A radar detector-based intersection signal lamp adaptive control method
By monitoring the number of vehicles and queue length at intersections using radar detectors, calculating the green light demand and red light urgency indices, and optimizing signal phase switching, the problem of low efficiency in intersection signal light control has been solved, enabling adaptive traffic flow management and improving traffic efficiency.
Patent Information
- Application Number
- CN202211499631.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2022-11-28
- Publication Date
- 2026-01-02
- Estimated Expiration
- 2042-11-28
AI Technical Summary
In existing technologies, the control of traffic lights at intersections relies on manual intervention by traffic police, which is inefficient and ineffective, and cannot adapt to changes in real-time traffic conditions, resulting in serious problems of traffic oversaturation.
Radar detectors are used to monitor the number of vehicles and the length of vehicle queues at intersections, calculate the green light demand index and the red light urgency index, and optimize the switching of traffic light phases through adaptive control methods to achieve automated phase adjustment and balanced traffic flow.
It improved traffic flow efficiency, reduced the number of stops during off-peak hours and delays during peak hours, and achieved balanced traffic load and optimized utilization of time and space.
Smart Images
Figure CN116386354B_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of traffic, in particular to a kind of intersection signal lamp adaptive control method based on radar detector. BACKGROUND
[0002] With the rapid development of urbanization in our country, the number of motor vehicles is increasing year by year, and the urban traffic problem is increasingly prominent, especially during peak hours, the flat intersection in central city is in the state of oversaturated traffic, and the traffic efficiency is low.
[0003] In order to solve the problem of oversaturated traffic at some important intersections, the traffic police at these important intersections will manually intervene the signal lights, that is, the traffic police will manually control the green light duration of the intersection according to their experience when they see that there are more vehicles entering the intersection. However, the traffic state of the intersection changes in real time, and the number of intersections that appear oversaturated traffic is increasing, and the method of manually intervening by traffic police at each intersection is not only inefficient, but also the control logic depends on the experience of traffic police and the effect is not ideal. SUMMARY
[0004] The present application proposes an intersection signal lamp adaptive control method based on radar detector to solve the above problems and technical needs, and the technical scheme of the present application is as follows:
[0005] An intersection signal lamp adaptive control method based on radar detector, the method comprises:
[0006] monitoring the real-time vehicle number of the current release direction of the intersection by radar detector, and determining the green light demand index of the current release phase based on the real-time vehicle number of the current release direction, the more real-time vehicle number of the current release direction monitored within the predetermined time T, the greater the green light demand index of the current release phase;
[0007] monitoring the vehicle queue length of each current waiting direction of the intersection by radar detector, and determining the red light urgency index of each current waiting phase based on the vehicle queue length of the current waiting direction, the longer the vehicle queue length of the current waiting direction, the greater the red light urgency index of the corresponding current waiting phase;
[0008] determining the current waiting phase with one of the red light urgency index exceeding the green light demand index of the current release phase as the target switching phase, and controlling the signal light of the intersection to switch phases from the current release phase to the target switching phase to switch to the release corresponding current waiting direction.
[0009] The further technical scheme is that the green light demand degree index of the current release phase is also related to the headway of the current release direction monitored by the radar detector, the smaller the headway, the higher the pulse frequency sensed by the radar detector, and the greater the green light demand degree index of the current release direction.
[0010] The further technical scheme is that the green light demand degree index A=k1*n+p of the current release phase, n is the real-time vehicle number of the current release direction monitored in the predetermined time T, k1 is a proportional coefficient, p represents the pulse frequency sensed by the radar detector and p=(t0-△T) / T, t0 is a time constant, and △T is the headway of the current release direction monitored by the radar detector.
[0011] The further technical scheme is that the red light urgency index of each current waiting phase is also related to the distance between the intersection and the upstream intersection of the current waiting direction corresponding to the intersection, the smaller the distance between the intersection and the upstream intersection, the greater the red light urgency index of the current waiting phase.
[0012] The further technical scheme is that the red light urgency index of each current waiting phase is also related to the vehicle frequency of the corresponding current waiting direction, the higher the vehicle frequency of the corresponding current waiting direction, the greater the red light urgency index of the current waiting phase.
