Intersection vehicle passing control method, road side unit and car road cooperation system

Abstract

The application provides a control method for vehicle passing through an intersection, a road side unit and a vehicle-road cooperative system. The method comprises the following steps: collecting vehicle information of vehicles in a preset area of the intersection and signal lamp state information; determining a current vehicle passing type of the intersection according to the vehicle information; and generating signal lamp control information according to the vehicle passing type, the vehicle information, the signal lamp state information and / or a preset green light duration limit range. The application collects the vehicle information and the signal lamp state information in the preset area of the intersection periodically and controls in real time. The application can ensure that the control is targeted based on different situations, reduce the empty waiting rate, improve the passing efficiency, relieve the traffic pressure and ensure that the emergency vehicles have the priority to pass through.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of traffic control, in particular to a control method for vehicle passing through an intersection, a road side unit and a vehicle-road cooperative system. BACKGROUND

[0002] Traffic control belongs to the typical application level of vehicle-road cooperative system, while vehicle-road cooperative system belongs to the important content of vehicle networking application. In the vehicle networking environment, we can not only obtain the basic information collected by traditional detectors, but also obtain more updated and accurate vehicle-road related information through vehicle-road communication. Traditionally, the parameters of traffic signal control method are obtained from the data collected by traditional detectors. However, the types of data obtained by traditional detectors are less and the accuracy is easily affected by detector equipment and external environment, which causes problems such as vehicle waiting, resulting in low vehicle passing efficiency. At the same time, special function vehicles in the society often need to obtain the priority right of passing through the road, especially the intersection, when performing special tasks. This special demand cannot be met in the traditional environment. In the vehicle networking environment, the priority information of the vehicle can be known in advance. Therefore, how to fully exert the technical advantages of vehicle wireless communication technology (V2X) to make the passing efficiency of the intersection higher and the special vehicles pass through the intersection quickly has become a hot research problem in vehicle networking. SUMMARY

[0003] The technical purpose of the present application is to provide a control method for vehicle passing through an intersection, a road side unit and a vehicle cooperative system, to solve the problems of low passing efficiency of traditional traffic signal control method and inability to meet the priority passing of special vehicles.

[0004] To solve the above technical problems, the present application provides a control method for vehicle passing through an intersection, applied to a road side unit, comprising:

[0005] Collecting vehicle information and signal light state information of vehicles in a preset area of the intersection;

[0006] According to the vehicle information, determining the current vehicle passing type of the intersection;

[0007] Generating signal light control information according to the vehicle passing type, the vehicle information, the signal light state information and / or the preset green light duration limit range.

[0008] Specifically, the control method as described above further comprises:

[0009] Sending the signal light control information to a signal receiving end, which includes a signal light controller and / or a vehicle.

[0010] Specifically, the control method as described above, according to the vehicle information, determines the current vehicle passing type of the intersection, comprising:

[0011] When it is determined according to the vehicle position information in the vehicle information that there is no first vehicle in the preset area, the vehicle passing type is determined as a first type in which each signal phase is passable, wherein the first vehicle is any vehicle in the vehicle that needs to pass through the intersection;

[0012] When it is determined according to the vehicle position information that there is a first vehicle in the preset area, and it is determined according to the vehicle category information in the vehicle information that none of the first vehicles is an emergency vehicle, the passing type is determined as a second type according to the preset signal phase switching rule;

[0013] When it is determined according to the vehicle position information that there is a first vehicle in the preset area, and it is determined according to the vehicle category information that at least one first vehicle is an emergency vehicle, the vehicle passing type is determined as a third type in which the emergency vehicle has priority.

[0014] Preferably, the control method as described above, according to the vehicle passing type, generates the signal light control information within the green light duration limit range, comprising:

[0015] In the case where the vehicle passing type is the first type, the first signal light control information is generated, which is used to control each signal phase of the signal light to be switched to the yellow light state.

