Method, device and medium for optimizing phase and sequence of two-way green wave of traffic signal light

Abstract

The application discloses a phase sequence optimization method for a two-way green wave of a traffic signal lamp, an electronic device and a computer storage medium, and relates to the technical field of control. The phase sequence optimization method comprises the following steps: acquiring intersection information of a traffic trunk; acquiring a candidate traffic light scheme of each intersection of the traffic trunk from a traffic light scheme library based on the intersection information; determining an optimal traffic light scheme of the intersection from the candidate traffic light scheme corresponding to the intersection; and solving a green wave scheme of the traffic trunk based on the optimal traffic light schemes of the intersections. In the foregoing manner, the phase sequence of the two-way green wave of the traffic signal lamp can be obviously optimized.

Description

Technical Field

[0001] This application relates to the field of control technology, specifically to a phase sequence optimization method for bidirectional green waves of traffic lights, electronic devices, and computer storage media. Background Technology

[0002] Intersections and main traffic arteries serve as hubs of urban transportation, and their traffic efficiency is a major factor affecting the overall traffic situation of the city. Green wave is an urban traffic control system that actively controls traffic lights at numerous intersections, allocating more time to the direction of higher traffic volume to avoid congestion. Coordinated green wave control across multiple intersections treats the entire main traffic artery as a single entity, ensuring uninterrupted right-of-way for vehicles. The design of the phase sequence of traffic lights at each intersection is a crucial step in green wave design, directly impacting its effectiveness.

[0003] Existing technical solutions only consider the impact on green wave performance. The optimized phase sequence may not be applicable to specific intersection information, such as lane channelization, traffic light installation methods, and people's travel habits. Summary of the Invention

[0004] This application proposes a method, electronic device, and computer storage medium for optimizing the phase sequence of a two-way green wave in traffic lights, which can significantly optimize the phase sequence of a two-way green wave in traffic lights.

[0005] To address the aforementioned technical problems, this application adopts the following technical solution: a phase sequence optimization method for bidirectional green waves of traffic lights. This phase sequence optimization method includes: acquiring intersection information of a traffic artery; obtaining candidate traffic light schemes for each intersection of the traffic artery from a traffic light scheme database based on the intersection information; determining the optimal traffic light scheme for the intersection from the candidate traffic light schemes corresponding to the intersection; and solving for the green wave scheme of the traffic artery based on the optimal traffic light schemes for each intersection.

[0006] The phase sequence optimization method further includes: establishing multiple first traffic light schemes in the north-south direction and multiple second traffic light schemes in the east-west direction; arbitrarily combining the multiple first traffic light schemes and multiple second traffic light schemes to obtain multiple combined traffic light schemes; and performing stage sequence processing on each combined traffic light scheme to obtain two combined traffic light schemes, thereby establishing a traffic light scheme library.

[0007] The intersection information includes: channelization information and / or traffic light group information of the intersection. Based on the intersection information, the candidate traffic light schemes for each intersection of the main traffic artery are obtained from the traffic light scheme database, including: based on channelization information and / or traffic light group information, the candidate traffic light schemes for each intersection of the main traffic artery are obtained from the traffic light scheme database.

[0008] The intersection information includes the cycle duration and phase duration of the previous green wave cycle for each intersection, as well as the distance and speed between road segments on the main traffic artery. The process of determining the optimal traffic light scheme for an intersection from the candidate traffic light schemes includes: obtaining the common cycle duration of the previous green wave cycle for the intersection; obtaining the travel time of the road segment based on distance and speed; obtaining the up-and-down phase start time difference of the intersection based on the common cycle duration and travel time; and selecting the candidate traffic light scheme that matches the up-and-down phase start time difference as the optimal traffic light scheme for the intersection.

[0009] The intersection information also includes the start time of the upbound reference phase and the start time of the downbound reference phase of the previous green wave cycle at the intersection located at the end of the traffic artery. The travel time includes the upbound travel time and the downbound travel time. The upbound and downbound phase start time difference of the intersection is obtained based on the common cycle duration and the travel time, including: obtaining the difference between the upbound reference phase start time and the downbound reference phase start time; obtaining the first sum between the upbound travel time and the downbound travel time; obtaining the remainder between the first sum and the common cycle duration; and obtaining the upbound and downbound phase start time difference of the intersection based on the remainder and the difference.

[0010] The method of obtaining the uplink and downlink phase start time difference of the intersection based on the residual and the difference includes: in response to the uplink reference phase start time being later than the downlink reference phase start time, obtaining the second sum between the residual and the difference as the uplink and downlink phase start time difference of the intersection; in response to the uplink reference phase start time being earlier than the downlink reference phase start time, obtaining the third sum between the difference and the common cycle duration; and obtaining the difference between the third sum and the residual as the uplink and downlink phase start time difference of the intersection.

[0011] The phase sequence optimization method also includes: if there are multiple optimal traffic light schemes for an intersection, then the candidate traffic light scheme with the highest priority is selected as the final optimal traffic light scheme for the intersection according to the preset priority.

[0012] The above-mentioned solution for the green wave scheme of the traffic artery based on the optimal traffic light scheme of each intersection includes: constructing a green wave objective function and obtaining green wave constraints based on the optimal traffic light scheme of all intersections; obtaining the relative phase difference of each intersection based on the green wave objective function and green wave constraints; and calculating the green wave scheme of the traffic artery based on the relative phase difference of all intersections.

