A method, apparatus, equipment, and medium for determining a green wave path.

Abstract

This invention relates to the field of intelligent transportation technology, and in particular to a method, apparatus, device, and medium for determining green wave paths. The method includes: acquiring road segment information of a preset road segment, wherein the road segment information includes: a preset traffic light information list corresponding to the preset road segment and a sub-road segment information list corresponding to the preset traffic light information list; acquiring a preset vehicle information list corresponding to the preset road segment; and acquiring a target vehicle speed for the preset road segment based on the road segment information and the preset vehicle information list. It is understood that by determining the vehicle speed that satisfies the green wave path, and then adjusting the green wave bandwidth at each intersection based on the vehicle speed, the green wave bandwidth can be accurately determined to facilitate the determination of the green wave path.

Description

Technical Field

[0001] This invention relates to the field of intelligent transportation technology, and in particular to a method, apparatus, equipment and medium for determining green wave paths. Background Technology

[0002] Green wave coordination control ensures that vehicles traveling at a certain speed encounter a continuous green light at intersections on designated roads. It plays a crucial role in ensuring smooth traffic flow in urban areas. However, existing technologies lack a method for accurately determining the green wave bandwidth to establish the green wave path, thus impacting vehicle traffic efficiency. Therefore, accurately determining the green wave bandwidth to establish the green wave path is a pressing technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0003] To address the aforementioned technical problems, this invention protects a method for determining a green wave path, the method comprising:

[0004] Obtain road segment information of a preset road segment, wherein the road segment information of the preset road segment includes: a preset traffic light information list corresponding to the preset road segment and a sub-road segment information list corresponding to the preset traffic light information list;

[0005] Obtain the list of preset vehicle information corresponding to the preset road segment;

[0006] Based on the road segment information of the preset road segment and the preset vehicle information list corresponding to the preset road segment, the target vehicle speed of the preset road segment is obtained;

[0007] Based on the target vehicle speed, obtain the target green wave bandwidth list for the preset road segment;

[0008] Based on the target green wave bandwidth list, the preset road segments are processed to obtain the target green wave path.

[0009] This invention also protects a device for determining a green wave path, the device comprising:

[0010] The road segment information acquisition module is used to acquire road segment information of a preset road segment, wherein the road segment information of the preset road segment includes: a preset traffic light information list corresponding to the preset road segment and a sub-road segment information list corresponding to the preset traffic light information list.

[0011] The preset vehicle information acquisition module is used to acquire a preset vehicle information list corresponding to the preset road segment.

[0012] The target vehicle speed acquisition module is used to acquire the target vehicle speed of the preset road segment based on the road segment information and the preset vehicle information list corresponding to the preset road segment.

[0013] The target green wave bandwidth acquisition module is used to obtain a list of target green wave bandwidths for a preset road segment based on the target vehicle speed.

[0014] The target green wave path determination module is used to process preset road segments according to the target green wave bandwidth list in order to obtain the target green wave path.

[0015] This invention protects an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the aforementioned method for determining the green wave path.

[0016] This invention protects a computer-readable storage medium storing a computer program that, when executed by a processor, implements the aforementioned method for determining the green wave path.

[0017] Compared with existing technologies, this invention has significant advantages and beneficial effects. Through the above technical solution, the method, apparatus, electronic device, and storage medium for determining green wave paths provided by this invention achieve considerable technological advancement and practicality, and have broad industrial application value. It possesses at least the following advantages:

[0018] This invention discloses a method, apparatus, device, and medium for determining a green wave path. The method includes: acquiring road segment information of a preset road segment, wherein the road segment information includes: a preset traffic light information list corresponding to the preset road segment and a sub-road segment information list corresponding to the preset traffic light information list; acquiring a preset vehicle information list corresponding to the preset road segment; acquiring a target vehicle speed for the preset road segment based on the road segment information and the preset vehicle information list; acquiring the preset vehicle information list corresponding to the preset road segment; and acquiring the target vehicle speed for the preset road segment based on the road segment information and the preset vehicle information list. It can be seen that by determining the vehicle speed that satisfies the green wave path, and then adjusting the green wave bandwidth at each intersection based on the vehicle speed, the green wave bandwidth can be accurately determined to facilitate the determination of the green wave path.

[0019] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0020] Figure 1 A flowchart illustrating a method for determining a green wave path according to Embodiment 1 of the present invention;

[0021] Figure 2 This is a flowchart of step S300 provided in Embodiment 1 of the present invention;

[0022] Figure 3 This is a flowchart of step S301 provided in Embodiment 1 of the present invention;

[0023] Figure 4 A flowchart of step S3015 provided in Embodiment 1 of the present invention.

[0024] Figure 5 A flowchart of step S30153 provided in Embodiment 1 of the present invention;

[0025] Figure 6 The flowchart is for step S4001 provided in Embodiment 1 of the present invention. Detailed Implementation

[0026] To further illustrate the technical means and effects adopted by the present invention to achieve the intended purpose, the following detailed description of the specific implementation method and its effects of a green wave path determination method proposed according to the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided below.