[0016] Preferably, the control method as described above, according to the vehicle passing type, the vehicle information, the signal light state information and the green light duration limit range, generates the signal light control information, comprising:

[0017] In the case where the vehicle passing type is the second type, and the signal light state information is that each signal phase of the signal light is not in the green light state, according to the vehicle information, the first estimated time of each first vehicle in the preset area to reach the intersection is obtained;

[0018] The first signal phase corresponding to the first target estimated time needs to be switched to the green light state is determined, wherein the first target estimated time is the minimum value in the first estimated time;

[0019] The larger value between the first target estimated time and the lower limit of the green light duration limit range is determined as the first green light configuration time of the green light state;

[0020] According to the first signal phase and the first green light configuration time, the second signal light control information is generated, which is used to control the first signal phase of the signal light to be switched to the green light state, and the initial duration of the green light state is configured to be the first green light configuration time.

[0021] Preferably, the control method according to the vehicle passing type, the vehicle information, the signal light state information and the green light duration limit range generates the signal light control information, comprising:

[0022] In the case that the vehicle passing type is the second type and the signal light state information is that the second signal light phase of the signal light is in the green light state, if the duration of the green light state reaches the pre-configured second green light configuration time, the fuzzy control is performed according to the vehicle information and the green light duration limit range to obtain a first green light extension time;

[0023] When the first green light extension time is greater than zero, the second green light configuration time is updated according to the first green light extension time to obtain an updated second green light configuration time, and the third signal light control information is generated according to the second signal light phase and the updated second green light configuration time, the third signal light control information being used to control the second signal light phase to keep the green light state and extend the configuration time of the green light state to the second green light configuration time;

[0024] Or, when the first green light extension time is equal to zero, the third signal light phase which needs to be switched to the green light state and the third green light configuration time are determined according to the second signal light phase and the signal light phase switching rule, and the fourth signal light control information is generated according to the third signal light phase and the third green light configuration time, the fourth signal light control information being used to control the signal light to switch the second signal light phase to the green light state and configure the initial configuration time of the green light state as the third green light configuration time.

[0025] Further, the control method according to the vehicle information and the green light duration limit range performs the fuzzy control to obtain the first green light extension time, comprising:

[0026] According to the vehicle information, the first equivalent vehicle number in the second signal light phase and the second equivalent vehicle number in the fourth signal light phase which is in the red light state are determined;

[0027] According to the first equivalent vehicle number, the second equivalent vehicle number and the pre-set fuzzy control query table, the candidate green light extension time is obtained;

[0028] When the candidate green light extension time is less than the pre-set extension time threshold, the first green light extension time is determined as zero;

[0029] When the candidate green light extension time is greater than or equal to the pre-set extension time threshold and less than the first difference value between the upper limit of the green light duration limit range and the duration, the first green light extension time is determined as the candidate green light extension time;

[0030] When the candidate green light extension time is greater than or equal to the first difference value, the first green light extension time is determined as the first difference value.

[0031] Preferably, the control method as described above, the signal light control information is generated according to the vehicle passing type, the vehicle information, the signal light state information and the preset green light duration limit range, comprising:

[0032] In the case that the vehicle passing type is the third type, and none of the signal light phases where the emergency vehicles are located is in the green light state, according to the vehicle information, the priority information of each first emergency vehicle which is going to pass through the intersection and the second estimated time of the first emergency vehicle to arrive at the intersection are obtained;

[0033] According to the priority information and / or the second estimated time, a target emergency vehicle which has priority to pass through is determined, and the signal light phase corresponding to the target emergency vehicle is determined as a fifth signal light phase which needs to be switched to the green light state;

[0034] The greater value between the second estimated time corresponding to the target emergency vehicle and the lower limit of the green light duration limit range is determined as a fourth green light configuration time of the fifth signal light phase;

[0035] According to the fifth signal light phase and the fourth green light configuration time, fifth signal light control information is generated, wherein the fifth signal light control information is used to control the signal light to switch the fifth signal light phase to the green light state, and the initial configuration time of the green light state is configured as the fourth green light configuration time.

[0036] Preferably, the control method as described above, the signal light control information is generated according to the vehicle passing type, the vehicle information and the signal light state information, comprising:

[0037] In the case that the vehicle passing type is the third type, and there is at least one second emergency vehicle on a sixth signal light phase which is in the green light state, if the duration of the green light state has reached a fifth green light configuration time which is predetermined, a third estimated time of the second emergency vehicle to arrive at the intersection is obtained;

[0038] The maximum value in the third estimated time is determined as a second green light extension time;

[0039] The fifth green light configuration time is updated according to the second green light extension time, to obtain an updated fifth green light configuration time;

[0040] According to the sixth signal light phase and the updated fifth green light configuration time, sixth signal light control information is generated, and the sixth signal light control information is used to control the sixth signal light phase to keep the green light state, and extend the configuration time of the green light state to the fifth green light configuration time.

