it can quickly clear the vehicles in the lane with a large traffic flow volume and relieve the traffic congestion. When the traffic flow volume is small, it controls the traffic lights of each lane at the intersection to show green; and based on the traffic light information and vehicle status information of the intersection, it determines the target driving speed corresponding to each vehicle. It performs traffic scheduling according to the real-time traffic conditions, thereby meeting the traffic scheduling requirements when sudden changes occur in the traffic flow volume.

[0106] In a possible implementation manner, in combination with Figure 13 , as Figure 14 shown, in S1303 above, to determine the target lane where the traffic flow volume of the lane at the intersection meets the preset condition, the method specifically includes the following S1401 - S1404, which will be described in detail below.

[0107] S1401: Based on the consecutive red light times, traffic flow coefficients, and the number of vehicles of each lane at the intersection, determine the priority coefficient of each lane.

[0108] Among them, the priority coefficient of the lane is determined by the consecutive red light times of the lane, the traffic flow coefficient, and the number of vehicles in the lane.

[0109] In a possible implementation manner, the priority coefficient satisfies the following formula:

[0110]

[0111] Among them, Q n is the priority coefficient of the lane; t j is the waiting time parameter, which is determined by the consecutive red light times of the corresponding lane. Exemplarily, when the consecutive red light times of the lane is n, t j is n; k is the traffic flow coefficient, which is determined according to the historical traffic flow situation; P lanen is the traffic flow volume of the lane, and the traffic flow volume of the lane can be determined according to the traffic flow volume calculation formula of the lane in the above embodiments, which will not be elaborated here.

[0112] S1402: The traffic scheduling device combines the lanes whose priority coefficients meet the conditions in pairs and determines the collision coefficient of the two lanes in each combination.

[0113] Among them, the collision coefficient is used to characterize the probability of vehicles on the two lanes in each combination colliding, and this probability of collision is determined by the traffic scheduling device according to the real-time traffic condition information.

[0114] In a possible implementation, the traffic dispatching device may determine the probability of a vehicle collision on a lane based on the real-time traffic condition information at an intersection.

[0115] S1403. The traffic dispatching device determines the passing benefit value of each combination based on the collision coefficient of each combination and the priority coefficient of the lanes within each combination.

[0116] Among them, the passing benefit value is used to characterize the benefit of the number of vehicles that can pass after setting the signal lights of two lanes in the combination to green.

[0117] In a possible implementation, the passing benefit value satisfies the following formula:

[0118] u i = k(a, b)Q a Q b

[0119] Among them, k(a, b) is the collision coefficient. When the vehicles on lane a and lane b will not collide, this coefficient is 1. When the vehicles on lane a and lane b will definitely collide, this coefficient is 0; Q a and Q b are the priority coefficients of the two lanes respectively.

[0120] S1404. The traffic dispatching device determines the two lanes in the combination with the largest passing benefit value as the target lanes.

[0121] The technical solution provided by the above embodiment can at least bring the following beneficial effects: The traffic dispatching device determines the traffic volume at the intersection when there are signal lights at the intersection according to the received real-time traffic condition information at the intersection; when the traffic volume is large, it determines the lanes in the lane combination with a large passing benefit value as the target lanes, and determines to display the signal lights of the target lanes as green for priority passing, thereby alleviating the traffic pressure at the intersection at this time.

[0122] In a possible implementation, in combination with Figure 14 , as Figure 15 shown, in S1305 above, the traffic dispatching device controls the signal lights of the target lanes to display green within a preset time period. The method specifically includes the following S1501 - S1504, which will be described in detail below.

[0123] S1501. The traffic dispatching device determines the number of vehicles passing through the target lanes in the next signal light cycle.

[0124] Among them, the number of vehicles is the minimum of the following numbers of vehicles: the number of vehicles in the first lane, the number of vehicles in the second lane, and the average value of the number of vehicles in all lanes at the intersection. The first lane is any one of the target lanes, and the second lane is the other one of the target lanes.

[0125] S1502. The traffic dispatching device determines the time for the target vehicle to pass through the intersection based on the vehicle status information.

[0126] Wherein, the target vehicle is the last vehicle passing through in the target lane within the next signal light cycle.

[0127] S1503. The traffic dispatching device determines that the time for the target vehicle to pass through the intersection is a preset time.