[0013] The further technical scheme is that the red light urgency index of each current waiting phase is also related to the phase switching sequence of the signal light of the intersection, the greater the number of other phases between the current waiting phase and the current release phase, the greater the red light urgency index of the current waiting phase.
[0014] The further technical scheme is that the red light urgency index B=k2*L+D+k3*f+h of any current waiting phase, k2 and k3 are proportional coefficients, L is the vehicle queue length of the current waiting direction corresponding to the current waiting phase, D is the distance between the intersection and the upstream intersection of the current waiting direction corresponding to the current waiting phase, f is the vehicle frequency of the current waiting direction corresponding to the current waiting phase, and h is a phase sequence coefficient, the greater the number of other phases between the current waiting phase and the current release phase, the greater the phase sequence coefficient h.
[0015] The further technical scheme is that the signal light of the intersection is switched based on a Ring-barrier double-ring phase control mode, and the method for switching the signal light of the intersection comprises the following steps:
[0016] determining a current waiting phase as a target switching phase, wherein the target switching phase is determined as a current waiting phase whose red light urgency index exceeds a green light demand index of a current release phase in the same control ring, and switching from the current release phase to the target switching phase in the same control ring under the constraints of ring constraints and boundary constraints in the Ring-barrier dual-ring phase control mode;
[0017] The ring constraints indicate that the phases belonging to the same control ring are switched in sequence, and the boundary constraints indicate that the phases of the two control rings in the same phase region in a control cycle end at the same time at the boundary, and the boundary is located between different phase regions in a control cycle.
[0018] Further, the target switching phase and the current release phase belong to the same phase region, the target switching phase is after the current release phase in the switching sequence, or the target switching phase is before the current release phase in the switching sequence, and any phase in the same phase region contains one or more times, and the total phase time length of any two phases in the same phase region is equal or unequal.
[0019] Further, the target switching phase and the current release phase belong to different phase regions, and the phases in the same control ring are switched in sequence in the phase region where the current release phase is located until the current phase region ends, and the phases in the same control ring are switched in sequence in the phase region where the target switching phase is located until the target switching phase is switched to; the target switching phase and the current release phase belong to the same control cycle, or the target switching phase and the current release phase belong to different control cycles; the total time length of the two phase regions in one control cycle is equal or unequal, and the total time length of any two control cycles is equal or unequal.
[0020] The beneficial technical effects of the present application are as follows:
[0021] The application discloses a kind of intersection signal lamp adaptive control method based on radar detector, which acquires the data of real-time section by radar detector and determines the green light demand index and red light urgency index of different directions, and based on the comparison and analysis of red light urgency index and green light demand index, it is automatically switched to phase, to coordinate the traffic of different directions, so that each direction pressure load balancing is balanced, and the traffic efficiency is improved.
[0022] The method of the application optimizes the traditional Ring-Barrier double-ring phase control mode. By detecting real-time vehicle passing data, the length of each phase can be adjusted. In the case of meeting the constraints between phases, the automatic asymmetric release mode has high release flexibility, can truly achieve full-directional adaptation, reduces parking during flat peak periods, reduces delay during peak periods, realizes space-time distribution, maximizes the use of time and space, improves passing efficiency, and does not require complex basic scheme parameter configuration, and the implementation is simple. BRIEF DESCRIPTION OF DRAWINGS
[0023] Figure 1 is a flowchart of the intersection signal lamp adaptive control method in an embodiment of the application.
[0024] Figure 2 is a traditional phase release schematic diagram of the Ring-barrier double-ring phase control mode.
[0025] Figure 3 is a phase release schematic diagram in an example of the application.
[0026] Figure 4 is a phase release schematic diagram in another example of the application.
[0027] Figure 5 is a phase release schematic diagram in another example of the application.
[0028] Figure 6 is a phase release schematic diagram in another example of the application. DETAILED DESCRIPTION
[0029] The specific embodiments of the application will be further described below in conjunction with the accompanying drawings.
