Road intersection group trunk coordination control method, device, equipment and medium

Abstract

A trunk coordination control method, device, equipment and medium for a road intersection group are disclosed. The method comprises: acquiring road parameters, flow parameters and vehicle speed parameters of a to-be-controlled adjacent intersection in the road intersection group; determining a correlation degree of the to-be-controlled adjacent intersection according to the road parameters and the flow parameters; determining a vehicle speed distribution characteristic of the to-be-controlled adjacent intersection according to the vehicle speed parameters; and determining whether the to-be-controlled adjacent intersection meets a trunk coordination control condition according to the correlation degree and the vehicle speed distribution characteristic, so as to perform trunk coordination control on the to-be-controlled adjacent intersection. According to the technical scheme, the city intersection group is divided into regions for management and control, the accuracy of the road trunk coordination control is improved, and the city road network passing efficiency is effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of arterial coordination control of road intersection groups, and in particular to an arterial coordination control method, device, equipment and medium for road intersection groups. BACKGROUND

[0002] With the continuous development of economy, more and more people choose to drive instead of walking, but more and more vehicles increase more and more pressure on current traffic.

[0003] An important reason for urban traffic congestion is that the intersection group in the oversaturated state of the road network is in a locked state, causing the traffic state of the surrounding road network to deteriorate sharply. Therefore, a method capable of quickly performing arterial coordination control is needed to solve the problem of traffic congestion. SUMMARY

[0004] The present application provides an arterial coordination control method, device, equipment and medium for road intersection groups to solve the problem that it takes a long time to recover normal traffic when the intersection group in the oversaturated state of the road network is in a locked state.

[0005] According to an aspect of the present application, an arterial coordination control method for road intersection groups is provided, which comprises:

[0006] obtaining road parameters, flow parameters and vehicle speed parameters of a to-be-controlled adjacent intersection in the road intersection group;

[0007] determining the correlation degree of the to-be-controlled adjacent intersection according to the road parameters and the flow parameters;

[0008] determining the vehicle speed distribution characteristics of the to-be-controlled adjacent intersection according to the vehicle speed parameters;

[0009] determining whether the to-be-controlled adjacent intersection meets the arterial coordination control condition according to the correlation degree and the vehicle speed distribution characteristics, so as to perform arterial coordination control on the to-be-controlled adjacent intersection.

[0010] According to another aspect of the present application, an arterial coordination control device for road intersection groups is provided, which comprises:

[0011] a parameter acquisition module for obtaining road parameters, flow parameters and vehicle speed parameters of a to-be-controlled adjacent intersection in the road intersection group;

[0012] a correlation degree determination module for determining the correlation degree of the to-be-controlled adjacent intersection according to the road parameters and the flow parameters;

[0013] a distribution characteristic determination module for determining the vehicle speed distribution characteristics of the to-be-controlled adjacent intersection according to the vehicle speed parameters;

[0014] The trunk coordination control module is configured to determine whether the to-be-controlled adjacent intersection meets the trunk coordination control condition according to the correlation degree and the vehicle speed distribution feature, so as to perform trunk coordination control on the to-be-controlled adjacent intersection.

[0015] According to another aspect of the present application, an electronic device is provided, the electronic device comprising:

[0016] at least one processor; and

[0017] a memory in communication with the at least one processor; wherein

[0018] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform the trunk coordination control method of the road intersection group according to any one of the embodiments of the present application.

[0019] According to another aspect of the present application, a computer readable storage medium is provided, the computer readable storage medium stores computer instructions for enabling a processor to perform the trunk coordination control method of the road intersection group according to any one of the embodiments of the present application when the processor executes the computer instructions.

[0020] According to the technical solution of the present application, the correlation degree of the to-be-controlled adjacent intersection in the road intersection group is determined by acquiring the road parameters and the flow parameters of the to-be-controlled adjacent intersection, so that the determination result of the correlation degree is more accurate. The vehicle speed distribution feature of the to-be-controlled adjacent intersection is determined according to the vehicle speed parameter, and whether the to-be-controlled adjacent intersection meets the trunk coordination control condition is determined according to the correlation degree and the vehicle speed distribution feature, so that the trunk coordination control result is more accurate, the judgment process is clearer, the judgment method can be repeatedly used, and has strong universality. The intersection group correlation degree model can be formed by executing the above steps multiple times, the urban intersection group is divided into regions for control, and the urban road network traffic efficiency is effectively improved.