[0128] Wherein, the preset time is used to determine the green light time of the signal light.

[0129] S1504. The traffic dispatching device controls the signal light of the target lane to display green light within the preset time.

[0130] In a possible implementation manner, the traffic dispatching device sends an instruction to the signal light to control the signal light of the target lane to display green light within the preset time.

[0131] The technical solution provided by the above embodiment can at least bring the following beneficial effects: The traffic dispatching device determines the traffic flow volume at the intersection with signal lights according to the received real-time traffic condition information of the intersection; when the traffic flow is large, it determines the lane combination with a large passing benefit value as the target lane for the signal light to display green light, determines the number of vehicles passing through in the target lane within the next signal light cycle, and determines the green light display time based on the time required for the last vehicle to pass through within the next signal light cycle; when the traffic flow is small, it controls the signal lights of each lane at the intersection to display green lights; thus, it can quickly clear the vehicles in the lane with a large traffic flow and relieve the traffic congestion. And based on the signal light information and vehicle status information at the intersection, it determines the target driving speed corresponding to each vehicle. It conducts traffic dispatching according to the real-time traffic conditions, so as to meet the traffic dispatching requirements when sudden changes occur in the traffic flow.

[0132] In a possible implementation manner, in combination with Figure 15 , such as Figure 16 shown, the above S1306. The traffic dispatching device determines the target driving speed corresponding to each vehicle based on the signal light information and vehicle status information at the intersection. This method specifically includes the following S1601 - S1609, which will be described in detail below.

[0133] S1601. The traffic dispatching device forms teams for multiple vehicles with the same driving route in the same lane and determines multiple vehicle teams.

[0134] S1602. The traffic dispatching device determines whether there is a collision area for the first vehicle team.

[0135] Among them, the first vehicle fleet is composed of vehicles in any one of the vehicle fleets at the intersection, and the collision area is the area where the vehicle fleet may collide with vehicle fleets traveling in other directions during driving.

[0136] Exemplarily, the possible collision area is as described above Figure 8 As shown, the possible collision situations include but are not limited to three situations: the straight vehicle fleet 1 collides with the left-turn vehicle fleet 2, the straight vehicle fleet 1 collides with the straight vehicle fleet 3, and the left-turn vehicle fleet 2 collides with the left-turn vehicle fleet 4. Details are not elaborated here.

[0137] S1603. If there is no collision area, the traffic dispatching device determines that the maximum speed limit of the intersection is the target driving speed of the vehicles in the first vehicle fleet.

[0138] It can be understood that when there is no collision area, in order to quickly clear the vehicles at the intersection, at this time, the maximum speed at which the vehicles in the first vehicle fleet can travel is determined as the target driving speed.

[0139] S1604. If there is a collision area, the traffic dispatching device determines the time period when the first vehicle fleet reaches the collision area, and the second vehicle fleet that reaches the collision area within this time period.

[0140] In a possible implementation manner, the traffic dispatching device can determine the time period when the first vehicle fleet reaches the collision area, and the second vehicle fleet that reaches the collision area within this time period according to the vehicle driving speed, vehicle acceleration, and vehicle position in the vehicle state information.

[0141] S1605. If the first vehicle fleet is the vehicle fleet with priority to pass through the collision area, the traffic dispatching device determines the maximum safe speed of the first vehicle fleet.

[0142] Among them, the maximum safe speed is the maximum speed limit or the maximum speed at which the first vehicle fleet does not collide with other vehicles in the collision area.

[0143] In a possible implementation manner, the vehicle fleet that arrives at the collision area first can be determined as the vehicle fleet with priority to pass through according to the time when the vehicle fleet arrives at the collision area.

[0144] In a possible implementation manner, if the first vehicle fleet arrives at the collision area first, it is determined that the first vehicle fleet is the vehicle fleet with priority to pass through the collision area at this time. At this time, the traffic dispatching device determines that the maximum speed limit of the intersection is the maximum safe speed of the first vehicle fleet.

[0145] S1606. The traffic dispatching device determines the maximum safe speed of the first vehicle fleet as the target driving speed of the vehicles in the first vehicle fleet.

[0146] Among them, the target driving speed is the maximum speed at which the first vehicle fleet can travel while avoiding colliding with the second vehicle fleet.