[0030] The application discloses an intersection signal lamp adaptive control method based on a radar detector, please refer to Figure 1 When the signal lamp of the intersection displays the current release phase, the vehicles of the direction corresponding to the current release phase can be released. The application refers to the direction corresponding to the current release phase and currently being released as the current release direction. In addition to the current release direction, the vehicles of other directions of the intersection are waiting at the intersection stop line, then each phase of the signal lamp is referred to as the current waiting phase, and the direction used for release by each current waiting phase is referred to as the current waiting direction corresponding to the current waiting phase. During the process of the signal lamp displaying the current release phase:
[0031] 1. The real-time vehicle number of the current release direction of the intersection is monitored by the radar detector, and the green light demand index of the current release phase is determined based on the real-time vehicle number of the current release direction.
[0032] The higher the green light demand degree index of the current release phase is, the more urgent the demand for extending the phase duration of the current release phase is. The more the real-time vehicle number n of the current release direction monitored within the predetermined duration T is, and the greater the green light demand degree index A of the current release phase is. The green light demand degree index A of the current release phase is related to not only the real-time vehicle number n of the current release direction monitored within the predetermined duration T, but also the headway AT of the current release direction monitored by the radar detector. The smaller the headway AT is, the higher the pulse frequency p sensed by the radar detector is, and the greater the green light demand degree index A of the current release phase is.
[0033] Based on the two influencing factors, the green light demand degree index A of the current release phase can be calculated according to the following formula: A = k1*n + p, n is the real-time vehicle number of the current release direction monitored within the predetermined duration T, k1 is a proportional coefficient, p represents the pulse frequency sensed by the radar detector and p = (t0- AT) / T, t0 is a time constant, and AT is the headway of the current release direction monitored by the radar detector. The proportional coefficient k1 can be set by the user, and the time constant t0 can be, for example, 2s.
[0034] 2. The vehicle queue length of each current waiting direction of the intersection is monitored by the radar detector, and the red light urgency index of each current waiting phase is determined based on the vehicle queue length of the current waiting direction. For any current waiting phase:
[0035] The longer the corresponding vehicle queue length L of the current waiting direction is, the more vehicles waiting for release on the direction are, and if the release is delayed, the vehicles on the direction are prone to overflow, so the red light urgency index B of the current waiting direction is greater, indicating that the demand for switching to the current waiting phase is more urgent.
[0036] In one embodiment, the red light urgency index B of the current waiting phase is also related to the distance D between the current intersection and the upstream intersection of the current waiting direction corresponding to the current waiting phase. The smaller the distance D between the current intersection and the upstream intersection is, the more prone the vehicles waiting in line are to overflow to the upstream intersection, so the red light urgency index B of the current waiting phase is greater.
[0037] In another embodiment, the red light urgency index of the current waiting phase is also related to the arrival frequency f of the current waiting direction corresponding to the current waiting phase. The higher the arrival frequency f of the current waiting direction is, the more vehicles waiting in line are accumulated within the same waiting duration, and the more prone the vehicles waiting in line are to overflow to the upstream intersection, so the red light urgency index B of the current waiting phase is greater.
[0038] In another embodiment, the red light urgency index B of the current waiting phase is also related to the phase switching sequence adopted by the signal of the intersection, the more the number of other phases between the current waiting phase and the current release phase, the more the other phases to be switched from the current release phase to the current waiting phase, the longer the time generated in the phase switching process, and the greater the red light urgency index B of the current waiting phase.
[0039] Based on the above various influencing factors, the red light urgency index B of any current waiting phase can be calculated according to the following formula: B=k2*L+D+k3*f+h. Wherein, k2 and k3 are proportional coefficients, L is the vehicle queue length of the current waiting direction corresponding to the current waiting phase. D is the distance between the current intersection and the upstream intersection of the current waiting direction corresponding to the current waiting phase. f is the arrival frequency of the current waiting direction corresponding to the current waiting phase. h is the phase sequence coefficient, the greater the number of other phases between the current waiting phase and the current release phase, the greater the phase sequence coefficient h.