[0021] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0023] Figure 1is a flow chart of a main line coordinated control method of a road intersection group according to an embodiment of the present application;

[0024] Figure 2 is a flow chart of another main line coordinated control method of a road intersection group according to another embodiment of the present application;

[0025] Figure 3 is a structural schematic diagram of a main line coordinated control device of a road intersection group according to an embodiment of the present application;

[0026] Figure 4 is a structural schematic diagram of an electronic device for implementing a main line coordinated control method of a road intersection group according to an embodiment of the present application. DETAILED DESCRIPTION

[0027] In order to make the personnel in the technical field better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the scope of protection of the present application.

[0028] It should be noted that the terms "candidate", "target" and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily limit to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0029] Embodiment one

[0030] Figure 1 A flow chart of a main line coordinated control method of a road intersection group is provided according to an embodiment of the present application. The embodiment can be applicable to determining the relationship of adjacent intersections to be controlled when the road network is in a supersaturated state, and timely performing main line coordinated control. The method can be executed by a main line coordinated control device of a road intersection group, which can be realized in the form of hardware and / or software, and can be configured in an electronic device with data processing capability. As shown in the flow chart of the main line coordinated control method of the road intersection group, the method comprises the following steps. Figure 1As shown, the method comprises:

[0031] S110, acquiring road parameters, flow parameters and vehicle speed parameters of the to-be-controlled adjacent intersections in the group of road intersections.

[0032] The group of road intersections can be a group formed by combining road intersections that can be connected to each other. The to-be-controlled adjacent intersections can be two adjacent intersections waiting for arterial coordinated control. The road parameters can be parameters used to describe the properties of the roads between the to-be-controlled adjacent intersections, including but not limited to the distance between the to-be-controlled adjacent intersections, the road speed limit, the number of one-way streets, and the road surface state, etc. The flow parameters can be parameters used to count the traffic flow of the upstream and downstream intersections in the to-be-controlled adjacent intersections and the traffic flow of different one-way streets, etc. The vehicle speed parameters can be parameters used to describe the driving speed and average driving speed of the vehicles driving on the roads between the to-be-controlled adjacent intersections.

[0033] An important reason for urban traffic congestion is that the group of intersections in the road network in a supersaturated state is in a locked state and cannot be adjusted, thereby causing the traffic state of the surrounding road network to deteriorate. Therefore, arterial coordinated control needs to be performed on the intersections that have occurred congestion or the intersections leading to the intersections that have occurred congestion to help the traffic return to normal operation.

[0034] However, not all to-be-controlled adjacent intersections can perform arterial coordinated control when traffic congestion occurs or other to-be-controlled adjacent intersections have traffic congestion. Therefore, it is necessary to detect the situation of the to-be-controlled adjacent intersections to determine whether the current situation of the to-be-controlled adjacent intersections supports arterial coordinated control.

[0035] When traffic congestion occurs at an intersection, the to-be-controlled adjacent intersections of the same road intersection group as the road intersection group to which the intersection belongs are selected, and the road parameters, flow parameters, and vehicle speed parameters of the to-be-controlled adjacent intersections are acquired.

[0036] S120, determining the correlation degree of the to-be-controlled adjacent intersections according to the road parameters and the flow parameters.

[0037] The correlation degree can be used to describe the correlation degree of the traffic conditions between the to-be-controlled adjacent intersections.

[0038] After the road parameters and the flow parameters are acquired, the road traffic state between the to-be-controlled adjacent intersections can be determined according to the acquired road parameters and flow parameters, and then the correlation degree of the to-be-controlled adjacent intersections can be determined.

[0039] The correlation degree of the to-be-controlled adjacent intersections is determined by the road parameters and the flow parameters, which can more accurately determine the correlation degree of the road traffic between the to-be-controlled adjacent intersections.

[0040] In an alternative, the road parameters include a distance parameter and a speed limit parameter of the adjacent intersection to be controlled; and the flow parameters include an outflow parameter of an upstream intersection of a target direction in the adjacent intersection to be controlled, an inflow parameter of a downstream intersection, and a queue parameter of the downstream intersection.

[0041] The distance parameter can be a distance length between the adjacent intersection to be controlled, and the speed limit parameter can be a speed limit value of a vehicle traveling in a connecting road of the adjacent intersection to be controlled. The outflow parameter of the upstream intersection can be an outflow of the upstream intersection from a vehicle emission direction in the adjacent intersection to be controlled, wherein the outflow can be a number of vehicles flowing out in a time period. The inflow parameter of the downstream intersection can be an inflow of the downstream intersection from a vehicle receiving direction in the adjacent intersection to be controlled, wherein the inflow can be a number of vehicles flowing in in a time period. The queue parameter of the downstream intersection can be a number of vehicles queuing at the downstream intersection from the outflow of the upstream intersection.