[0147] S1607. If the first vehicle fleet is not the fleet with priority to pass through the collision area, the traffic dispatching device determines the latest time for the second vehicle fleet to leave the collision area at the target driving speed of the second vehicle fleet.

[0148] In a possible implementation manner, the traffic dispatching device can determine the latest time for the second vehicle fleet to leave the collision area at the target driving speed of the second vehicle fleet according to the vehicle driving speed, vehicle acceleration, and vehicle position in the vehicle state information.

[0149] S1608. The traffic dispatching device determines the driving duration for the first vehicle fleet to travel to the collision area as the duration within the current time to the latest time.

[0150] It can be understood that when the driving duration for the first vehicle fleet to travel to the collision area is the duration within the current time to the latest time, when the first vehicle fleet travels to the collision area, the second vehicle fleet has left the second area, thus avoiding a collision between the first vehicle fleet and the second vehicle fleet.

[0151] S1609. The traffic dispatching device determines the target driving speed of the first vehicle fleet based on the driving duration and the distance between the first vehicle fleet and the collision area.

[0152] Wherein, the target driving speed is the maximum speed that the first vehicle fleet can travel without colliding with the second vehicle fleet.

[0153] In a possible implementation manner, the traffic dispatching device can determine the target driving speed of the first vehicle fleet according to the vehicle driving speed, vehicle acceleration, and vehicle position in the vehicle state information.

[0154] The technical solutions provided in the above embodiments can at least bring the following beneficial effects: The traffic dispatching device determines the traffic flow volume at the intersection when there is a traffic signal according to the received real-time traffic condition information at the intersection; when the traffic flow volume is large, it determines the target lane for the traffic signal to show green and the time for showing green; thus, it can quickly clear the vehicles in the lane with a large traffic flow volume and relieve the traffic congestion. When the traffic flow volume is small, it controls the traffic signals of each lane at the intersection to show green; and based on the traffic signal information and vehicle state information at the intersection, it determines the target driving speed corresponding to each vehicle. It conducts traffic dispatching according to the real-time traffic conditions, thereby meeting the traffic dispatching requirements when sudden changes occur in the traffic flow volume.

[0155] The above has described in detail the traffic dispatching method related to the embodiments of the present disclosure.

[0156] As can be seen, the above mainly introduced the technical solution provided by the embodiments of the present disclosure from the perspective of methods. To implement the above functions, it includes the corresponding hardware structures and / or software modules for executing each function. Those skilled in the art should easily realize that, in combination with the modules and algorithm steps of each example described in the embodiments disclosed herein, the embodiments of the present disclosure can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the way of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present disclosure.

[0157] The embodiments of the present disclosure can divide the functional modules of the traffic scheduling device according to the above method examples. For example, each functional module can be divided corresponding to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of a software functional module. Optionally, the division of modules in the embodiments of the present disclosure is illustrative, only a logical function division, and there can be other division methods in actual implementation.

[0158] As Figure 17 shown, it is a schematic structural diagram of a traffic scheduling device 1700 provided by the embodiments of the present disclosure.

[0159] The traffic scheduling device 1700 includes: a communication unit 1701 and a processing unit 1702; the communication unit 1701 is used to receive real-time traffic condition information at the intersection; the traffic condition information includes at least one of the following: signal light information, traffic flow, and vehicle status information; the traffic flow includes the traffic flow at the intersection and the traffic flow of each lane at the intersection; the vehicle status information includes at least one of the following: the position of the vehicle, the speed of the vehicle, and the acceleration of the vehicle; the processing unit 1702 is used to determine whether the traffic flow at the intersection is greater than a first threshold when it is determined that there is a signal light at the intersection based on the signal light information; the processing unit 1702 is used to determine a target lane whose lane traffic flow at the intersection meets a preset condition if the traffic flow at the intersection is greater than the first threshold; the processing unit 1702 is used to control the signal light of the target lane to display green for a preset duration, and the signal lights of the lanes other than the target lane at the intersection display red; the processing unit 1702 is used to control the signal lights of each lane at the intersection to display green if the traffic flow at the intersection is less than or equal to the first threshold; the processing unit 1702 is used to determine the target driving speed corresponding to each vehicle based on the signal light information and vehicle status information at the intersection; the communication unit 1701 is used to send the target driving speed corresponding to each vehicle to the in-vehicle terminal of each vehicle.