[0040] For example, the signal releases the east left turn direction, the east straight direction, the south left turn direction and the north straight direction in turn, and switches and releases according to the predetermined phase sequence of the east left turn phase (phase 1), the west straight phase (phase 2), the south left turn phase (phase 3) and the north straight phase (phase 4) to achieve the above-mentioned purpose. Assuming that the current release phase of the signal is phase 1, then phase 2, phase 3 and phase 4 are all current waiting phases. Since the number of other phases between phase 2, phase 3 and phase 4 and phase 1 gradually increases when switching in the order of phase 1-phase 4, the phase sequence coefficient h corresponding to phase 2, phase 3 and phase 4 gradually increases, for example, it can be taken as 0, 0.1 and 0.2 in turn.
[0041] 3. Determine one of the current waiting phases whose red light urgency index exceeds the green light demand index of the current release phase as the target switching phase, and control the signal of the intersection to switch the phase from the current release phase to the target switching phase to switch to release the corresponding current waiting direction.
[0042] As can be seen from the above examples, when the signal of an intersection is released, two current release phases are generally displayed at the same time to release two symmetrical directions at the same time, for example, in the above example, the signal displays the east left turn phase and the west left turn phase to release the east left turn direction and the west left turn direction at the same time. Therefore, when switching from the current release phase to the target switching phase, the phase conflict between the phases needs to be considered, and the road right of different directions needs to be ensured, so that the phase cannot be switched at will in the process of adaptive control.
[0043] In the present application, the signal lights of the intersection are switched based on the Ring-barrier double-ring phase control mode. In a control cycle, without considering the right-turn phase, the phase sequence diagram of the standard eight phases of the Ring-barrier double-ring phase control mode is as shown in Figure 2 . The phases in a control cycle constitute two control rings, each of which contains four phases. The four phases in the same control ring are switched in turn, and the front and rear two phases conflict with each other. For example, in the example shown in Figure 2 , from the start of the control cycle, the four phases contained in the first control ring are east left-turn phase (phase 1), west straight phase (phase 2), south left-turn phase (phase 3), and north straight phase (phase 4) in turn according to the switching order, and the four phases contained in the second control ring are west left-turn phase (phase 5), east straight phase (phase 6), north left-turn phase (phase 7), and south straight phase (phase 8) in turn according to the switching order.
[0044] Each control ring is further divided into two phase regions, and the division is located between different phase regions in a control cycle to separate the two phase regions. One of the phase regions corresponds to the east-west traffic flow, and the other phase region corresponds to the south-north traffic flow, thereby ensuring safety. Each phase region contains multiple phases in the two control rings. For example, in Figure 2 , the first phase region contains the east left-turn phase and the west straight phase of the first control ring, and contains the west left-turn phase and the east straight phase of the second control ring. The second phase region contains the south left-turn phase and the north straight phase of the first control ring, and contains the north left-turn phase and the south straight phase of the second control ring.
[0045] When the signal lights are switched based on the Ring-barrier double-ring phase control mode, the ring constraint and the division constraint need to be met. The ring constraint indicates that multiple phases belonging to the same control ring are switched in turn, and the division constraint indicates that the phases of the two control rings in the same phase region of a control cycle end at the same time at the division. For example, in Figure 2 , phase 2 and phase 6 need to end at the same time at the division of the first phase region and the second phase region, and switch to the phases in the second phase region to avoid phase conflict. Similarly, phase 4 and phase 8 need to end at the same time at the division of the second phase region and the first phase region of the next control cycle, and switch to the phases in the first phase region of the next control cycle to avoid phase conflict.
[0046] In order to meet the ring constraint and the division constraint, in the traditional method, the signal lights are switched in the first control ring and the second control ring synchronously, so that the phases with the same phase sequence in the first control ring and the second control ring are displayed at the same time, forming the effect of double-direction simultaneous release. For example, in Figure 2In the prior art, the signal light displays phase 1 and phase 5 at the same time, and the east-west left-turn direction is released at the same time. Then, the signal light displays phase 2 and phase 6 at the same time, and the east-west straight direction is released at the same time. Then, the signal light displays phase 3 and phase 7 at the same time, and the south-north left-turn direction is released at the same time. Then, the signal light displays phase 4 and phase 8 at the same time, and the south-north straight direction is released at the same time. Then, the next control cycle is entered to control in a cycle. Therefore, in the prior art, the phase duration of the phases corresponding to the phase sequence in the two control cycles is equal, and each phase generally appears only once in a single control cycle.