[0013] To solve the above-mentioned technical problems, another technical solution adopted in this application is: to provide an electronic device, which includes a processor and a memory connected to the processor, wherein the memory stores program data, and the processor executes the program data stored in the memory to execute the phase sequence optimization method that implements any of the above-mentioned methods.

[0014] To solve the above-mentioned technical problems, another technical solution adopted in this application is: to provide a computer-readable storage medium that stores program instructions internally, which are executed to implement the phase sequence optimization method of any of the above-mentioned methods.

[0015] The beneficial effects of this application are as follows: Unlike existing technologies, this application acquires intersection information of the main traffic artery; based on the intersection information, it obtains candidate traffic light schemes for each intersection of the main traffic artery from a traffic light scheme database; it determines the optimal traffic light scheme for the intersection from the candidate schemes; and it solves for the green wave scheme of the main traffic artery based on the optimal traffic light schemes for each intersection. In this way, after acquiring the intersection information of the main traffic artery, candidate traffic light schemes for each intersection of the main traffic artery can be obtained from the traffic light scheme database based on the intersection information, and then the optimal traffic light scheme for the intersection can be determined from the candidate schemes to obtain the green wave scheme of the main traffic artery. Therefore, this application can use the intersection information of the main traffic artery to achieve the optimal green wave phase sequence for each intersection, further optimizing the traffic light scheme and significantly improving the phase sequence of the bidirectional green wave of the traffic signal. Attached Figure Description

[0016] Figure 1 This is a flowchart illustrating a method for optimizing the phase sequence of a two-way green wave in a traffic signal according to an embodiment of this application.

[0017] Figure 2 yes Figure 1 A schematic diagram of the specific process of step S13 in the embodiment;

[0018] Figure 3 for Figure 1 Spatiotemporal schematic diagram of the green wave scheme for the traffic artery in step S13 of the embodiment;

[0019] Figure 4 yes Figure 2A detailed flowchart of step S23 in the embodiment;

[0020] Figure 5 for Figure 1 Spatiotemporal schematic diagram of the green wave scheme for the traffic artery in step S14 of the embodiment;

[0021] Figure 6 for Figure 1 A schematic diagram of the north-south direction template of the traffic light scheme library in the embodiment;

[0022] Figure 7 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application;

[0023] Figure 8 This is a schematic diagram of the structure of a computer-readable storage medium according to an embodiment of this application. Detailed Implementation

[0024] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0025] This application first proposes a phase sequence optimization method for bidirectional green waves of traffic lights, such as... Figure 1 As shown, Figure 1 This is a flowchart illustrating a phase sequence optimization method for a two-way green wave traffic light according to an embodiment of this application. The phase sequence optimization method for a two-way green wave traffic light according to this embodiment specifically includes the following steps:

[0026] Step S11: Obtain intersection information for major traffic arteries.

[0027] Obtain intersection information for major traffic arteries, and conduct statistical analysis of data such as intersections and road segments on major traffic arteries, in order to comprehensively consider intersection channelization information, traffic light information, and people's travel habits.

[0028] The specific intersection information can be selected as needed; please refer to the following text for details.

[0029] The channelization information at intersections involves designing reasonable separation and guidance for vehicles and pedestrians based on intersection traffic flow and basic characteristics. Channelization information includes:

[0030] v i,j,k (i = 1, 2, 3... n-1) represents the turning direction of the k-th lane at intersection i, with the entrance in the j direction. The turning types include: straight, left turn, straight-left, straight-right, U-turn, etc.

[0031] w i,j,n (i = 1, 2, 3... n-1) indicates that at intersection i, the entrance is in direction j, and there is a waiting area for the nth flow direction. The flow direction types include: South Left, South Straight, North Left, North Straight, etc.

[0032] nm i (i = 1, 2, 3... n-1) represents the non-motorized vehicle crossing mode at intersection i, including: non-motorized vehicles crossing with pedestrians and non-motorized vehicles crossing with motorized vehicles.

[0033] Traffic light group information includes:

[0034] L i,j (i = 1, 2, 3... n-1) represents the type of traffic light group at intersection i in the direction j, including: disc light (the traffic light consists of only one disc light group, and vehicles turning left and going straight must pass at the same time) and arrow light (the traffic light consists of two or three arrow light groups, and vehicles turning left and going straight can pass separately).

[0035] Step S12: Based on the intersection information, obtain the candidate traffic light schemes for each intersection of the main traffic artery from the traffic light scheme database.

[0036] like Figure 6 As shown, the traffic light scheme library includes north-south templates (i.e., the first traffic light scheme below) and east-west templates (i.e., the second traffic light scheme below). The north-south templates include north-south template 1 to north-south template 9, and the east-west templates include east-west template 1 to east-west template 9. Each north-south template is combined with the nine east-west templates to obtain 81 combined traffic light schemes. Each combined traffic light scheme can also be processed sequentially in stages to obtain 81*2 traffic light schemes. Based on intersection information, candidate traffic light schemes for each intersection of a major traffic artery can be obtained from this traffic light scheme library.