[0160] In a possible implementation manner, the processing unit 1702 is specifically configured to: determine the priority coefficient of each lane; the priority coefficient of the lane is determined by the number of consecutive red lights of the lane, the traffic flow coefficient, and the number of vehicles in the lane; combine the lanes whose priority coefficients meet the conditions in pairs, and determine the collision coefficient of the two lanes in each combination; the collision coefficient is used to characterize the probability of vehicles on the two lanes in each combination colliding; based on the collision coefficient and the priority coefficient, determine the passing benefit value of each combination; the passing benefit value is used to characterize the benefit of the number of vehicles that can pass after setting the signal lights of the two lanes in the combination to green; determine the two lanes in the combination with the largest benefit value as the target lanes.

[0161] In a possible implementation manner, the processing unit 1702 is specifically configured to: determine the number of vehicles passing through the target lane in the next signal light cycle, and the number of vehicles is the minimum value among the following numbers of vehicles: the number of vehicles in the first lane, the number of vehicles in the second lane, and the average value of the number of vehicles in all lanes at the intersection; based on the vehicle state information, determine the time for the target vehicle to pass through the intersection, where the target vehicle is the last vehicle passing through the target lane in the next signal light cycle; determine that the time for the target vehicle to pass through the intersection is a preset time; control the signal light of the target lane to display green within the preset time.

[0162] In a possible implementation manner, the processing unit 1702 is specifically configured to: form teams for multiple vehicles with the same driving route in the same lane to determine multiple vehicle teams; for the first vehicle team, determine whether there is a collision area for the first vehicle team; if there is no collision area, determine that the highest speed limit at the intersection is the target driving speed of the vehicles in the first vehicle team; if there is a collision area, determine the time period when the first vehicle team reaches the collision area; and the second vehicle team that reaches the collision area within the time period; if the first vehicle team is the vehicle team that has priority to pass in the collision area, determine the maximum safe speed of the first vehicle team; determine the maximum safe speed of the first vehicle team as the target driving speed of the vehicles in the first vehicle team; if the first vehicle team is not the vehicle team that has priority to pass in the collision area, determine the latest time for the second vehicle team to leave the collision area at the target driving speed of the second vehicle team; determine the driving time for the first vehicle team to drive to the collision area as the duration within the current time to the latest time; based on the driving time and the distance between the first vehicle team and the collision area, determine the target driving speed of the first vehicle team.

[0163] The embodiments of the present disclosure further provide a traffic scheduling device, which includes a processor and a memory; wherein, the memory is used to store computer execution instructions, and when the traffic scheduling runs, the processor executes the computer execution instructions stored in the memory so that the traffic scheduling device executes the traffic scheduling method described in the embodiments of the present disclosure.

[0164] Embodiments of the present disclosure provide a computer program product including instructions that, when run on a computer, cause the computer to execute the traffic scheduling method in the above method embodiments.

[0165] Embodiments of the present disclosure provide a chip that includes a processor and a communication interface. The communication interface is coupled to the processor, and the processor is configured to run a computer program or instructions to implement the traffic scheduling method in the above method embodiments.

[0166] Among them, a computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of a computer-readable storage medium include: an electrical connection having one or more wires, a portable computer disk, a hard disk. Random Access Memory (RAM), Read-Only Memory (ROM), Erasable Programmable Read Only Memory (EPROM), registers, hard disks, optical fibers, portable compact disc read-only memory (Compact Disc Read-Only Memory, CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above, or any other form of computer-readable storage medium known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium may also be a component of the processor. The processor and the storage medium may be located in an Application Specific Integrated Circuit (ASIC). In the embodiments of the present disclosure, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0167] Since the devices, equipment, computer-readable storage media, and computer program products in the embodiments of the present disclosure can be applied to the above methods, the technical effects that can be obtained therefrom can also refer to the above method embodiments, and the embodiments of the present disclosure will not be elaborated herein.

[0168] As shown above, this is only the specific implementation manner of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any changes or substitutions within the technical scope disclosed by the present disclosure should be covered by the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims.