[0047] The adaptive control method of the present application is optimized on the basis of the Ring-barrier double-ring phase control mode. In the determination of the target switching phase, the current waiting phase whose red light urgency index exceeds the green light demand index of the current released phase in the same control cycle is taken as the target switching phase. The current waiting phase and the target switching phase determined in this way belong to the same control cycle. Then, the current released phase is switched to the target switching phase in the same control cycle under the constraint conditions of the ring constraint and the boundary constraint of the Ring-barrier double-ring phase control mode. That is, when the current released phase is switched to the target switching phase, the phases in the same control cycle are switched in turn, and the phases in the two control cycles are simultaneously ended at the boundary.
[0048] For the current released phase and the target switching phase in any control cycle, one case is that the target switching phase and the current released phase belong to the same phase domain, which is divided into two cases:
[0049] (1) The target switching phase is behind the current released phase according to the switching sequence, and then the current released phase is directly ended, and the target switching phase is switched. In the same phase domain, when the current released phase is switched to the target switching phase in the control cycle, the current released phase in the other control cycle can be switched or not switched, that is, in the present application, the phases corresponding to the phase sequence in the two control cycles do not need to be aligned.
[0050] For example, based on the example of Figure 2 , when the signal light displays phase 1 and phase 5 at the same time, it is detected that the red light urgency index of phase 6 exceeds the green light demand index of phase 5, but the green light demand index of phase 1 is still higher than the red light urgency index of phases 2, 3, and 4. Then, the phase of the first control cycle remains unchanged, phase 5 in the second control cycle is closed in advance, and phase 6 is opened in advance, so that phase 1 and phase 6 are displayed at the same time. Please refer to the phase release schematic diagram shown in Figure 3 .
[0051] (2) Target switching phase is in front of the current release phase according to the switching sequence, then switch to the target switching phase which has been released again in the current phase region, so any phase contains one or more times in the same phase region.
[0052] For example, based on Figure 2 , when the signal light releases phase 2 and phase 6 at the same time, it is detected that the red light urgency index of phase 5 exceeds the green light demand index of phase 6, and it is detected that the red light urgency index of phase 1 exceeds the green light demand index of phase 2. Then switch from phase 6 to phase 5, and switch from phase 2 to phase 1. In the first phase region, phase 1 and phase 5 each appear twice. Please refer to the phase release schematic diagram shown in Figure 4 . Figure 4 The embodiment shown in takes synchronous switching of two control rings as an example, and actual switching can also be asynchronous.
[0053] Therefore, based on the method of the present application, the phases corresponding to the phase sequence in the two control rings do not need to be aligned, that is, the phase sequence corresponding to the phases does not need to start at the same time, end at the same time, or have the same phase length. For example, Figure 3 , phase 5 and phase 1 do not need to be aligned, and phase 6 and phase 2 also do not need to be aligned. The phase lengths of any two phases in the same control ring can be equal or not equal. For example, Figure 3 , the phase lengths of phase 1 and phase 2 are equal, but the phase lengths of phase 5 and phase 6 are not equal. Moreover, any phase in the same phase region can appear once or more times. For example, Figure 4 , phase 2 and phase 6 each appear only once, but phase 1 and phase 5 each appear twice. The total phase lengths of any two phases are equal or not equal. For example, in Figure 4 , the total phase lengths of phase 2 and phase 6 are equal, but the total phase lengths of phase 2 and phase 1 are not equal. Thus, the lengths of various phases can all be different, with high flexibility.