[0037] Optionally, this embodiment can obtain candidate traffic light schemes for each intersection of the main traffic artery from the traffic light scheme library based on channelization information and / or traffic light group information.

[0038] Based on various constraints related to channelization information and / or traffic light group information, a combination template for traffic release methods is selected to obtain candidate traffic light schemes for each intersection of the traffic artery from the traffic light scheme library. For each intersection, a template that meets the constraints is selected.

[0039] As shown in the table below, the constraints of channelization information include: whether a waiting area is set, the non-motorized vehicle crossing method, and lane attributes.

[0040]

[0041]

[0042] For example, the constraint condition is whether to set a waiting area, and the values ​​include: left-turn waiting area in the south, left-turn waiting area in the north, no left-turn waiting area in the south, no left-turn waiting area in the north, straight-ahead waiting area in the south, straight-ahead waiting area in the north, no straight-ahead waiting area in the south, and no straight-ahead waiting area in the north. Among them, the optional templates for having a left-turn waiting area in the south are north-south template 3, north-south template 7, and north-south template 9; the optional templates for having a left-turn waiting area in the north are north-south template 3 and north-south template 8; the optional templates for having no left-turn waiting area in the south are north-south template 1 to north-south template 9; the optional templates for having no left-turn waiting area in the north are north-south template 1 to north-south template 9; there are no optional templates for having straight-ahead waiting areas in the south and north; and the optional templates for having no straight-ahead waiting areas in the south and north are north-south template 1 to north-south template 9.

[0043] For example, the constraint condition is the non-motorized vehicle crossing mode, and the values ​​include: pedestrians and motorized vehicles. Among them, the optional templates for pedestrians are north-south template 1 to north-south template 9 and east-west template 1 to east-west template 9; the optional templates for motorized vehicles are north-south template 3, north-south template 6, north-south template 8, north-south template 9 and east-west template 3, east-west template 6, east-west template 8, and east-west template 9.

[0044] For example, the constraint condition is a lane attribute, with values ​​including: mixed lane in the south, mixed lane in the north, no mixed lane in the south, no mixed lane in the north, left-turn / right-turn lane in the south, left-turn / right-turn lane in the north, no left-turn / right-turn lane in the south, and no left-turn / right-turn lane in the north. Specifically, the optional templates for a mixed lane in the south are North-South template 1, North-South template 2, and North-South template 4; the optional templates for a mixed lane in the north are North-South template 1, North-South template 2, and North-South template 5; the optional templates for no mixed lane in the south are North-South templates 1 to 9; the optional templates for no mixed lane in the north are North-South templates 1 to 9; the optional templates for a left-turn / right-turn lane in the south are North-South templates 3 and 8; the optional templates for a left-turn / right-turn lane in the north are North-South templates 3 and 9; the optional templates for no left-turn / right-turn lane in the south are North-South templates 1 to 9; and the optional templates for no left-turn / right-turn lane in the north are North-South templates 1 to 9.

[0045] Traffic light group types include disc lights and arrow lights. Based on the disc lights or arrow lights in different directions, candidate traffic light schemes for each intersection of the main traffic artery are obtained from the traffic light scheme library.

[0046] For example, the traffic light group's values ​​include: a south disc light and a north disc light. The optional templates for the south disc light are north-south direction template 1, north-south direction template 2, and north-south direction template 4. The optional templates for the north disc light are north-south direction template 1, north-south direction template 2, and north-south direction template 5.

[0047] Step S13: Determine the optimal traffic light scheme for the intersection from the candidate traffic light schemes corresponding to the intersection.

[0048] For each intersection, based on step S12, the candidate traffic light schemes corresponding to the intersection are obtained, and the optimal traffic light scheme for the intersection can be selected from the candidate traffic light schemes corresponding to the intersection.

[0049] Optionally, in this embodiment, the intersection information also includes the cycle duration and phase duration of the previous green wave cycle for each intersection. The intersection information also includes the distance and speed between road segments along the main traffic artery. This embodiment can use... Figure 2 The method shown implements step S13. The method in this embodiment specifically includes steps S21 to S24.

[0050] The traffic light operation plan for each intersection includes cycle duration, phase duration, and phase sequence. Intersection information also includes the cycle duration and phase duration of the previous green wave cycle for each intersection. Among these, c i (i = 1, 2, 3... n) represents the period duration of intersection i, p i,j (i = 1, 2, 3... m) i ) represents the duration of each phase at intersection i, m i Let i be the number of phases at intersection i.

[0051] The intersection information also includes the distance and speed of road segments between intersections on major traffic arteries. Basic parameters of intersections on major traffic arteries are statistically analyzed to obtain the length of road segments between intersections:

[0052] L i->i+1 (i = 1, 2, 3... n-1) represents the distance from intersection i to intersection i+1;

[0053] L i+1->i (i = 1, 2, 3... n-1) represents the distance from intersection i+1 to intersection i;

[0054] Where n is the total number of trunk line intersections.

[0055] The driving speed between intersections is obtained as follows:

[0056] v i->i+1 (i = 1, 2, 3... n-1) represents the speed of travel from intersection i to intersection i+1;

[0057] v i+1->i (i = 1, 2, 3... n-1) represents the speed of travel from intersection i+1 to intersection i.