[0027] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or server that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices.

[0028] Example 1

[0029] like Figure 1 As shown in the figure, this embodiment provides a method for determining the green wave path, the method including the following steps:

[0030] S100, obtain the road segment information of the preset road segment, wherein the road segment information of the preset road segment includes: a preset traffic light information list corresponding to the preset road segment and a sub-road segment information list corresponding to the preset traffic light information list.

[0031] Specifically, the preset road segment refers to the road segment pre-set by the user.

[0032] Specifically, the preset traffic light information list corresponding to the preset road segment includes: several preset traffic light information, wherein each preset traffic light information includes a preset traffic light ID and the green ratio corresponding to the preset traffic light ID. Those skilled in the art know that the method for obtaining the green ratio of any traffic light in the prior art is within the protection scope of this invention, and will not be elaborated here.

[0033] Furthermore, the preset traffic light ID is a unique identifier for the preset traffic light, wherein the preset traffic light corresponds to any traffic light at any intersection on the preset road segment.

[0034] Specifically, the sub-road segment information list includes several sub-road segment information, wherein each sub-road segment information includes a sub-road segment ID, the sub-road segment length corresponding to the sub-road segment ID, and the preset driving direction of the sub-road segment ID.

[0035] Furthermore, the sub-segment ID is a unique identifier for any sub-segment in the preset road segments.

[0036] Preferably, the sub-segment is the segment between adjacent preset traffic lights.

[0037] Furthermore, the preset driving direction of each sub-segment is consistent; this can be understood as: vehicles on each sub-segment travel in one direction.

[0038] Furthermore, the length of the sub-segment is the travel length of the sub-segment in the preset travel direction.

[0039] S200, obtain the preset vehicle information list corresponding to the preset road segment.

[0040] Specifically, the preset vehicle information list includes several preset vehicle information items, wherein each preset vehicle information item includes: preset vehicle ID, preset vehicle speed corresponding to the preset vehicle ID, and time interval between adjacent preset vehicle IDs, which can be understood as: the time interval between the subsequent preset vehicles and the preceding preset vehicles.

[0041] Furthermore, the preset vehicle ID is a unique identifier for the preset vehicle.

[0042] Furthermore, the preset vehicle is a vehicle that travels on a preset road section.

[0043] Preferably, the preset speed corresponding to each preset vehicle ID is the same.

[0044] Preferably, the time interval between any two adjacent preset vehicle IDs is consistent.

[0045] S300: Based on the road segment information of the preset road segment and the preset vehicle information list corresponding to the preset road segment, obtain the target vehicle speed of the preset road segment.

[0046] Specifically, step S300 also includes the following steps, such as... Figure 2 As shown:

[0047] S301, Obtain the target duration information list according to the preset traffic light information list.

[0048] Furthermore, the target duration information list includes the target duration corresponding to each preset vehicle ID.

[0049] In one specific embodiment, step S301 further includes the following steps, such as... Figure 3 As shown:

[0050] S3011, Obtain the sub-segment ID list A = {A1, ..., A2} from the segment information of the preset road segment. i , ..., A m}, A i Let be the ID of the i-th sub-segment, i = 1...m, where m is the number of sub-segment IDs.

[0051] S3012, Obtain a preset vehicle ID list B = {B1, ..., B1} from the preset vehicle information list corresponding to the preset road segment. j , ..., B n}, B j Let j be the j-th preset vehicle ID, j = 1...n, where n is the number of preset vehicle IDs.

[0052] Furthermore, n is the maximum number of vehicles traveling in the preset direction on the preset road segment.

[0053] S3013, Based on the green ratio corresponding to all preset traffic light IDs, obtain the preset traffic light duration list T = {T1, ..., T...} corresponding to A. i , ..., T m}, T i ={[T 1 i T 1 i1 +ΔT 1 i ), ..., [T x i T x i1 +ΔT x i ), ..., [T p i T pi1 +ΔT p i )}, where T x i For A i The start time of the x-th preset cycle of the corresponding preset traffic light, ΔT x i For A i The corresponding preset signal light display duration within the x-th preset cycle, x = 1...p(i), where p(i) is A i The corresponding preset number of preset cycles for the preset traffic lights.

[0054] Furthermore, the preset period is the display period of the traffic light in each preset traffic light. Those skilled in the art know that the method of determining the preset period of the preset traffic light by the green ratio corresponding to the preset traffic light ID will not be described in detail here.

[0055] Furthermore, the signal light display duration is either a green light display duration or a non-green light display duration; wherein, when x is an odd number, the signal light display duration is a green light display duration; and when x is an even number, the signal light display duration is a non-green light display duration.

[0056] Furthermore, T x i The following conditions must be met:

[0057] T x i＝ T x-1 i +ΔT x-1 i .