[0054] For the current release phase and the target switching phase in any control ring, another case is that the target switching phase and the current release phase belong to different phase regions, then switch in sequence according to the phase switching sequence of each control ring until the end of the current phase region, and then switch in sequence according to the phase switching sequence of each control ring until the target switching phase is switched to in the phase region where the target switching phase is located. The target switching phase and the current release phase belong to the same control period, then the total lengths of the two phase regions in one control period are equal or not equal. Or, the target switching phase and the current release phase belong to different control periods, then the total lengths of any two control periods are equal or not equal.
[0055] For example, in one instance, when the signal lamp releases phases 1 and 5 at the same time, it is detected that the red light urgency index of phase 4 exceeds the green light demand index of phase 1, and it is detected that the red light urgency index of phase 8 exceeds the green light demand index of phase 5, so the phases 1 and 5 are switched to release phases 2 and 6 in advance. Assuming that the red light urgency index of phase 4 exceeds the green light demand index of phase 2 at this time, and it is detected that the red light urgency index of phase 8 exceeds the green light demand index of phase 6, the phases 2 and 6 are ended in advance and switched to release phases 3 and 7 at the same time. Assuming that the red light urgency index of phase 4 exceeds the green light demand index of phase 3 at this time, and it is detected that the red light urgency index of phase 8 exceeds the green light demand index of phase 7, the phases 3 and 7 are ended in advance and switched to release phases 4 and 8 at the same time. Please refer to the phase release schematic diagram shown in Figure 5 Thus, the duration of the first stage release phases 1 and 5 is shortened, the duration of the second stage release phases 2 and 6 is also shortened, and the duration of the third stage release phases 3 and 7 is also shortened, so that the fourth stage release phases 4 and 8 can be switched as soon as possible. As a result, the duration of the first phase region and the second phase region can not be equal, and the phase duration of each phase in each phase region is also not equal.
[0056] In another instance, when the signal lamp releases phases 4 and 8 at the same time, it is detected that the red light urgency index of phase 1 exceeds the green light demand index of phase 4, and it is detected that the red light urgency index of phase 5 exceeds the green light demand index of phase 8, so the phases 4 and 8 are switched to release phases 1 and 5 in advance. Please refer to the phase release schematic diagram shown in Figure 6 Thus, the duration of the release phases 4 and 8 is shortened, so that the duration of the second phase region is shortened, and in this instance, the first control period is ended in advance and the second control period is started in advance. As a result, not only the duration between the phase regions can not be equal, but also the duration between the control periods can not be equal.
[0057] Similarly, Figure 5 and Figure 6 The instances of the two control rings are taken as an example of synchronous switching of phases, and the switching can also be asynchronous, as long as it is ensured that the switching is ended at the same time at the boundary of the phase region.
[0058] The method based on the present application can optimize the traditional Ring-Barrier double-ring phase control mode to realize automatic asymmetric release mode, and has good effects in the following situations:
[0059] (1) During the flat peak period, the traffic of each direction is small, and the red light urgency index and the green light demand index are always low, so the green light demand index can be used as the main index during the flat peak period to reduce the number of stops.
[0060] (2)Sub-peak period. The traffic flow of the main road and the secondary road is different, the green light demand index of the key traffic flow is much larger than the red light urgency index, and the key traffic flow is mainly based on the green light demand index. When the red light urgency index of the key traffic flow is small, try to empty the secondary traffic flow; when the red light urgency index of the key traffic flow is large, switch to the key traffic flow as soon as possible.
[0061] (3) Peak period. The traffic flow of the double main roads is large, the green light demand index and the red light urgency index are intertwined, and the green light demand index is less than the red light urgency index. Switch to the phase corresponding to the red light urgency index in time.
[0062] The above only describes the preferred embodiments of the present application, and the present application is not limited to the above embodiments. It can be understood that other improvements and changes directly derived or thought of by those skilled in the art without departing from the spirit and concept of the present application should be considered to be included in the protection scope of the present application.