Claims

1. A traffic scheduling method, characterized in that, Including: Receiving real-time traffic condition information of an intersection; the traffic condition information includes at least one of the following: signal light information, traffic flow, and vehicle state information; the traffic flow includes the traffic flow at the intersection and the traffic flow of each lane at the intersection; the vehicle state information includes at least one of the following: the position of the vehicle, the speed of the vehicle, and the acceleration of the vehicle; When it is determined based on the signal light information that there is a signal light at the intersection, determining whether the traffic flow at the intersection is greater than a first threshold; If the traffic flow at the intersection is greater than the first threshold, determining a target lane whose traffic flow of the lanes at the intersection meets a preset condition; Controlling the signal light of the target lane to display green for a preset duration, and the signal lights of the lanes other than the target lane at the intersection to display red; If the traffic flow at the intersection is less than or equal to the first threshold, controlling the signal lights of each lane at the intersection to display green; Based on the signal light information and vehicle state information of the intersection, determining the target driving speed corresponding to each vehicle; Sending the target driving speed corresponding to each vehicle to the on-vehicle terminal of each vehicle; Wherein, the determining the target lane whose traffic flow of the lanes at the intersection meets a preset condition includes: Based on the number of consecutive red lights, traffic flow coefficient, and number of vehicles of each lane at the intersection, determining the priority coefficient of each lane; Combining the lanes whose priority coefficients meet the conditions in pairs, and determining the collision coefficient of the two lanes in each combination; the collision coefficient is used to characterize the probability of vehicles on the two lanes in each combination colliding; Based on the collision coefficient of each combination and the priority coefficient of the lanes within each combination, determining the passing benefit value of each combination; the passing benefit value is used to characterize the benefit of the number of vehicles that can pass after setting the signal lights of the two lanes in the combination to green; Determining the two lanes in the combination with the largest passing benefit value as the target lanes; Wherein, the determining the target driving speed corresponding to each vehicle based on the signal light information and vehicle state information of the intersection includes: Forming vehicle formations for multiple vehicles with the same driving route in the same lane, and determining multiple vehicle fleets; For the first vehicle fleet, determining whether there is a collision area for the first vehicle fleet; the first vehicle fleet is a vehicle fleet composed of vehicles in any one vehicle fleet at the intersection; If there is no collision area, determining that the highest speed limit of the intersection is the target driving speed of the vehicles in the first vehicle fleet; If there is a collision area, determining the time period when the first vehicle fleet arrives at the collision area; and the second vehicle fleet that reaches the collision area within the time period; If the first vehicle fleet is the vehicle fleet that has priority to pass in the collision area, determining the maximum safe speed of the first vehicle fleet; the maximum safe speed is the highest speed limit or the maximum speed at which the first vehicle fleet does not collide with vehicles in other collision areas; Determining the maximum safe speed of the first vehicle fleet as the target driving speed of the vehicles in the first vehicle fleet; If the first vehicle fleet is not the vehicle fleet with priority passage in the collision area, determine the latest time for the second vehicle fleet to leave the collision area at the target driving speed of the second vehicle fleet; Determine the driving duration for the first vehicle fleet to travel to the collision area as the duration within the current time to the latest time; Based on the signal light information of the intersection, the driving duration, and the distance between the first vehicle fleet and the collision area, determine the target driving speed of the first vehicle fleet.

2. The method according to claim 1, characterized in that, Controlling the signal light of the target lane to show a green light within a preset time period includes: Determine the number of vehicles passing through the target lane in the next signal light cycle, where the number of vehicles is the minimum of the following: the number of vehicles in the first lane, the number of vehicles in the second lane, and the average number of vehicles in all lanes of the intersection; the first lane is any one of the target lanes, and the second lane is the other lane of the target lanes; Based on the vehicle state information, determine the duration for the target vehicle to pass through the intersection, where the target vehicle is the last vehicle passing through in the target lane in the next signal light cycle; Determine that the duration for the target vehicle to pass through the intersection is the preset duration; Control the signal light of the target lane to show a green light within the preset duration.