[0042] In an alternative, the correlation degree of the adjacent intersection to be controlled is determined according to the road parameters and the flow parameters, including steps A1-A3:

[0043] Step A1, determining a road attribute parameter of the adjacent intersection to be controlled according to the distance parameter and the speed limit parameter.

[0044] Step A2, determining an upstream and downstream flow parameter of the adjacent intersection to be controlled according to the outflow parameter of the upstream intersection, the inflow parameter of the downstream intersection, and the queue parameter of the downstream intersection.

[0045] Step A3, determining the correlation degree of the adjacent intersection to be controlled according to the road attribute parameter and the upstream and downstream flow parameter.

[0046] The road attribute parameter can be road attribute information of the road between the adjacent intersection to be controlled, which only has a small possibility of changing with different detection periods. The upstream and downstream flow parameter can be flow data information between the adjacent intersection to be controlled, which can change with time or sampling periods.

[0047] After the distance parameter and the speed limit parameter are obtained, since the distance parameter and the speed limit parameter only have a small possibility of changing with different detection periods, the parameters can be regarded as fixed parameters, and the road attribute parameter of the adjacent intersection to be controlled is determined according to the distance parameter and the speed limit parameter.

[0048] After the outflow parameter of the upstream intersection, the inflow parameter of the downstream intersection and the queuing parameter of the downstream intersection are acquired, since the outflow parameter of the upstream intersection, the inflow parameter of the downstream intersection and the queuing parameter of the downstream intersection have a great possibility to change with different detection periods, the parameters can be regarded as non-fixed parameters, and the upstream and downstream flow parameters of the adjacent intersection to be controlled are determined according to the outflow parameter of the upstream intersection, the inflow parameter of the downstream intersection and the queuing parameter of the downstream intersection.

[0049] After the road attribute parameter and the upstream and downstream flow parameters are determined, the road traffic condition of the adjacent intersection to be controlled can be determined, and then the correlation degree of the adjacent intersection to be controlled is determined.

[0050] In an optional solution, the outflow parameter of the upstream intersection, the inflow parameter of the downstream intersection and the queuing parameter of the downstream intersection of the adjacent intersection to be controlled are acquired, including steps B1-B2.

[0051] Step B1, the candidate outflow parameter of the upstream intersection of the adjacent intersection to be controlled in a candidate time period and the inflow parameter of the downstream intersection and the queuing parameter of the downstream intersection of the adjacent intersection to be controlled in a control time period are acquired.

[0052] Step B2, the maximum outflow parameter in the candidate outflow parameter is taken as the outflow parameter of the upstream intersection.

[0053] The candidate time period can be a time period for detecting the candidate outflow of the upstream intersection of the adjacent intersection to be controlled. The candidate outflow parameter can be the candidate outflow of the upstream intersection of the adjacent intersection to be controlled detected in each candidate time period. The control time period can be the candidate time period to which the correlation degree determination belongs.

[0054] When detecting the outflow of the upstream intersection of the adjacent intersection to be controlled, since the outflow of the upstream intersection in different periods can have a large difference, if only the detection result of one time is used, the correlation degree determination can have a large error. Therefore, the maximum outflow parameter in the candidate outflow parameter is taken as the outflow parameter of the upstream intersection.

[0055] The inflow flow parameter of the downstream intersection of the to-be-controlled adjacent intersection and the queuing parameter of the downstream intersection have certain randomness due to the size of the data appearing in different detection periods, and it is difficult to accurately predict. If the same method is used to select the maximum value as the final detection result as the outflow flow of the upstream intersection in the to-be-controlled adjacent intersection, a large error will occur in the determination result of the correlation degree. Therefore, when determining the correlation degree, detection is performed in the to-be-controlled time period, thereby ensuring that the final determination result has high accuracy.

[0056] In an optional solution, the correlation degree of the to-be-controlled adjacent intersection is determined according to the following formula:

[0057]

[0058] wherein, m represents a road attribute parameter, L represents a distance parameter, and V represents a speed limit parameter; n represents an upstream and downstream flow parameter, Q1 represents an outflow flow parameter of the upstream intersection, Q2 represents an inflow flow parameter of the downstream intersection, q represents a queuing parameter of the downstream intersection, and I represents the correlation degree of the to-be-controlled adjacent intersection.

[0059] After the road attribute parameter, the distance parameter, the speed limit parameter, the outflow flow parameter of the upstream intersection, the inflow flow parameter of the downstream intersection, and the queuing parameter of the downstream intersection are determined, the correlation degree can be calculated according to the formula.

[0060] Firstly, the road attribute parameter can be obtained according to the road attribute parameter and the distance parameter, and the road attribute parameter also only has a small possibility of changing. Secondly, the upstream and downstream flow parameter that can have a large change is calculated according to the obtained outflow flow parameter of the upstream intersection, the inflow flow parameter of the downstream intersection, and the queuing parameter of the downstream intersection.