[0058] Step S21: Obtain the common cycle duration of the previous green wave cycle at the intersection.

[0059] The common cycle length C of the intersection is calculated as follows:

[0060] C = max{c i}

[0061] Among them, c i The common cycle length (C) represents the original cycle length of the traffic lights at each intersection along the main traffic artery. The common cycle length (C) is the maximum value of the original cycle length for each intersection. Alternatively, the common cycle length (C) can be manually set according to the actual needs of the main traffic artery.

[0062] Step S22: Obtain the travel time of the road segment based on distance and travel speed.

[0063] The distance of the road segment is:

[0064] L i->i+1 (i = 1, 2, 3... n-1) represents the distance from intersection i to intersection i+1;

[0065] L i+1->i (i = 1, 2, 3... n-1) represents the distance from intersection i+1 to intersection i;

[0066] The driving speed is:

[0067] v i->i+1 (i = 1, 2, 3... n-1) represents the speed of travel from intersection i to intersection i+1;

[0068] v i+1->i (i = 1, 2, 3... n-1) represents the speed of travel from intersection i+1 to intersection i.

[0069] For example, such as Figure 3 As shown, a traffic artery to be optimized includes 4 intersections: intersection 1, intersection 2, intersection 3, and intersection 4. The direction of traffic allowed from intersection 1 to intersection 4 is the upward green wave direction, and the direction of traffic allowed from intersection 4 to intersection 1 is the downward green wave direction.

[0070] In the uphill green wave direction, the travel time for each road segment is as follows:

[0071] t 1→2 =L 1→2 / (v 1→2 / 3.6) is the travel time from intersection 1 to intersection 2 when traffic is allowed to proceed;

[0072] t 2→3 =L 2→3 / (v 2→3 / 3.6) is the travel time from intersection 2 to intersection 3 when traffic is allowed to proceed;

[0073] t 3→4 =L 3→4 / (v 3→4 / 3.6) is the travel time during which traffic is allowed to pass from intersection 3 to intersection 4.

[0074] In the downhill green wave direction, the travel time for each segment is as follows:

[0075] t 2→1 =L 2→1 / (v 2→1 / 3.6) is the travel time from intersection 2 to intersection 1 when traffic is allowed to pass;

[0076] t 3→2 =L 3→2 / (v 3→2 / 3.6) is the travel time from intersection 3 to intersection 2 when traffic is allowed to pass;

[0077] t 4→3 =L 4→3 / (v 4→3 / 3.6) is the travel time from intersection 4 to intersection 3.

[0078] Step S23: Obtain the starting time difference of the up and down phases at the intersection based on the common cycle duration and travel time.

[0079] For example, if the phase sequence at the first intersection remains unchanged, i.e., the original traffic light scheme is maintained, the difference between the start time of the up-traffic phase and the start time of the down-traffic phase is called the up-traffic phase start time difference A. i -B i Or B i -A i The starting time difference A between the up and down phases at the intersection is obtained based on the common cycle duration C and the travel time. i -B i Or B i -A i .

[0080] Optionally, in this embodiment, the intersection information also includes the start time of the upbound reference phase and the start time of the downbound reference phase of the previous green wave cycle at the intersection located at the end of the traffic artery. The travel time includes the upbound travel time and the downbound travel time. This embodiment can use... Figure 4 The method shown implements step S23. The method in this embodiment specifically includes steps S41 to S44.

[0081] The intersection information also includes the start time of the up-going reference phase and the start time of the down-going reference phase of the previous green wave cycle at the intersection located at the end of the traffic artery. The travel time includes the up-going travel time and the down-going travel time. The start time at the end of the traffic artery is the start time of the up-going reference phase.

[0082] Step S41: Obtain the difference between the start time of the uplink reference phase and the start time of the downlink reference phase.

[0083] For example, if the start time of the uplink reference phase is a and the start time of the downlink reference phase is b, the difference between the start time of the uplink reference phase and the start time of the downlink reference phase is ab, and let Δ1 = ab.

[0084] Step S42: Obtain the first sum between the uphill travel time and the downhill travel time.

[0085] For example, the formula for calculating the uphill travel time is:

[0086] t 1→i =t 1→2 +t 2→3 +...+t i-1→i

[0087] That is, the uphill travel time is t 1→i .

[0088] The formula for calculating the downhill travel time is:

[0089] t i→1 =t i→i-1 +...+t 3→2 +t 2→1

[0090] That is, the downhill travel time is t i→1 .

[0091] The first sum of the uphill and downhill travel times is t. 1→i +t i→1 .

[0092] Step S43: Obtain the remainder between the first sum and the common period duration.

[0093] For example, the first sum is t 1→i +t i→1 The common period duration is C, and the remainder between the first sum and the common period duration is (t). 1→i +t i→1 )%C.

[0094] Step S44: Obtain the starting time difference of the up and down phases at the intersection based on the residual and the difference.