[0058] S3014, Obtain the sub-segment length list L = {L1, ..., L2} corresponding to A from the road segment information of the preset road segment. i , ..., L m}, L i For A i The corresponding sub-segment length.

[0059] S3015, Based on V, L, and T, obtain the target duration list G = {G1, ..., G...} corresponding to B. j , ..., G n}, G j For B j The corresponding target duration, where V is the preset vehicle speed.

[0060] Specifically, step S3015 also includes the following steps, such as... Figure 4 As shown:

[0061] S30151, Based on L and V, obtain the list of estimated time points G corresponding to B. 0 ={G 0 1, ..., G 0 j , ..., G 0 n}, G 0 j ={G 0 j1 , ..., G 0 ji , ..., G 0 jm}, G 0 ji For B j The corresponding preset vehicle arrives at A i The estimated time point for the corresponding intersection.

[0062] Furthermore, G 0 ji The following conditions must be met:

[0063] G 0 ji =T 0 +j×ΔT 0 +(L1+……+L i ) / V, where T 0 Let ΔT be the starting time of the first preset vehicle. 0 The time interval between adjacent preset vehicle IDs.

[0064] S30153, Traverse G and if G 0 ji To obtain G at the first time point when the preset conditions are met. 0 ji The corresponding first intermediate duration T' j and G 0 ji The corresponding second intermediate duration list T' j 0={T' j 01 +……+T' j 0y +……+T' j 0q}, T' j 0y Let G be the y-th second intermediate duration, y = 1...q, where q is the number of second intermediate durations. 0 ji The preset condition to be satisfied is when G 0 ji ∈[T x i Tx i1 +ΔT x i And when x is an even number.

[0065] Furthermore, T' j Meets the following conditions:

[0066] T' j =j×ΔT 0 +(L1+……+L i ) / V.

[0067] In one specific embodiment, step S30153 further includes the following step: obtaining T' 0y ,like Figure 5 As shown:

[0068] S1, obtain T' j The corresponding intermediate time point list G 01 ji ={G 0 ji+1 +ΔG 01 ji , ..., G 0 jz +ΔG 01 ji , ..., G 0 jm +ΔG 01 ji}, G 0 jz For T' j The corresponding z-th intermediate time point, z = i + 1 ... m, can be understood as: T' j The corresponding z-th intermediate time point refers to B j The corresponding preset vehicle arrives at A i The estimated time point corresponding to the z-th intersection after the corresponding intersection.

[0069] Furthermore, ΔG 01 ji =T x i1 +ΔT x i -G 0 ji .

[0070] S2, traversing G 01 ji And in G 01 ji China G 0 jz +ΔG 01 jiTo meet the preset conditions at the first time point, G 01 ji The corresponding first intermediate duration T' j 01 and G 01 ji The corresponding list of intermediate time points, where (G 0 jz +ΔG 01 ji )∈[T x z T x z1 +ΔT x z ), can be understood as: T x z For A i The start time of the x-th preset cycle of the z-th preset traffic light following the corresponding preset traffic light, ΔT x z For A i The display duration of the signal light within the x-th preset cycle of the z-th preset signal light following the corresponding preset signal light.

[0071] Furthermore, T' j 01 Meets the following conditions:

[0072] T' j 01 =j×ΔT 0 +(L i+1 +……+L z ) / V+(zi-1)×ΔG 01 ji .

[0073] S3, according to G 01 ji Obtain T' from the corresponding list of intermediate time points. 0y This can be understood as: referring to S1-S2 and so on, according to G 01 ji Obtain T' from the corresponding list of intermediate time points. 0y This will not be elaborated upon here.

[0074] S30155, according to T' j and T' j 0, get G 0 j .

[0075] Furthermore, G 0 j Meets the following conditions:

[0076] G 0 j =T' j +∑ q y＝1 T' j 0y -p×j×ΔT 0 .

[0077] The above-mentioned method can determine the time it takes for a vehicle to pass through a preset road segment by taking the time it takes for all vehicles to pass through the preset road segment. This allows for the accurate determination of the vehicle speed on the preset road segment based on the time taken for all vehicles to pass through it. Furthermore, by determining the vehicle speed that meets the requirements of the green wave path, and then adjusting the green wave bandwidth at each intersection based on the vehicle speed, the green wave bandwidth can be determined more accurately to facilitate the determination of the green wave path.

[0078] S303, Obtain the target vehicle speed based on the target duration information list.

[0079] Specifically, V 0 Meets the following conditions:

[0080] V 0 =(n×∑ m i＝1 L i ) / ∑ n j＝1 G j , among which, among which, V 0 The target speed.