[0061] The upstream and downstream flow parameter and the road attribute parameter are multiplied to obtain the correlation degree of the to-be-controlled adjacent intersection.

[0062] S130, determining the speed distribution characteristics of the to-be-controlled adjacent intersection according to the speed parameter.

[0063] When determining the correlation degree of the to-be-controlled adjacent intersection, the speed of the vehicle driving in the to-be-controlled time period can also be detected by using a radar to obtain a speed parameter, and the distribution of the speed of the vehicle driving in the to-be-controlled time period is determined according to the speed parameter, thereby determining the speed distribution characteristics.

[0064] S140, determining whether the to-be-controlled adjacent intersection has a trunk coordination control condition according to the correlation degree and the speed distribution characteristics, so as to perform trunk coordination control on the to-be-controlled adjacent intersection.

[0065] The trunk line coordination control condition can be a condition requirement for judging whether the adjacent intersection to be controlled can perform trunk line coordination control. The trunk line coordination control can be a control method for improving traffic congestion and other problems of the adjacent intersection to be controlled by adjusting the traffic light display time of the adjacent intersection to be controlled.

[0066] After the correlation degree and the vehicle speed distribution characteristics are determined, the correlation degree and the vehicle speed distribution characteristics are compared with the trunk line coordination control condition to determine whether the adjacent intersection to be controlled meets the trunk line coordination control condition. If the correlation degree and the vehicle speed distribution characteristics both meet the trunk line coordination control condition, it is determined that the adjacent intersection to be controlled can perform trunk line coordination control, and the trunk line coordination control is performed on the adjacent intersection to be controlled.

[0067] By determining whether the adjacent intersection to be controlled meets the trunk line coordination control condition according to the correlation degree and the vehicle speed distribution characteristics, the trunk line coordination control result is more accurate, the judgment process is clearer, the judgment method can be repeatedly used, and the judgment method has strong universality.

[0068] According to the technical scheme of the present application, the correlation degree of the adjacent intersection to be controlled is determined by acquiring the road parameters and the flow parameters of the adjacent intersection to be controlled in the road intersection group, so that the determination result of the correlation degree is more accurate. By determining the vehicle speed distribution characteristics of the adjacent intersection to be controlled according to the vehicle speed parameters, and determining whether the adjacent intersection to be controlled meets the trunk line coordination control condition according to the correlation degree and the vehicle speed distribution characteristics, the trunk line coordination control result is more accurate, the judgment process is clearer, the judgment method can be repeatedly used, and the judgment method has strong universality. By executing the above steps multiple times, an intersection group correlation degree model can be formed, the urban intersection group can be divided into regions for control, and the urban road network traffic efficiency can be effectively improved.

[0069] Embodiment Two

[0070] Figure 2 Another flowchart of the trunk line coordination control method of the road intersection group provided by Embodiment Two of the present application is provided. The present embodiment further optimizes the process of determining whether the adjacent intersection to be controlled meets the trunk line coordination control condition according to the correlation degree and the vehicle speed distribution characteristics in the foregoing embodiment to perform trunk line coordination control on the adjacent intersection to be controlled. The present embodiment can be combined with one or more optional schemes in the foregoing embodiments. As shown in FIG. 8, the method comprises the following steps. Figure 2

[0071] S210, acquiring road parameters, flow parameters, and vehicle speed parameters of the adjacent intersection to be controlled in the road intersection group.

[0072] ​In an alternative, the flow parameter comprises an outflow flow parameter of an upstream intersection of a target direction of the adjacent intersection to be controlled, and an inflow flow parameter of a downstream intersection.

[0073] S220, determining the correlation degree of the adjacent intersection to be controlled according to the road parameter and the flow parameter.

[0074] S230, determining the vehicle speed distribution feature of the adjacent intersection to be controlled according to the vehicle speed parameter.

[0075] S240, if the correlation degree is less than a preset correlation degree threshold, and the vehicle speed distribution feature meets the normal distribution feature and the number of vehicles in the preset speed range meets a preset condition, it is determined that the adjacent intersection to be controlled meets the arterial coordination control condition, so as to perform arterial coordination control on the adjacent intersection to be controlled.

[0076] The preset correlation degree threshold can be a maximum correlation degree value preset to determine that the correlation degree of the adjacent intersection to be controlled meets the arterial coordination control condition, and the preset speed range can be a speed range value preset to determine that the vehicle speed of the running vehicle running from the upstream to the downstream of the adjacent intersection to be controlled meets the arterial coordination control condition.