[0095] A i Indicates the start time of the green light for the coordinated uplink phase at intersection i (i.e., the start time of the uplink reference phase a), B i Let b represent the start time of the green light for the downstream coordinated phase at intersection i (i.e., the start time of the downstream reference phase). The relationship between the start times of the upstream and downstream phases at intersection i can be summarized as follows:

[0096] B i +t 1→i +t i→1 =A i +n·C+(ab)

[0097] Right now:

[0098]

[0099] Similarly, the phase sequence of intersection i can be set to remain unchanged: taking intersection i as the reference intersection (i.e. the end of the above-mentioned traffic artery), calculate the starting time relationship of the up and down phases of intersections i+1 and i+2 in the up direction, and the starting time relationship of the up and down phases of intersections i+1 and i+2 in the down direction.

[0100] Among them, based on the residual (t) 1→i +t i→1 The difference between %C and Δ1 = ab can be used to obtain the starting time difference A between the up and down phases at the intersection. i -B i Or B i -A i .

[0101] Optionally, step S44 can be implemented using steps S51 to S53 in this embodiment.

[0102] Step S51: In response to the fact that the start time of the uplink reference phase is later than the start time of the downlink reference phase, obtain the second sum between the residual value and the difference value as the difference between the start times of the uplink and downlink phases at the intersection.

[0103] The uplink reference phase start time is 'a', the downlink reference phase start time is 'b', the common period duration is 'C', and the difference is Δ1 = ab. If the uplink reference phase start time 'a' is later than the downlink reference phase start time 'b', then the residual value (t) is obtained. 1→i +t i→1 The second sum Δ between %C and the difference Δ1 is Δ = Δ1 + (t) 1→i +t i→1 )%C, that is, the starting time difference between the up and down phases at the intersection is taken as A. i -B i =Δ.

[0104] Step S52: In response to the uplink reference phase start time being earlier than the downlink reference phase start time, obtain the third sum between the difference and the common period duration.

[0105] The uplink reference phase start time is 'a', the downlink reference phase start time is 'b', the common period duration is 'C', and the difference is 'Δ1 = ab'. If the uplink reference phase start time 'a' is earlier than the downlink reference phase start time 'b', then the third sum 'Δ1 + C' between the difference 'Δ1' and the common period duration 'C' is obtained.

[0106] Step S53: Obtain the difference between the third sum and the remainder as the starting time difference of the up and down phases at the intersection.

[0107] When the uplink reference phase start time 'a' is earlier than the downlink reference phase start time 'b', obtain the third sum Δ1+C between the difference Δ1 and the common period duration C, and obtain the third sum Δ1+C and the remainder (t). 1→i +t i→1 The difference between %C That is, the start time difference of the up and down phases at the intersection.

[0108] Step S24: Obtain the optimal traffic light scheme for the intersection from the candidate traffic light schemes that matches the start time difference of the up and down phases.

[0109] The uplink and downlink phase start time difference is Or A i -B i =Δ, where there is a preset start time difference among the candidate traffic light schemes. The most suitable phase sequence is selected from the candidate traffic light schemes by comparing the start time difference of the up and down phases with the preset start time difference in the candidate traffic light schemes. The candidate traffic light scheme that is closest to the start time difference of the up and down phases is obtained, which is the optimal traffic light scheme for the intersection.

[0110] Step S14: Solve the green wave scheme for the main traffic artery based on the optimal traffic light scheme for each intersection.

[0111] Obtain the optimal traffic light scheme for each intersection, and model the optimal traffic light scheme based on the optimal data in the optimal traffic light scheme to solve the green wave scheme of the traffic artery.

[0112] Optionally, such as Figure 5 As shown, Figure 5 for Figure 1The embodiment shows a schematic spatiotemporal diagram of the green wave scheme for the traffic artery in step S14. This embodiment obtains the green wave scheme based on the optimal data in the optimal traffic light scheme. Specifically, firstly, a green wave objective function is constructed, and green wave constraints are obtained based on the optimal traffic light schemes for all intersections; then, the relative phase difference of each intersection is obtained based on the green wave objective function and green wave constraints; finally, the green wave scheme for the traffic artery is calculated based on the relative phase differences of all intersections. The green wave scheme includes the phase difference of the traffic lights at intersections. The horizontal axis represents time, and the vertical axis represents distance. The vertical axes i, i+1, and i+2 represent the positions of the corresponding numbered intersections. A signal scheme for 4-5 cycles is drawn for each intersection. The shaded rectangle represents a forward (i.e., upward) coordinated phase or a reverse (i.e., downward) coordinated phase, and the rectangle represents a non-coordinated phase (preceding phase, following phase). The short dashed line on one side of the rectangle represents the start of the cycle. Two diagonal stripes are also included, representing the forward green wave and the reverse green wave.

[0113] The green light ratio refers to the proportion of time available for vehicle passage within a traffic light cycle; it is the ratio of the effective green light time for a certain phase to the cycle length. At each intersection, the traffic light green light ratio remains the same as the original scheme, with the phase length adjusted proportionally based on the common cycle C.

[0114] p i ' ,j =C×p i,j / c i

[0115] Where, p i ' ,j The optimized duration for each phase of intersection i.