[0081] This embodiment provides a method for determining a green wave path. The method includes: obtaining road segment information of a preset road segment, wherein the road segment information includes: a preset traffic light information list corresponding to the preset road segment and a sub-road segment information list corresponding to the preset traffic light information list; obtaining a preset vehicle information list corresponding to the preset road segment; and obtaining a target vehicle speed of the preset road segment based on the road segment information and the preset vehicle information list corresponding to the preset road segment. It can be seen that by determining the vehicle speed that satisfies the green wave path, and then adjusting the green wave bandwidth of each intersection according to the vehicle speed, the green wave bandwidth can be accurately determined to facilitate the determination of the green wave path.

[0082] In one specific embodiment, the following steps are included after step S300:

[0083] S400 retrieves a list of target green wave bandwidths for a preset road segment based on the target vehicle speed.

[0084] Specifically, the S400 procedure also includes the following steps, such as... Figure 6 As shown:

[0085] S401, Get the list of green light start times corresponding to A.0 ={A 0 1, ..., A 0 i , ..., A 0 m}, A 0 i For A i The corresponding green light start time.

[0086] Furthermore, A 0 i -A 0 i-1 =L i / V 0 .

[0087] Furthermore, A 0 1 = T 0 +L1 / V.

[0088] S403, according to A 0 The target green wave bandwidth list is obtained by processing T. Those skilled in the art are familiar with any method of obtaining green wave bandwidth in the prior art, and will not be described in detail here.

[0089] S500 processes preset road segments according to the target green wave bandwidth list to obtain the target green wave path. This can be understood as: adjusting the green light display duration at intersections of preset road segments according to the target green wave bandwidth so that the preset road segments are determined as green wave paths.

[0090] The above-mentioned system can adjust the display duration of traffic lights at intersections of each preset road segment based on the vehicle speed of the preset road segment, so as to accurately determine the green wave path.

[0091] Example 2

[0092] This second embodiment provides a device for determining the green wave path, the device comprising:

[0093] The road segment information acquisition module 100 is used to acquire road segment information of a preset road segment, wherein the road segment information of the preset road segment includes: a preset traffic light information list corresponding to the preset road segment and a sub-road segment information list corresponding to the preset traffic light information list.

[0094] Specifically, the preset road segment refers to the road segment pre-set by the user.

[0095] Specifically, the preset traffic light information list corresponding to the preset road segment includes: several preset traffic light information, wherein each preset traffic light information includes a preset traffic light ID and the green ratio corresponding to the preset traffic light ID. Those skilled in the art know that the method for obtaining the green ratio of any traffic light in the prior art is within the protection scope of this invention, and will not be elaborated here.

[0096] Furthermore, the preset traffic light ID is a unique identifier for the preset traffic light, wherein the preset traffic light corresponds to any traffic light at any intersection on the preset road segment.

[0097] Specifically, the sub-road segment information list includes several sub-road segment information, wherein each sub-road segment information includes a sub-road segment ID, the sub-road segment length corresponding to the sub-road segment ID, and the preset driving direction of the sub-road segment ID.

[0098] Furthermore, the sub-segment ID is a unique identifier for any sub-segment in the preset road segments.

[0099] Preferably, the sub-segment is the segment between adjacent preset traffic lights.

[0100] Furthermore, the preset driving direction of each sub-segment is consistent; this can be understood as: vehicles on each sub-segment travel in one direction.

[0101] Furthermore, the length of the sub-segment is the travel length of the sub-segment in the preset travel direction.

[0102] The preset vehicle information acquisition module 200 is used to acquire a preset vehicle information list corresponding to the preset road segment.

[0103] Specifically, the preset vehicle information list includes several preset vehicle information items, wherein each preset vehicle information item includes: preset vehicle ID, preset vehicle speed corresponding to the preset vehicle ID, and time interval between adjacent preset vehicle IDs, which can be understood as: the time interval between the subsequent preset vehicles and the preceding preset vehicles.

[0104] Furthermore, the preset vehicle ID is a unique identifier for the preset vehicle.

[0105] Furthermore, the preset vehicle is a vehicle that travels on a preset road section.

[0106] Preferably, the preset speed corresponding to each preset vehicle ID is the same.

[0107] Preferably, the time interval between any two adjacent preset vehicle IDs is consistent.

[0108] The target vehicle speed acquisition module 300 is used to acquire the target vehicle speed of the preset road segment based on the road segment information and the preset vehicle information list corresponding to the preset road segment.

[0109] Specifically, the target vehicle speed acquisition module 300 includes:

[0110] The target duration information acquisition module 301 is used to acquire the target duration information list according to the preset traffic light information list.

[0111] Furthermore, the target duration information list includes the target duration corresponding to each preset vehicle ID.

[0112] In one specific embodiment, the target duration information acquisition module 301 includes:

[0113] The first information acquisition module 3011 is used to obtain a sub-segment ID list A = {A1, ..., A2} from the segment information of a preset road segment. i , ..., A m}, A i Let be the ID of the i-th sub-segment, i = 1...m, where m is the number of sub-segment IDs.

[0114] The second information acquisition module 3012 is used to obtain a preset vehicle ID list B = {B1, ..., B1} from the preset vehicle information list corresponding to the preset road segment. j , ..., B n}, B j Let j be the j-th preset vehicle ID, j = 1...n, where n is the number of preset vehicle IDs.