[0077] After determining the correlation degree of the adjacent intersection to be controlled, the correlation degree is compared with the preset correlation degree threshold. If the correlation degree is less than the preset correlation degree threshold, it indicates that the correlation of the adjacent intersection to be controlled meets the arterial coordination control condition.

[0078] After obtaining the vehicle speed distribution feature, it is detected whether the vehicle speed distribution feature meets the normal distribution feature. If the vehicle speed distribution feature meets the normal distribution feature and the number of vehicles in the preset speed range meets the preset condition, it indicates that the vehicle speed of the running vehicle between the adjacent intersection to be controlled meets the arterial coordination control condition.

[0079] After determining that the adjacent intersection to be controlled meets the arterial coordination control condition, the adjacent intersection to be controlled is subjected to arterial coordination control.

[0080] By comparing the correlation degree, the vehicle speed distribution feature, the number of vehicles in the preset speed range, and the arterial coordination control condition, it is determined whether the adjacent intersection to be controlled meets the arterial coordination control condition. In addition to making the judgment result of the arterial coordination control condition more accurate, it also makes the judgment process clearer.

[0081] In an alternative, before determining whether the adjacent intersection to be controlled meets the arterial coordination control condition according to the correlation degree and the vehicle speed distribution feature, the method further comprises steps C1-C3:

[0082] Step C1, respectively acquiring the green ratio parameter and the saturation flow parameter of the upstream intersection and the downstream intersection.

[0083] Step C2, determining the traffic saturation of the adjacent intersection to be controlled according to the outflow parameter, the green ratio parameter and the saturation flow parameter of the upstream intersection and the inflow parameter, the green ratio parameter and the saturation flow parameter of the downstream intersection.

[0084] Step C3, judging whether the traffic saturation meets the saturation condition.

[0085] The green ratio can be the ratio of the time of the green light appearing at the intersection in a cycle to the cycle. The saturation flow parameter can be the maximum flow that the adjacent intersection to be controlled can allow to pass without the restriction of the red and green light in a cycle. The traffic saturation can be the traffic saturation state of the adjacent intersection to be controlled in the cycle of collecting the green ratio and other data of the adjacent intersection to be controlled.

[0086] In determining the correlation degree and the speed distribution characteristics, the green ratio parameter and the saturation flow parameter of the upstream intersection and the downstream intersection are also obtained, and then the traffic saturation of the adjacent intersection to be controlled is judged according to the outflow parameter, the green ratio parameter and the saturation flow parameter of the upstream intersection and the inflow parameter, the green ratio parameter and the saturation flow parameter of the downstream intersection, and the specific flow that the adjacent intersection to be controlled can achieve is further judged.

[0087] The determined traffic saturation of the adjacent intersection to be controlled is compared with the saturation condition to judge whether the traffic saturation of the adjacent intersection to be controlled meets the saturation condition.

[0088] In an optional scheme, the traffic saturation of the adjacent intersection to be controlled is determined according to the following formula:

[0089]

[0090]

[0091] Wherein, x1 represents the traffic saturation of the upstream intersection in the adjacent intersection to be controlled, x2 represents the traffic saturation of the downstream intersection in the adjacent intersection to be controlled, Q1 represents the outflow parameter of the upstream intersection, λ1 represents the green ratio parameter of the upstream intersection, S1 represents the saturation flow parameter of the upstream intersection, Q2 represents the inflow parameter of the downstream intersection, λ2 represents the green ratio parameter of the downstream intersection, and S2 represents the saturation flow parameter of the downstream intersection.

[0092] After the outflow parameter of the upstream intersection, the green ratio parameter of the upstream intersection, the saturation flow parameter of the upstream intersection, the inflow parameter of the downstream intersection, the green ratio parameter of the downstream intersection and the saturation flow parameter of the downstream intersection are determined, the traffic saturation of the upstream intersection and the traffic saturation of the downstream intersection in the adjacent intersection to be controlled can be calculated according to the formula.

[0093] The outflow parameter of the upstream intersection is divided by the product of the green ratio parameter of the upstream intersection and the saturation flow parameter of the upstream intersection to obtain the saturation flow parameter of the upstream intersection.

[0094] The inflow parameter of the downstream intersection is divided by the product of the green ratio parameter of the downstream intersection and the saturation flow parameter of the downstream intersection to obtain the saturation flow parameter of the downstream intersection.

[0095] According to the technical scheme of the present application, the adjacent intersection to be controlled is determined to have the arterial coordination control condition by judging the correlation degree, the vehicle speed distribution feature and the number of vehicles in the preset vehicle speed range, so that the arterial coordination control condition is determined more accurately, and the judgment process is clearer.