[0116] For intersection i, the non-forward (reverse) coordinated phase time ( / C); Δ i From Midpoint to r i Midpoint time ( / C); r i Midpoint at The time after the midpoint is taken as positive; Let C be the forward (reverse) travel time between intersection i and i+1; The time interval ( / C) for the green wave to enter the intersection i in the forward (reverse) direction represents the time difference between the time when the green wave enters the intersection and the start time of the coordinated phase green light. The time interval ( / C) for the green wave to exit the intersection i in the forward (reverse) direction represents the time difference between the time when the green wave exits the intersection and the start time of the coordinated phase green light; The bandwidth ( / C) of the positive (reverse) green wave between intersections i and i+1; The phase difference ( / C) is the midpoint of the total duration of the forward (reverse) uncoordinated phases between intersections i and i+1. The above parameters are the optimal data in the optimal traffic light scheme of this embodiment. Δ i According to p i ' ,j C is obtained through calculation. The above-mentioned travel time is used as an example. The remaining parameters are variables to be solved, which can be solved based on the following green wave objective function, other constraints, and the phase difference of intersections in the main traffic artery.

[0117] The green wave objective function is an improved version of the traditional objective function based on bidirectional green wave equalization.

[0118] Forward and reverse green wave bandwidth It can reflect the traffic capacity when vehicles do not stop, and the positive green wave bandwidth is b. i The reverse green wave bandwidth is The larger the value, the more ideal the green wave effect. Traditional green wave algorithms use... It serves as the objective function of the green wave model. However, it fails to consider the balance between the positive and negative directions, which can easily lead to b i It is relatively large (i.e., the positive green wave effect is better), and The effect is relatively small (i.e., the reverse green wave effect is relatively poor).

[0119] Therefore, the green wave bandwidth is divided into several parts proportionally, and corresponding weights are assigned from largest to smallest.

[0120] b i =b i,1 +b i,2 +b i,3 +...+b i,k

[0121]

[0122] 1 = δ i,1 >δ i,2 >δ i,3 >...>δ i,k

[0123] Based on traffic capacity balancing, the green wave objective function is improved as follows:

[0124]

[0125] The improved green wave objective function can be satisfied sequentially and preferentially. This is done to achieve a balanced green wave effect.

[0126] Other constraints include the traditional maxband green wave model and other similar models. The functional expression for the bidirectional green wave constraint is:

[0127]

[0128]

[0129]

[0130] The expression for the green wave continuity constraint is as follows:

[0131] b i+1 -b i =0

[0132] e i -s i =0

[0133]

[0134]

[0135] Calculating the phase difference of traffic lights at intersections along a major traffic artery involves the following steps:

[0136] Step 101: Solve the green wave model.

[0137] Using the improved green wave objective function as the objective function, and the aforementioned bidirectional green wave constraints and green wave continuity constraints as constraints, linear programming can be used to solve for each variable: Further, the green wave model can be solved, and after obtaining the green wave model, the process jumps to step 102.

[0138] Step 102: Calculate the relative phase difference of the forward (or reverse) coordinated phases at each intersection.

[0139] For example, for the positive coordinated phases of intersection i and intersection i+1, the expression for calculating their relative phase difference is:

[0140] p i,c +s i +t i =p i+1,c +e i+1

[0141] Where, p i,c The start time of the positive coordination phase, i.e.:

[0142] σ i+1,i =p i+1,c -p i,c =s i +t i -ei+1

[0143] Since the relative phase difference of the positive coordination phase cannot be directly sent to the traffic lights, it needs to be converted into the periodic start time phase, so skip to step 103.

[0144] Step 103: Calculate the phase difference of the traffic light schemes at each intersection.

[0145] Calculate the difference in start time between the traffic lights at intersection i and intersection i+1 based on the duration of the preceding phase of the forward coordination phase at each intersection:

[0146]

[0147] Where, p i ′ ,p To coordinate the phase advance phase, the optimized phase time p can be used as a reference. i ′ ,j calculate.

[0148] Let the phase difference of the traffic light scheme at intersection i=1 be 0, then the phase difference of the traffic light scheme at intersection i=2 is... The phase difference of the traffic light scheme at intersection i=3 is The phase difference of the traffic light scheme at intersection i is... like Then the phase difference is taken

[0149] Unlike existing technologies, this application acquires intersection information of a traffic artery; based on the intersection information, it retrieves candidate traffic light schemes for each intersection of the traffic artery from a traffic light scheme database; it determines the optimal traffic light scheme for each intersection from the candidate schemes; and it solves for the green wave scheme of the traffic artery based on the optimal traffic light schemes for each intersection. In this way, after acquiring the intersection information of the traffic artery, candidate traffic light schemes for each intersection of the traffic artery can be retrieved from the traffic light scheme database based on the intersection information, and then the optimal traffic light scheme for each intersection can be determined from the candidate schemes to obtain the green wave scheme of the traffic artery. Therefore, this application can use the intersection information of the traffic artery to achieve the optimal green wave phase sequence for each intersection, further optimizing the traffic light scheme and significantly improving the phase sequence of the bidirectional green wave of traffic lights.

[0150] Optionally, such as Figure 6 As shown, Figure 6 for Figure 1The north-south template diagram of the traffic light scheme library in this embodiment is shown. The phase sequence optimization method in this embodiment further includes: in response to the fact that there are multiple optimal traffic light schemes for the intersection, the candidate traffic light scheme with the highest priority is selected as the final optimal traffic light scheme for the intersection according to the preset priority.