[0115] Furthermore, n is the maximum number of vehicles traveling in the preset direction on the preset road segment.

[0116] The third information acquisition module 3013 is used to obtain the preset traffic light duration list T = {T1, ..., T2} corresponding to A based on the green ratio of all preset traffic light IDs. i , ..., T m}, T i ={[T 1 i T 1 i1 +ΔT 1 i ), ..., [T x i T x i1 +ΔT x i ), ..., [T p i T p i1 +ΔT p i )}, where T x i For A i The start time of the x-th preset cycle of the corresponding preset traffic light, ΔTx i For A i The corresponding preset signal light display duration within the x-th preset cycle, x = 1...p(i), where p(i) is A i The number of preset cycles for the corresponding preset traffic lights.

[0117] Furthermore, the preset period is the display period of the traffic light in each preset traffic light. Those skilled in the art know that the method of determining the preset period of the preset traffic light by the green ratio corresponding to the preset traffic light ID will not be described in detail here.

[0118] Furthermore, the signal light display duration is either a green light display duration or a non-green light display duration; wherein, when x is an odd number, the signal light display duration is a green light display duration; and when x is an even number, the signal light display duration is a non-green light display duration.

[0119] Furthermore, T x i Meets the following conditions:

[0120] T x i＝ T x-1 i +ΔT x-1 i .

[0121] The fourth information acquisition module 3014 is used to obtain the sub-segment length list L = {L1, ..., L2} corresponding to A from the road segment information of the preset road segment. i , ..., L m}, L i For A i The corresponding sub-segment length.

[0122] The target duration determination module 3015 is used to obtain the target duration list G = {G1, ..., G...} corresponding to B based on V, L, and T. j , ..., G n}, G j For B j The corresponding target duration, where V is the preset vehicle speed.

[0123] Specifically, the target duration acquisition module 3015 includes:

[0124] The estimated time point acquisition module 30151 is used to obtain the estimated time point list G corresponding to B based on L and V. 0 ={G 0 1, ..., G 0 j , ..., G 0 n}, G0 j ={G 0 j1 , ..., G 0 ji , ..., G 0 jm}, G 0 ji For B j The corresponding preset vehicle arrives at A i The estimated time point for the corresponding intersection.

[0125] Furthermore, G 0 ji The following conditions must be met:

[0126] G 0 ji =T 0 +j×ΔT 0 +(L1+……+L i ) / V, where T 0 Let ΔT be the starting time of the first preset vehicle. 0 The time interval between adjacent preset vehicle IDs.

[0127] The intermediate duration acquisition module 30153 is used to traverse G and when G... 0 ji To obtain G at the first time point when the preset conditions are met. 0 ji The corresponding first intermediate duration T' j and G 0 ji The corresponding second intermediate duration list T' j 0={T' j 01 +……+T' j 0y +……+T' j 0q}, T' j 0y Let G be the y-th second intermediate duration, y = 1...q, where q is the number of second intermediate durations. 0 ji The preset condition to be satisfied is when G 0 ji ∈[T x i T x i1 +ΔT x i And when x is an even number.

[0128] Furthermore, T' j The following conditions must be met:

[0129] T' j =j×ΔT 0 +(L1+……+L i ) / V.

[0130] In one specific embodiment, the intermediate duration acquisition module 30153 includes:

[0131] The first execution module 1 is used to obtain T' j The corresponding intermediate time point list G 01 ji ={G 0 ji+1 +ΔG 01 ji , ..., G 0 jz +ΔG 01 ji , ..., G 0 jm +ΔG 01 ji}, G 0 jz For T' j The corresponding z-th intermediate time point, z = i + 1 ... m, can be understood as: T' j The corresponding z-th intermediate time point refers to B j The corresponding preset vehicle arrives at A i The estimated time point corresponding to the z-th intersection after the corresponding intersection.

[0132] Furthermore, ΔG 01 ji =T x i1 +ΔT x i -G 0 ji .

[0133] The second execution module 2 is used to traverse G. 01 ji And in G 01 ji China G 0 jz +ΔG 01 ji To meet the preset conditions at the first time point, G 01 ji The corresponding first intermediate duration T' j 01 and G 01 ji The corresponding list of intermediate time points, where (G 0jz +ΔG 01 ji )∈[T x z T x z1 +ΔT x z ), can be understood as: T x z For A i The start time of the x-th preset cycle of the z-th preset traffic light following the corresponding preset traffic light, ΔT x z For A i The display duration of the signal light within the x-th preset cycle of the z-th preset signal light following the corresponding preset signal light.

[0134] Furthermore, T' j 01 The following conditions must be met:

[0135] T' j 01 =j×ΔT 0 +(L i+1 +……+L z ) / V+(zi-1)×ΔG 01 ji .