[0096] Embodiment three

[0097] Figure 3 A structural schematic diagram of an arterial coordination control device of a road intersection group is provided for the third embodiment of the present application. The present embodiment can be applied to the case where the relationship of the adjacent intersection to be controlled is determined and arterial coordination control is timely performed when the road network is in an oversaturated state. The arterial coordination control device of the road intersection group can be realized in the form of hardware and / or software, and the arterial coordination control device of the road intersection group can be configured in an electronic device with data processing capability. As shown in the figure, the arterial coordination control device of the road intersection group of the present embodiment can include a parameter acquisition module 310, a correlation degree determination module 320, a distribution feature determination module 330 and an arterial coordination control module 340. Figure 3

[0098] Among them:

[0099] The parameter acquisition module 310 is configured to acquire road parameters, flow parameters and vehicle speed parameters of the adjacent intersection to be controlled in the road intersection group.

[0100] The correlation degree determination module 320 is configured to determine the correlation degree of the adjacent intersection to be controlled according to the road parameters and the flow parameters.

[0101] The distribution feature determination module 330 is configured to determine the vehicle speed distribution feature of the adjacent intersection to be controlled according to the vehicle speed parameters.

[0102] The arterial coordination control module 340 is configured to determine whether the adjacent intersection to be controlled has the arterial coordination control condition according to the correlation degree and the vehicle speed distribution feature, so as to perform arterial coordination control on the adjacent intersection to be controlled.

[0103] On the basis of the above-mentioned embodiments, the correlation degree determination module 320 can optionally include:​

[0104] The road parameters include a distance parameter and a speed limit parameter of the adjacent intersection to be controlled, and the flow parameters include an outflow parameter of an upstream intersection of a target direction in the adjacent intersection to be controlled, an inflow parameter of a downstream intersection, and a queue parameter of the downstream intersection.

[0105] On the basis of the above embodiment, the correlation degree determination module 320 comprises:

[0106] The attribute parameter acquisition unit is configured to determine a road attribute parameter of the adjacent intersection to be controlled according to the distance parameter and the speed limit parameter.

[0107] The flow parameter acquisition unit is configured to determine an upstream and downstream flow parameter of the adjacent intersection to be controlled according to the outflow parameter of the upstream intersection, the inflow parameter of the downstream intersection, and the queue parameter of the downstream intersection.

[0108] The correlation degree determination unit is configured to determine the correlation degree of the adjacent intersection to be controlled according to the road attribute parameter and the upstream and downstream flow parameter.

[0109] On the basis of the above embodiment, the flow parameter acquisition unit comprises:

[0110] The data parameter determination subunit is configured to acquire a candidate outflow parameter of the upstream intersection in the adjacent intersection to be controlled in a candidate time period, and an inflow parameter of the downstream intersection in the adjacent intersection to be controlled in a control time period and a queue parameter of the downstream intersection.

[0111] The flow parameter determination subunit is configured to take a maximum outflow parameter in the candidate outflow parameter as the outflow parameter of the upstream intersection.

[0112] On the basis of the above embodiment, the correlation degree determination unit is specifically configured to:

[0113] determine the correlation degree of the adjacent intersection to be controlled according to the following formula:

[0114]

[0115] wherein, m represents the road attribute parameter, L represents the distance parameter, and V represents the speed limit parameter. n represents the upstream and downstream flow parameter, Q1 represents the outflow parameter of the upstream intersection, Q2 represents the inflow parameter of the downstream intersection, q represents the queue parameter of the downstream intersection, and I represents the correlation degree of the adjacent intersection to be controlled.

[0116] On the basis of the above embodiment, the trunk coordination control module 340 is specifically configured to:

[0117] If the correlation degree is less than the preset correlation degree threshold, and the vehicle speed distribution feature meets the normal distribution feature and the number of vehicles in the preset vehicle speed range meets the preset condition, it is determined that the adjacent intersection to be controlled has the arterial coordination control condition.

[0118] On the basis of the above-mentioned embodiments, optionally, the flow parameter includes an outflow flow parameter of an upstream intersection of a target direction in the adjacent intersection to be controlled, and an inflow flow parameter of a downstream intersection.

[0119] On the basis of the above-mentioned embodiments, optionally, the arterial coordination control module 340 further comprises, before the arterial coordination control module 340:

[0120] A data acquisition module, configured to acquire the green ratio parameter and the saturation flow parameter of the upstream intersection and the downstream intersection respectively;

[0121] A flow saturation degree acquisition module, configured to determine the flow saturation degree of the adjacent intersection to be controlled according to the outflow flow parameter, the green ratio parameter and the saturation flow parameter of the upstream intersection, and the inflow flow parameter, the green ratio parameter and the saturation flow parameter of the downstream intersection.