[0041] Specifically, the control method as described above further comprises:

[0042] When the roadside unit is powered on, an initialization operation is performed, seventh signal lamp control information is generated, and the seventh signal lamp control information is sent to a signal receiving end, the seventh signal lamp control information being used to control each signal lamp phase of a signal lamp to be in a red light state.

[0043] Another preferred embodiment of the present application also provides a roadside unit, comprising:

[0044] The first processing module is configured to collect vehicle information and signal lamp state information of vehicles in a preset area of the intersection.

[0045] The second processing module is configured to determine a current vehicle passing type of the intersection according to the vehicle information.

[0046] The third processing module is configured to generate signal lamp control information according to the vehicle passing type, the vehicle information, the signal lamp state information, and / or a preset green light duration limit range.

[0047] Specifically, the roadside unit described above further comprises:

[0048] The fourth processing module is configured to send the signal lamp control information to a signal receiving end, the signal receiving end comprising a signal lamp controller and / or a vehicle.

[0049] Specifically, the roadside unit described above, the second processing module is specifically configured to:

[0050] When it is determined according to the vehicle position information in the vehicle information that there is no first vehicle in the preset area, the vehicle passing type is determined to be a first type in which each signal lamp phase is passable, wherein the first vehicle is any vehicle in the vehicles that needs to pass through the intersection;

[0051] When it is determined according to the vehicle position information that there is a first vehicle in the preset area, and it is determined according to the vehicle category information in the vehicle information that none of the first vehicles is an emergency vehicle, the passing type is determined to be a second type that passes according to a preset signal lamp phase switching rule;

[0052] When it is determined according to the vehicle position information that there is a first vehicle in the preset area, and it is determined according to the vehicle category information that at least one first vehicle is an emergency vehicle, the vehicle passing type is determined to be a third type in which emergency vehicles have priority to pass.

[0053] Preferably, the roadside unit described above, the third processing module comprises:

[0054] The first processing unit is configured to generate first signal lamp control information when the vehicle passing type is the first type, the first signal lamp control information being used to control each signal lamp phase of a signal lamp to be switched to a yellow light state.

[0055] Preferably, the roadside unit described above, the third processing module further comprises:

[0056] The second processing unit is used to obtain the first estimated time for each first vehicle to arrive at the intersection within a preset area based on the vehicle information when the vehicle traffic type is the second type and the traffic light status information is that none of the traffic light phases are in the green light state.

[0057] The third processing unit is used to determine that the first traffic light phase corresponding to the first target estimated time needs to be switched to the green light state, wherein the first target estimated time is the minimum value in the first estimated time;

[0058] The fourth processing unit is used to determine the larger of the first target estimated time and the lower limit of the green light duration limit range as the first green light configuration time of the green light state;

[0059] The fifth processing unit is used to generate second traffic light control information based on the first traffic light phase and the first green light configuration time. The second traffic light control information is used to control the first traffic light phase of the traffic light to switch to the green light state, and the initial duration of the green light state is configured to be the first green light configuration time.

[0060] Preferably, the roadside unit as described above, the third processing module, further includes:

[0061] The sixth processing unit is used to perform fuzzy control based on vehicle information and green light duration limit range when the vehicle passage type is the second type and the signal light status information is that the second signal light phase of the signal light is in the green light state. If the duration of the green light state has reached the pre-configured second green light configuration time, the unit will obtain the first green light extension time by performing fuzzy control based on vehicle information and green light duration limit range.

[0062] The seventh processing unit is used to update the second green light configuration time according to the first green light extension time when the first green light extension time is greater than zero, to obtain the updated second green light configuration time, and to generate third traffic light control information according to the second traffic light phase and the updated second green light configuration time. The third traffic light control information is used to control the second traffic light phase to maintain the green light state and extend the green light state configuration time to the second green light configuration time.