Claims
1. A radar detector based adaptive control method for intersection signal, characterized in that, The method comprises: monitoring the real-time vehicle number of the current release direction of the intersection by the radar detector, and determining the green light demand index of the current release phase based on the real-time vehicle number of the current release direction, the more the real-time vehicle number of the current release direction monitored within a predetermined time T, the greater the green light demand index of the current release phase; monitoring the vehicle queue length of each current waiting direction of the intersection by the radar detector, and determining the red light urgency index of each current waiting phase based on the vehicle queue length of the current waiting direction, the longer the vehicle queue length of the current waiting direction, the greater the red light urgency index of the corresponding current waiting phase; determining a current waiting phase with one of the red light urgency indexes exceeding the green light demand index of the current release phase as a target switching phase, and controlling the signal lamp of the intersection to switch phases from the current release phase to the target switching phase to switch to release the corresponding current waiting direction; the signal lamp of the intersection switches phases based on a Ring-barrier double-ring phase control mode, and the method for controlling the signal lamp of the intersection to switch phases comprises: determining a current waiting phase with a red light urgency index exceeding a green light demand index of a current release phase in the same control ring as a target switching phase, and switching from the current release phase to the target switching phase in the same control ring under the constraint conditions of ring constraint and boundary constraint of the Ring-barrier double-ring phase control mode; wherein the ring constraint indicates that multiple conflicting phases belonging to the same control ring are switched in turn, and the boundary constraint indicates that the phases of two control rings in the same phase region of one control cycle end at the same time at the boundary, and the boundary is located between different phase regions in one control cycle; the target switching phase and the current release phase belong to the same phase region, the target switching phase is after the current release phase in the switching order, or the target switching phase is before the current release phase in the switching order, then any one phase contains one or more times in the same phase region, and the total phase time length of any two phases in the same phase region is equal or unequal; the target switching phase and the current release phase belong to different phase regions, then the phases are switched in turn in the phase region where the current release phase is located according to the phase switching order of each control ring until the current phase region ends, and the phases are switched in turn in the phase region where the target switching phase is located according to the phase switching order of each control ring until the target switching phase is switched to; the target switching phase and the current release phase belong to the same control cycle, or the target switching phase and the current release phase belong to different control cycles; then the total time length of two phase regions in one control cycle is equal or unequal, and the total time length of any two control cycles is equal or unequal.
2. The method of claim 1, wherein, The green light demand index of the current release phase is also related to the headway of the current release direction monitored by the radar detector, the smaller the headway, the higher the pulse frequency sensed by the radar detector, and the greater the green light demand index of the current release direction.
3. The method of claim 2, wherein, The green light demand index A of the current release phase is k1*n+p, n is the real-time vehicle number of the current release direction monitored in the predetermined time T, k1 is a proportional coefficient, p represents the pulse frequency sensed by the radar detector and p=(t0-△T) / T, t0 is a time constant, and △T is the headway of the current release direction monitored by the radar detector.
4. The method of claim 1, wherein, The red light urgency index of each current waiting phase is also related to the distance between the intersection and the upstream intersection of the approaching direction of the corresponding current waiting direction, and the smaller the distance between the intersection and the upstream intersection of the approaching direction of the corresponding current waiting direction, the greater the red light urgency index of the current waiting phase.
5. The method of claim 4, wherein, The red light urgency index of each current waiting phase is also related to the approaching frequency of the corresponding current waiting direction, and the higher the approaching frequency of the corresponding current waiting direction, the greater the red light urgency index of the current waiting phase.
6. The method of claim 5, wherein, The red light urgency index of each current waiting phase is also related to the phase switching sequence adopted by the signal light of the intersection, and the more the number of other phases between the current waiting phase and the current release phase, the greater the red light urgency index of the current waiting phase.
7. The method of claim 6, wherein, The red light urgency index B of any current waiting phase is k2*L+D+k3*f+h, wherein k2 and k3 are proportional coefficients, L is the vehicle queue length of the current waiting direction corresponding to the current waiting phase, D is the distance between the intersection and the upstream intersection of the current waiting direction corresponding to the current waiting phase, f is the approaching frequency of the current waiting direction corresponding to the current waiting phase, and h is a phase sequence coefficient, and the more the number of other phases between the current waiting phase and the current release phase, the greater the phase sequence coefficient h.