[0122] A condition judgment module, configured to judge whether the flow saturation degree meets the saturation degree condition.

[0123] On the basis of the above-mentioned embodiments, optionally, the flow saturation degree acquisition module is specifically configured to:

[0124] Determine the flow saturation degree of the adjacent intersection to be controlled according to the following formula:

[0125]

[0126]

[0127] Wherein, x1 represents the flow saturation degree of the upstream intersection in the adjacent intersection to be controlled, Q1 represents the outflow flow parameter of the upstream intersection, λ1 represents the green ratio parameter of the upstream intersection, S1 represents the saturation flow parameter of the upstream intersection, Q2 represents the inflow flow parameter of the downstream intersection, λ2 represents the green ratio parameter of the downstream intersection, and S2 represents the saturation flow parameter of the downstream intersection.

[0128] The arterial coordination control device for the group of road intersections provided in the embodiments of the present application can execute the arterial coordination control method for the group of road intersections provided in any of the embodiments of the present application, and has the function modules and beneficial effects corresponding to the execution method.

[0129] In the technical solution of the present application, the acquisition, storage, use, processing and the like of data comply with the relevant provisions of national laws and regulations, and do not violate public order and good customs.

[0130] Embodiment Four

[0131] According to embodiments of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.

[0132] Figure 4 A structural schematic diagram of an electronic device 10 that can be used to implement embodiments of the present application is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices (e.g., headsets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application described and / or claimed in this document.

[0133] As shown in Figure 4 The electronic device 10 includes at least one processor 11, and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., connected in communication with the at least one processor 11, wherein the memory stores a computer program executable by the at least one processor 11, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or loaded into the random access memory (RAM) 13 from the storage unit 18. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0134] A plurality of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunications networks.

[0135] The processor 11 can be various general and / or special purpose processing components having processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs various methods and processes described above, such as the arterial coordination control method of a road intersection group.

[0136] In some embodiments, the arterial coordination control method of a road intersection group can be implemented as a computer program tangibly embodied in a computer readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded onto the RAM 13 and executed by the processor 11, one or more steps of the arterial coordination control method of a road intersection group described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the arterial coordination control method of a road intersection group by any other appropriate means, such as by means of firmware.

[0137] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a complex programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0138] Computer programs used to implement the methods of the application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program, when executed, implements the functions / acts specified in the flowcharts and / or block diagrams. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as a standalone software package, and partially on a machine or entirely on a remote machine or server.

[0139] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0140] To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0141] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), blockchain network, and the Internet.

[0142] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0143] It should be understood that the various forms of flow shown above can be used to reorder, add or delete steps. For example, each step described in the present application can be executed in parallel, sequentially or in a different order, as long as the desired results of the technical solutions of the present application can be achieved, which is not limited herein.

[0144] The above detailed description does not constitute a limitation on the scope of protection of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A method of arterial coordinated control of a group of road junctions, characterized in that, The method comprises: acquiring road parameters, flow parameters and vehicle speed parameters of a to-be-controlled adjacent intersection in a group of road intersections; determining a correlation degree of the to-be-controlled adjacent intersection according to the road parameters and the flow parameters; determining a vehicle speed distribution characteristic of the to-be-controlled adjacent intersection according to the vehicle speed parameters; determining whether the to-be-controlled adjacent intersection meets a trunk coordination control condition according to the correlation degree and the vehicle speed distribution characteristic, so as to perform trunk coordination control on the to-be-controlled adjacent intersection; wherein determining whether the to-be-controlled adjacent intersection meets the trunk coordination control condition according to the correlation degree and the vehicle speed distribution characteristic comprises: if the correlation degree is less than a preset correlation degree threshold value, and the vehicle speed distribution characteristic meets a normal distribution characteristic and a number of vehicles in a preset vehicle speed range meets a preset condition, it is determined that the to-be-controlled adjacent intersection meets the trunk coordination control condition; the preset correlation degree threshold value is a maximum correlation degree value for determining that the correlation degree of the to-be-controlled adjacent intersection meets the trunk coordination control condition, and the preset vehicle speed range is a speed range value for determining that the vehicle speed of a running vehicle running from an upstream to a downstream of the to-be-controlled adjacent intersection meets the trunk coordination control condition.