3. A traffic dispatching device, characterized in that, Includes: A communication unit and a processing unit; The communication unit is used to receive real-time traffic condition information of the intersection; the traffic condition information includes at least one of the following: signal light information, traffic flow, and vehicle state information; the traffic flow includes the traffic flow of the intersection and the traffic flow of each lane of the intersection; the vehicle state information includes at least one of the following: the position of the vehicle, the speed of the vehicle, and the acceleration of the vehicle; The processing unit is used to determine whether the traffic flow of the intersection is greater than a first threshold when it is determined that there is a signal light at the intersection based on the signal light information; The processing unit is used to, if the traffic flow of the intersection is greater than the first threshold, determine the target lane whose lane traffic flow at the intersection meets the preset conditions; The processing unit is used to control the signal light of the target lane to show a green light within a preset duration, and the signal lights of the lanes other than the target lane at the intersection show red lights; The processing unit is used to, if the traffic flow of the intersection is less than or equal to the first threshold, control the signal lights of each lane of the intersection to show green lights; The processing unit is used to determine the target driving speed corresponding to each vehicle based on the signal light information and vehicle state information of the intersection; The communication unit is used to send the target driving speed corresponding to each vehicle to the in-vehicle terminal of each vehicle; Wherein, the processing unit is specifically used to: determine the priority coefficient of each lane based on the consecutive red light times, traffic flow coefficient, and number of vehicles of each lane of the intersection; Combine the lanes whose priority coefficients meet the conditions in pairs, and determine the collision coefficient of the two lanes in each combination; the collision coefficient is used to characterize the probability of vehicles on the two lanes in each combination colliding; Determine the passing revenue value of each combination based on the collision coefficient of each combination and the priority coefficient of the lanes within each combination; the passing revenue value is used to characterize the revenue of the number of vehicles that can pass after setting the signal lights of two lanes in the combination to green lights. Determine the two lanes in the combination with the maximum passing revenue value as the target lanes. Wherein, the processing unit is specifically configured to: For multiple vehicle formations with the same driving route within the same lane, determine multiple vehicle fleets. For the first vehicle fleet, determine whether there is a collision area; the first vehicle fleet is a vehicle fleet composed of vehicles in any one of the vehicle fleets at the intersection. If there is no collision area, determine the highest speed limit of the intersection as the target driving speed of the vehicles in the first vehicle fleet. If there is a collision area, determine the time period when the first vehicle fleet reaches the collision area; and the second vehicle fleet that reaches the collision area within the time period. If the first vehicle fleet is the vehicle fleet with priority passage in the collision area, determine the maximum safe speed of the first vehicle fleet; the maximum safe speed is the highest speed limit or the maximum speed at which the first vehicle fleet does not collide with vehicles in other collision areas. Determine the maximum safe speed of the first vehicle fleet as the target driving speed of the vehicles in the first vehicle fleet. If the first vehicle fleet is not the vehicle fleet with priority passage in the collision area, determine the latest time when the second vehicle fleet leaves the collision area at the target driving speed of the second vehicle fleet. Determine the driving duration of the first vehicle fleet from the current time to the latest time to reach the collision area as the driving duration of the first vehicle fleet to reach the collision area. Based on the signal light information of the intersection, the driving duration, and the distance between the first vehicle fleet and the collision area, determine the target driving speed of the first vehicle fleet.

4. The device according to claim 3, characterized in that The processing unit is specifically configured to: Determine the number of vehicles passing through the target lanes in the next signal light cycle, and the number of vehicles is the minimum value among the following numbers of vehicles: the number of vehicles in the first lane, the number of vehicles in the second lane, and the average number of vehicles in all lanes of the intersection; the first lane is any one of the target lanes, and the second lane is the other lane of the target lanes. Based on the vehicle state information, determine the time duration for the target vehicle to pass through the intersection, where the target vehicle is the last vehicle passing through the target lanes in the next signal light cycle. Determine the time duration for the target vehicle to pass through the intersection as the preset time duration. Control the signal lights of the target lanes to display green lights within the preset time duration.

5. A traffic scheduling device, characterized in that, Include: A processor and a memory; wherein, the memory is used to store computer execution instructions, and when the traffic scheduling device runs, the processor executes the computer execution instructions stored in the memory so that the traffic scheduling device executes the traffic scheduling method according to claim 1 or 2.

6. A computer-readable storage medium, characterized in that, Instructions are stored in the computer-readable storage medium, and when the instructions in the computer-readable storage medium are executed by the processor of the traffic scheduling device, the traffic scheduling device is made to execute the traffic scheduling method according to claim 1 or 2.

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