[0136] The third execution module 3 is used to execute G. 01 ji Obtain T' from the corresponding list of intermediate time points. 0y This can be understood as: following the execution flow of the first execution module 1 and the second execution module 2, and so on, according to G. 01 ji Obtain T' from the corresponding list of intermediate time points. 0y This will not be elaborated upon here.

[0137] The second execution module 30155 is used to determine T' j and T' j 0, get G 0 j .

[0138] Furthermore, G 0 j The following conditions must be met:

[0139] G 0 j =T' j +∑ q y＝1 T' j 0y -p×j×ΔT0 .

[0140] The target vehicle speed determination module 303 obtains the target vehicle speed based on the target duration information list.

[0141] Specifically, V 0 Meets the following conditions:

[0142] V 0 =(n×∑ m i＝1 L i ) / ∑ n j＝1 G j , among which, among which, V 0 The target speed.

[0143] In one specific embodiment, the target vehicle speed acquisition module 300 further includes:

[0144] The target green wave bandwidth acquisition module 400 is used to obtain a list of target green wave bandwidths for a preset road segment based on the target vehicle speed.

[0145] Specifically, the target green wave bandwidth acquisition module 400 includes:

[0146] The green light start time acquisition module 401 is used to acquire the green light start time list A corresponding to A. 0 ={A 0 1, ..., A 0 i , ..., A 0 m}, A 0 i For A i The corresponding green light start time.

[0147] Furthermore, A 0 i -A 0 i-1 =L i / V 0 .

[0148] Furthermore, A 0 1 = T 0 +L1 / V.

[0149] Target green wave bandwidth determined 403, used according to A 0 The target green wave bandwidth list is obtained by processing T. Those skilled in the art are familiar with any method of obtaining green wave bandwidth in the prior art, and will not be described in detail here.

[0150] The target green wave path determination module 500 is used to process the preset road segment according to the target green wave bandwidth list to obtain the target green wave path. It can be understood as: adjusting the green light display duration of the intersection of the preset road segment according to the target green wave bandwidth so that the preset road segment is determined as a green wave path.

[0151] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to perform the following steps:

[0152] Obtain road segment information of a preset road segment, wherein the road segment information of the preset road segment includes: a preset traffic light information list corresponding to the preset road segment and a sub-road segment information list corresponding to the preset traffic light information list;

[0153] Obtain the list of preset vehicle information corresponding to the preset road segment;

[0154] Based on the road segment information of the preset road segment and the preset vehicle information list corresponding to the preset road segment, the target vehicle speed of the preset road segment is obtained;

[0155] Based on the target vehicle speed, obtain the target green wave bandwidth list for the preset road segment;

[0156] Based on the target green wave bandwidth list, the preset road segments are processed to obtain the target green wave path.

[0157] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0158] Obtain road segment information of a preset road segment, wherein the road segment information of the preset road segment includes: a preset traffic light information list corresponding to the preset road segment and a sub-road segment information list corresponding to the preset traffic light information list;

[0159] Obtain the list of preset vehicle information corresponding to the preset road segment;

[0160] Based on the road segment information of the preset road segment and the preset vehicle information list corresponding to the preset road segment, the target vehicle speed of the preset road segment is obtained;

[0161] Based on the target vehicle speed, obtain the target green wave bandwidth list for the preset road segment;

[0162] Based on the target green wave bandwidth list, the preset road segments are processed to obtain the target green wave path.

[0163] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0164] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described functional units and modules are used as examples. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be determined as different functional units or modules to complete all or part of the functions described above.