[0151] If there are multiple optimal traffic light schemes for the intersection obtained through screening, the candidate traffic light scheme with the highest priority is selected according to the preset priority. The candidate traffic light scheme with the highest priority is the final optimal traffic light scheme for the intersection.

[0152] For example, the optimal traffic light scheme includes north-south templates, which include templates 1 through 9. Template 1 has a priority level of 1, template 2 has a priority level of 4, template 3 has a priority level of 9, template 4 has a priority level of 3, template 5 has a priority level of 2, template 6 has a priority level of 5, template 7 has a priority level of 6, template 8 has a priority level of 7, and template 9 has a priority level of 8. The priority levels of templates 1 through 9 are from highest to lowest. If the optimal traffic light scheme includes templates 1 through 9, then template 1 with the highest priority among the candidate traffic light schemes is selected as the final optimal traffic light scheme for the intersection.

[0153] Furthermore, the optimal traffic light scheme includes east-west templates, which include east-west template 1 to east-west template 9. The priority of east-west template 1 to east-west template 9 is similar to that of the aforementioned north-south template 1 to north-south template 9.

[0154] For example, the optimal traffic light scheme includes east-west template 1 to east-west template 9. The priority levels of east-west template 1 to east-west template 9 are from high to low as level 1 to level 9. Then, the east-west template 1 with the highest priority among the candidate traffic light schemes is selected as the final optimal traffic light scheme for the intersection.

[0155] Optionally, such as Figure 6 As shown, the phase sequence optimization method in this embodiment further includes: establishing multiple first traffic light schemes in the north-south direction and multiple second traffic light schemes in the east-west direction; arbitrarily combining the multiple first traffic light schemes and multiple second traffic light schemes to obtain multiple combined traffic light schemes; performing stage sequence processing on each combined traffic light scheme to obtain two combined traffic light schemes, thereby establishing a traffic light scheme library. Among them, the multiple first traffic light schemes in the north-south direction are as follows: Figure 6As shown, the multiple second traffic light schemes in the east-west direction are similar to the multiple first traffic light schemes in the north-south direction.

[0156] The multiple first traffic light schemes in the north-south direction include the aforementioned north-south templates, and further include north-south templates 1 to 9. The phase combination of north-south template 1 is north-south straight left; the phase combination of north-south template 2 is north-entry straight left + south-entry straight left; the phase combination of north-south template 3 is north-south straight + north-south left turn; the phase combination of north-south template 4 is north-entry straight left + north-south straight left; the phase combination of north-south template 5 is south-entry straight left + south-south straight left + north-south straight left; the phase combination of north-south template 6 is north-entry straight left + north-south left turn + south-entry straight left; the phase combination of north-south template 7 is north-entry straight left + north-south straight + south-entry straight left; the phase combination of north-south template 8 is north-south straight + north-entry straight left + north-south left turn; and the phase combination of north-south template 9 is north-south straight + south-entry straight left + north-south left turn. The multiple second traffic light schemes in the east-west direction include the aforementioned east-west templates, which include east-west template 1 to east-west template 9, and are similar to north-south template 1 to north-south template 9 in the multiple first traffic light schemes in the north-south direction.

[0157] By arbitrarily combining multiple first traffic light schemes with multiple second traffic light schemes, a variety of combined traffic light schemes can be obtained. Specifically, the first and second traffic light schemes can be combined arbitrarily, resulting in 81 complete combined traffic light schemes. For each combined traffic light scheme, a stage sequence processing is performed, allowing for free combination, resulting in two more combined traffic light schemes, thus establishing a traffic light scheme library.

[0158] For example, among 81 complete traffic light combinations, one of them can be combined into two combinations based on the phase sequence: Northbound straight-left + Southbound straight-left, or Southbound straight-left + Northbound straight-left. Each of the 81 complete traffic light combinations can be freely combined according to the phase sequence, resulting in a maximum of 162 combinations, which can be used to establish a traffic light combination library.

[0159] Each traffic light scheme also includes phase duration constraints, see details below. Figure 6 .

[0160] This application further proposes an electronic device, such as Figure 7 As shown, Figure 7 This is a schematic diagram of an embodiment of the electronic device of this application. The electronic device 800 includes a processor 801 and a memory 802 connected to the processor 801.

[0161] Processor 801 can also be referred to as CPU (Central Processing Unit). Processor 801 may be an integrated circuit chip with signal processing capabilities. Processor 801 can also be a general-purpose processor, digital signal processor (DSP), application-specific integrated circuit (ASIC), field-programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component. A general-purpose processor can be a microprocessor or any conventional processor.

[0162] The memory 802 is used to store the program data required for the processor 801 to run.

[0163] The processor 801 is also used to execute the program data stored in the memory 802 to implement the above-mentioned phase sequence optimization method for bidirectional green waves of traffic lights.

[0164] This application further proposes a computer-readable storage medium. For example... Figure 8 As shown, Figure 8 This is a schematic diagram of the structure of an embodiment of the computer-readable storage medium of this application.

[0165] The computer-readable storage medium 900 of this application embodiment stores program instructions 910, which are executed to implement the above-described method for optimizing the phase sequence of bidirectional green waves in traffic lights.

[0166] Specifically, program instructions 910 can form a program file and be stored in the aforementioned storage medium as a software product, so that an electronic device (which may be a personal computer, server, or network device, etc.) or processor can execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks, or terminal devices such as computers, servers, mobile phones, and tablets.