2. The method of claim 1, wherein, The road parameters comprise distance parameters and speed limit parameters of the to-be-controlled adjacent intersection; the flow parameters comprise outflow parameters of an upstream intersection, inflow parameters of a downstream intersection and queuing parameters of the downstream intersection in a target direction of the to-be-controlled adjacent intersection; correspondingly, determining the correlation degree of the to-be-controlled adjacent intersection according to the road parameters and the flow parameters comprises: determining road attribute parameters of the to-be-controlled adjacent intersection according to the distance parameters and the speed limit parameters; determining upstream and downstream flow parameters of the to-be-controlled adjacent intersection according to the outflow parameters of the upstream intersection, the inflow parameters of the downstream intersection and the queuing parameters of the downstream intersection; determining the correlation degree of the to-be-controlled adjacent intersection according to the road attribute parameters and the upstream and downstream flow parameters.

3. The method of claim 2, wherein, acquiring the outflow parameters of the upstream intersection, the inflow parameters of the downstream intersection and the queuing parameters of the downstream intersection in the to-be-controlled adjacent intersection comprises: acquiring candidate outflow parameters of the upstream intersection in the to-be-controlled adjacent intersection in a candidate time period, and the inflow parameters of the downstream intersection and the queuing parameters of the downstream intersection in the to-be-controlled adjacent intersection in a to-be-controlled time period; taking a maximum outflow parameter in the candidate outflow parameters as the outflow parameter of the upstream intersection.

4. The method according to claim 2 or 3, characterized in that, The correlation degree of the to-be-controlled adjacent intersection is determined according to the following formula: ； wherein, , denotes the road attribute parameter, denotes the distance parameter, denotes the speed limit parameter; , denotes the upstream and downstream traffic parameter, denotes the outflow parameter of the upstream intersection, denotes the inflow parameter of the downstream intersection, denotes the queuing parameter of the downstream intersection, denotes the correlation degree of the adjacent intersection to be controlled.

5. The method of claim 1, wherein, The flow parameters comprise outflow parameters of an upstream intersection, inflow parameters of a downstream intersection in a target direction of the to-be-controlled adjacent intersection; correspondingly, before determining whether the to-be-controlled adjacent intersection meets the trunk coordination control condition according to the correlation degree and the vehicle speed distribution characteristic, the method further comprises: respectively acquiring green ratio parameters and saturation flow parameters of the upstream intersection and the downstream intersection; determine the traffic saturation degree of the adjacent intersection to be controlled according to the outflow parameter, the green ratio parameter and the saturation flow parameter of the upstream intersection and the inflow parameter, the green ratio parameter and the saturation flow parameter of the downstream intersection; determine whether the traffic saturation degree meets a saturation degree condition.

6. The method of claim 5, wherein, determine the traffic saturation degree of the adjacent intersection to be controlled according to the following formula: ； ； wherein, denotes a flow saturation degree of an upstream intersection of the adjacent intersections to be controlled, denotes a flow saturation degree of a downstream intersection of the adjacent intersections to be controlled, denotes an outflow flow parameter of the upstream intersection, denotes a green ratio parameter of the upstream intersection, denotes a saturation flow parameter of the upstream intersection, denotes an inflow flow parameter of the downstream intersection, denotes a green ratio parameter of the downstream intersection, denotes a saturation flow parameter of the downstream intersection.

7. A trunk road coordination control device for a group of road intersections, characterized in that, comprise: a parameter acquisition module configured to acquire road parameters, traffic parameters and vehicle speed parameters of an adjacent intersection to be controlled in a road intersection group; a correlation degree determination module configured to determine a correlation degree of the adjacent intersection to be controlled according to the road parameters and the traffic parameters; a distribution feature determination module configured to determine a vehicle speed distribution feature of the adjacent intersection to be controlled according to the vehicle speed parameters; a trunk coordination control module configured to determine whether the adjacent intersection to be controlled meets a trunk coordination control condition according to the correlation degree and the vehicle speed distribution feature, so as to perform trunk coordination control on the adjacent intersection to be controlled; wherein the trunk coordination control module comprises: if the correlation degree is less than a preset correlation degree threshold value and the vehicle speed distribution feature meets a normal distribution feature and a number of vehicles in a preset vehicle speed range meets a preset condition, it is determined that the adjacent intersection to be controlled meets the trunk coordination control condition; the preset correlation degree threshold value is a maximum correlation degree value preset for determining that the correlation degree of the adjacent intersection to be controlled meets the trunk coordination control condition, and the preset vehicle speed range is a speed range value preset for determining that the vehicle speed of a running vehicle running from an upstream to a downstream of the adjacent intersection to be controlled meets the trunk coordination control condition.

8. An electronic device, comprising: The electronic device comprises: at least one processor; and a memory connected with the at least one processor in communication; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the trunk coordination control method of the road intersection group according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for enabling the processor to implement the trunk coordination control method of the road intersection group according to any one of claims 1-6 when executed.

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