[0165] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A method for determining a green wave path, characterized in that, The method includes the following steps: Obtain road segment information of a preset road segment, wherein the road segment information of the preset road segment includes: a preset traffic light information list corresponding to the preset road segment and a sub-road segment information list corresponding to the preset traffic light information list; Obtain the list of preset vehicle information corresponding to the preset road segment; Based on the road segment information of the preset road segment and the preset vehicle information list corresponding to the preset road segment, the target vehicle speed of the preset road segment is obtained; Based on the target vehicle speed, obtain the target green wave bandwidth list for the preset road segment; Based on the target green wave bandwidth list, the preset road segments are processed to obtain the target green wave path; The step of obtaining the target vehicle speed for the preset road segment based on the road segment information and the preset vehicle information list corresponding to the preset road segment includes the following steps: S301, according to the preset traffic light information list, obtain the target duration information list, the target duration information list includes the target duration corresponding to each preset vehicle ID; Step S301 also includes the following steps: S3011, Obtain the sub-segment ID list A = {A1, ..., A2} from the segment information of the preset road segment. i , ..., A m }, A i Let i be the ID of the i-th sub-segment, i = 1...m, where m is the number of sub-segment IDs; S3012, Obtain a preset vehicle ID list B = {B1, ..., B1} from the preset vehicle information list corresponding to the preset road segment. j , ..., B n }, B j Let j be the j-th preset vehicle ID, j = 1...n, where n is the number of preset vehicle IDs, and the value of n is the maximum number of vehicles traveling in the preset direction on the preset road segment. S3013, Based on the green ratio corresponding to all preset traffic light IDs, obtain the preset traffic light duration list T = {T1, ..., T...} corresponding to A. i , ..., T m }, T i ={[T 1 i T 1 i +ΔT 1 i ), ..., [T x i T x i +ΔT x i ), ..., [T p i T p i +ΔT p i )}, where T x i For A i The start time of the x-th preset cycle of the corresponding preset traffic light, ΔT x i For A i The corresponding preset signal light display duration within the x-th preset cycle, x = 1...p, where p is A i The corresponding preset number of preset cycles for the traffic lights, T x i The following conditions must be met: T x i＝ T x-1 i +ΔT x-1 i ; S3014, Obtain the sub-segment length list L = {L1, ..., L2} corresponding to A from the road segment information of the preset road segment. i , ..., L m }, L i For A i The corresponding sub-segment length; S3015, Based on V, L, and T, obtain the target duration list G = {G1, ..., G...} corresponding to B. j , ..., G n }, G j For B j The corresponding target duration, where V is the preset vehicle speed, also includes the following steps in step S3015: S30151, Based on L and V, obtain the list of estimated time points G corresponding to B. 0 ={G 0 1, ..., G 0 j , ..., G 0 n }, G 0 j ={G 0 j1 , ..., G 0 ji , ..., G 0 jm }, G 0 ji For B j The corresponding preset vehicle arrives at A i The estimated time point at the corresponding intersection, G 0 ji The following conditions must be met: G 0 ji =T 0 +j×ΔT 0 +(L1+……+L i ) / V, where T 0 Let ΔT be the starting time of the first preset vehicle. 0 The time interval between adjacent preset vehicle IDs; S30153, Traverse G and if G 0 ji To obtain G at the first time point when the preset conditions are met. 0 ji The corresponding first intermediate durations T'j and G 0 ji The corresponding second intermediate duration list T' j 0={T' j 01 +……+T' j 0y +……+T' j 0q }, T' j 0y Let G be the y-th second intermediate duration, y = 1...q, where q is the number of second intermediate durations, and G... 0 ji The preset condition to be satisfied is when G 0 ji ∈[T x i T x i +ΔT x i And when x is even, T' j The following conditions must be met: T' j =j×ΔT 0 +(L1+……+L i ) / V; S30155, according to T' j and T' j 0, get G 0 j G 0 j The following conditions must be met: G 0 j =T' j +∑ q y＝1 T' j 0y -p× j ×ΔT 0 。 2. The method for determining the green wave path according to claim 1, characterized in that, The list of preset traffic light information corresponding to the preset road segment includes: several preset traffic light information, wherein each preset traffic light information includes a preset traffic light ID and the green ratio corresponding to the preset traffic light ID.

3. The method for determining the green wave path according to claim 1, characterized in that, The sub-road segment information list includes several sub-road segment information, wherein each sub-road segment information includes a sub-road segment ID, the sub-road segment length corresponding to the sub-road segment ID, and the preset driving direction of the sub-road segment ID.

4. The method for determining the green wave path according to claim 1, characterized in that, The list of preset vehicle information includes several preset vehicle information items, wherein each preset vehicle information item includes: a preset vehicle ID, a preset vehicle speed corresponding to the preset vehicle ID, and a time interval between adjacent preset vehicle IDs.

5. The method for determining the green wave path according to claim 1, characterized in that, The process of obtaining the target green wave bandwidth list for a preset road segment based on the target vehicle speed also includes the following steps: Get the list of green light start times corresponding to A. 0 ={A 0 1, ..., A 0 i , ..., A 0 m }, A 0 i For A i The corresponding green light start time; According to A 0 The target green wave bandwidth list is obtained by processing T.