[0167] In this embodiment, the computer-readable storage medium 900 may be, but is not limited to, a USB flash drive, SD card, PD optical drive, portable hard drive, large-capacity floppy drive, flash memory, multimedia memory card, server, etc.

[0168] In one embodiment, a computer program product or computer program is provided, the computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, causing the electronic device to perform the steps in the above-described method embodiments.

[0169] Furthermore, if the aforementioned functions are implemented as software functions and sold or used as independent products, they can be stored in a mobile terminal-readable storage medium. That is, this application also provides a storage device storing program data, which can be executed to implement the methods of the above embodiments. This storage device can be, for example, a USB flash drive, an optical disc, or a server. In other words, this application can be embodied in the form of a software product, which includes several instructions to cause a smart terminal to execute all or part of the steps of the methods described in the various embodiments.

[0170] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0171] Any process or method description in the flowchart or otherwise herein can be understood as representing an apparatus, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order according to the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0172] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (which may be a personal computer, server, network device, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0173] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for optimizing the phase sequence of a two-way green wave in a traffic signal, characterized in that, include: Obtain intersection information for major traffic arteries; Based on the intersection information, the candidate traffic light schemes for each intersection of the main traffic artery are obtained from the traffic light scheme database; The optimal traffic light scheme for the intersection is determined from the candidate traffic light schemes corresponding to the intersection. The green wave scheme for the main traffic artery is solved based on the optimal traffic light scheme at each intersection. The intersection information includes the cycle duration and phase duration of the previous green wave cycle for each intersection, and also includes the distance and speed between road segments along the traffic artery. Determining the optimal traffic light scheme for the intersection from the candidate traffic light schemes corresponding to the intersection includes: Obtain the common cycle duration of the previous green wave cycle at the intersection; The travel time of the road segment is obtained based on the distance and the travel speed; The up and down phase start time difference of the intersection is obtained based on the common cycle duration and the travel time; The optimal traffic light scheme for the intersection is the one that matches the starting time difference between the up and down phases from the candidate traffic light schemes.

2. The phase sequence optimization method according to claim 1, characterized in that, Also includes: Establish multiple first traffic light schemes in the north-south direction and multiple second traffic light schemes in the east-west direction; The plurality of first traffic light schemes and the plurality of second traffic light schemes can be combined in any way to obtain a variety of combined traffic light schemes; Each of the combined traffic light schemes is processed in stages to obtain two combined traffic light schemes, thereby establishing the traffic light scheme library.

3. The phase sequence optimization method according to claim 1, characterized in that, The intersection information includes: channelization information and / or traffic light group information of the intersection. The step of obtaining candidate traffic light schemes for each intersection of the traffic artery from the traffic light scheme database based on the intersection information includes: Based on the channelization information and / or the traffic light group information, the candidate traffic light schemes for each intersection of the main traffic artery are obtained from the traffic light scheme library.

4. The phase sequence optimization method according to claim 1, characterized in that, The intersection information also includes the start time of the uplink reference phase and the start time of the downlink reference phase of the intersection located at the end of the traffic artery in the previous green wave cycle. The travel time includes the uplink travel time and the downlink travel time. Obtaining the difference between the uplink and downlink phase start times of the intersection based on the common cycle duration and the travel time includes: Obtain the difference between the start time of the uplink reference phase and the start time of the downlink reference phase; Obtain the first sum between the uphill travel time and the downhill travel time; Obtain the remainder between the first sum and the duration of the common period; The up and down phase start time difference of the intersection is obtained based on the residual value and the difference value.

5. The phase sequence optimization method according to claim 4, characterized in that, The step of obtaining the uplink and downlink phase start time difference of the intersection based on the residual value and the difference includes: In response to the uplink reference phase start time being later than the downlink reference phase start time, a second sum between the residual value and the difference value is obtained as the uplink and downlink phase start time difference of the intersection; In response to the fact that the uplink reference phase start time is earlier than the downlink reference phase start time, a third sum between the difference and the common period duration is obtained; The difference between the third sum and the remainder is the up-and-down phase start time difference of the intersection.

6. The phase sequence optimization method according to claim 4, characterized in that, Also includes: If there are multiple optimal traffic light schemes for the intersection, the candidate traffic light scheme with the highest priority is selected as the final optimal traffic light scheme for the intersection according to the preset priority.

7. The phase sequence optimization method according to claim 1, characterized in that, The process of solving the green wave scheme for the traffic artery based on the optimal traffic light scheme at each intersection includes: Construct a green wave objective function and obtain green wave constraints based on the optimal traffic light scheme for all the intersections. The relative phase difference of each intersection is obtained based on the green wave objective function and the green wave constraints; The green wave scheme for the traffic artery is calculated based on the relative phase difference of all the intersections.

8. An electronic device, characterized in that, The electronic device includes a processor and a memory connected to the processor, wherein the memory stores program data, and the processor executes the program data stored in the memory to perform the phase sequence optimization method according to any one of claims 1 to 7.

9. A computer storage medium, characterized in that, It internally stores program instructions that are executed to implement the phase sequence optimization method according to any one of claims 1 to 7.

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