6. The method for determining the green wave path according to claim 5, characterized in that, A 0 i -A 0 i-1 =L i / V 0 。 7. The method for determining the green wave path according to claim 6, characterized in that, A 0 1=T 0 +L1 / V。 8. A device for determining a green wave path, characterized in that, The device includes: The road segment information acquisition module is used to acquire road segment information of a preset road segment, wherein the road segment information of the preset road segment includes: a preset traffic light information list corresponding to the preset road segment and a sub-road segment information list corresponding to the preset traffic light information list; The preset vehicle information acquisition module is used to acquire a preset vehicle information list corresponding to the preset road segment; The target vehicle speed acquisition module is used to acquire the target vehicle speed of the preset road segment based on the road segment information and the preset vehicle information list corresponding to the preset road segment. The target green wave bandwidth acquisition module is used to obtain a list of target green wave bandwidths for a preset road segment based on the target vehicle speed. The target green wave path determination module is used to process preset road segments according to the target green wave bandwidth list in order to obtain the target green wave path; The target vehicle speed acquisition module includes: The target duration information acquisition module is used to acquire a target duration information list based on the preset traffic light information list, wherein the target duration information list includes the target duration corresponding to each preset vehicle ID; The target duration information acquisition module includes: The first information acquisition module is used to obtain a list of sub-segment IDs A = {A1, ..., A2} from the road segment information of the preset road segment. i , ..., A m }, A i Let i be the ID of the i-th sub-segment, i = 1...m, where m is the number of sub-segment IDs; The second information acquisition module is used to obtain a preset vehicle ID list B = {B1, ..., B2} from the preset vehicle information list corresponding to the preset road segment. j , ..., B n }, B j Let j be the j-th preset vehicle ID, j = 1...n, where n is the number of preset vehicle IDs, and the value of n is the maximum number of vehicles traveling in the preset direction on the preset road segment. The third information acquisition module is used to obtain the list T = {T1, ..., T2} of the preset traffic light duration corresponding to A based on the green ratio of all preset traffic light IDs. i , ..., T m }, T i ={[T 1 i T 1 i1 +ΔT 1 i ), ..., [T x i T x i +ΔT x i ), ..., [T p i T p i +ΔT p i )}, where T x i For A i The start time of the x-th preset cycle of the corresponding preset traffic light, ΔT x i For A i The corresponding preset signal light display duration within the x-th preset cycle, x = 1...p, where p is A i The corresponding preset number of preset cycles for the traffic lights, T x i The following conditions must be met: T x i＝ T x-1 i +ΔT x-1 i ; The fourth information acquisition module is used to obtain the sub-segment length list L = {L1, ..., L2} corresponding to A from the road segment information of the preset road segment. i , ..., L m }, L i For A i The corresponding sub-segment length; The target duration determination module is used to obtain the target duration list G = {G1, ..., G2} corresponding to B based on V, L, and T. j , ..., G n }, G j For B j The corresponding target duration, where V is the preset vehicle speed, and the target duration determination module includes: The estimated time point acquisition module is used to obtain the estimated time point list G corresponding to B based on L and V. 0 ={G 0 1, ..., G 0 j , ..., G 0 n }, G 0 j ={G 0 j1 , ..., G 0 ji , ..., G 0 jm }, G 0 ji For B j The corresponding preset vehicle arrives at A i The estimated time point at the corresponding intersection, G 0 ji The following conditions must be met: G 0 ji =T 0 +j×ΔT 0 +(L1+……+L i ) / V, where T 0 Let ΔT be the starting time of the first preset vehicle. 0 The time interval between adjacent preset vehicle IDs; The intermediate duration acquisition module is used to iterate through G and when G... 0 ji To obtain G at the first time point when the preset conditions are met. 0 ji The corresponding first intermediate duration T' j and G 0 ji The corresponding second intermediate duration list T' j 0={T' j 01 +……+T' j 0y +……+T' j 0q }, T' j 0y Let G be the y-th second intermediate duration, y = 1...q, where q is the number of second intermediate durations. 0 ji The preset condition to be satisfied is when G 0 ji ∈[T x i T x i +ΔT x i And when x is even, T' j Meets the following conditions: T' j =j×ΔT 0 +(L1+……+L i ) / V; The second execution module is used to determine T' j and T' j 0, get G 0 j G 0 j The following conditions must be met: G 0 j =T' j +∑ q y =1T' j 0y -p×j×ΔT 0 。 9. The green wave path determination device according to claim 8, characterized in that, The list of preset traffic light information corresponding to the preset road segment includes: several preset traffic light information, wherein each preset traffic light information includes a preset traffic light ID and the green ratio corresponding to the preset traffic light ID.

10. The green wave path determination device according to claim 8, characterized in that, The sub-road segment information list includes several sub-road segment information, wherein each sub-road segment information includes a sub-road segment ID, the sub-road segment length corresponding to the sub-road segment ID, and the preset driving direction of the sub-road segment ID.

11. The green wave path determination device according to claim 8, characterized in that, The list of preset vehicle information includes several preset vehicle information items, wherein each preset vehicle information item includes: a preset vehicle ID, a preset vehicle speed corresponding to the preset vehicle ID, and a time interval between adjacent preset vehicle IDs.

12. The green wave path determination device according to claim 8, characterized in that, The target green wave bandwidth acquisition module includes: The green light start time acquisition module is used to obtain the list of green light start times A corresponding to A. 0 ={A 0 1, ..., A 0 i , ..., A 0 m }, A 0 i For A i The corresponding green light start time; The target green wave bandwidth is determined for use in accordance with A. 0 The target green wave bandwidth list is obtained by processing T.

13. The green wave path determination device according to claim 12, characterized in that, A 0 i -A 0 i-1 =L i / V 0 。 14. The green wave path determination device according to claim 13, characterized in that, A 0 1=T 0 +L1 / V。 15. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method for determining the green wave path as described in any one of claims 1 to 7.

16. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the method for determining the green wave path as described in any one of claims 1 to 7.

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