[0063] The eighth processing unit is used to determine the third traffic light phase that needs to be switched to the green light state and the third green light configuration time according to the second traffic light phase and the traffic light phase switching rules when the first green light extension time is equal to zero. It also generates fourth traffic light control information according to the third traffic light phase and the third green light configuration time. The fourth traffic light control information is used to control the traffic light to switch the second traffic light phase to the green light state, and the initial configuration time of the green light state is the third green light configuration time.

[0064] Furthermore, the roadside unit, as described above, the sixth processing unit includes:

[0065] the first processing subunit is configured to determine, according to the vehicle information, a first number of equivalent vehicles in a second signal phase and a second number of equivalent vehicles in a fourth signal phase in which a signal light state is red;

[0066] the second processing subunit is configured to obtain a candidate green light extension time according to the first number of equivalent vehicles, the second number of equivalent vehicles, and a preset fuzzy control query table;

[0067] the third processing subunit is configured to determine that the first green light extension time is zero when the candidate green light extension time is less than a preset extension time threshold;

[0068] the fourth processing subunit is configured to determine that the first green light extension time is the candidate green light extension time when the candidate green light extension time is greater than or equal to the preset extension time threshold and less than a first difference between an upper limit of a green light duration limit range and the duration of time that has elapsed;

[0069] the fifth processing subunit is configured to determine that the first green light extension time is the first difference when the candidate green light extension time is greater than or equal to the first difference.

[0070] Preferably, the road side unit as described above, the third processing module further comprises:

[0071] the ninth processing unit is configured to, in a case where the vehicle passing type is the third type and none of the signal phases in which the emergency vehicle is located is in a green light state, obtain, according to the vehicle information, priority information of each first emergency vehicle that is to pass through the intersection and a second estimated time of arrival of the first emergency vehicle at the intersection;

[0072] the tenth processing unit is configured to determine a target emergency vehicle that has priority to pass according to the priority information and / or the second estimated time of arrival, and determine that a signal phase corresponding to the target emergency vehicle is a fifth signal phase that needs to be switched to a green light state;

[0073] the eleventh processing unit is configured to determine, as a fourth green light configuration time of the fifth signal phase, a larger value between the second estimated time of arrival of the target emergency vehicle and a lower limit of the green light duration limit range;

[0074] the twelfth processing unit is configured to generate fifth signal light control information according to the fifth signal phase and the fourth green light configuration time, wherein the fifth signal light control information is used to control the signal light to switch the fifth signal phase to the green light state and configure an initial configuration time of the green light state as the fourth green light configuration time.

[0075] Preferably, the road side unit as described above, the third processing module further comprises:

[0076] thirteenth processing unit, configured to, in a case where the vehicle passing type is the third type, there is at least one second emergency vehicle on the sixth signal lamp phase in the green light state, and a duration of the green light state reaches a predetermined fifth green light configuration time, acquire a third estimated time of arrival of the second emergency vehicle at the intersection;

[0077] fourteenth processing unit, configured to determine a maximum value in the third estimated time as a second green light extension time;

[0078] fifteenth processing unit, configured to update the fifth green light configuration time according to the second green light extension time, to obtain an updated fifth green light configuration time;

[0079] sixteenth processing unit, configured to generate sixth signal lamp control information according to the sixth signal lamp phase and the updated fifth green light configuration time, the sixth signal lamp control information being used to control the sixth signal lamp phase to keep the green light state and extend a configuration time of the green light state to the fifth green light configuration time.

[0080] Specifically, the roadside unit as described above further includes:

[0081] a fifth processing module, configured to, in a case where the roadside unit is just powered on, perform an initialization operation, generate seventh signal lamp control information, and send the seventh signal lamp control information to the signal receiving end, the seventh signal lamp control information being used to control each signal lamp phase of the signal lamp to be in the red light state.

[0082] Still another preferred embodiment of the present application further provides a vehicle-road cooperation system, comprising:

[0083] a vehicle terminal, a signal lamp, and a roadside unit as described above;

[0084] The roadside unit is in communication connection with the vehicle terminal and the signal lamp respectively, and the roadside unit can implement the steps of the control method for vehicle passing at an intersection as described above when executed.

[0085] Still another preferred embodiment of the present application further provides a computer readable storage medium, the computer readable storage medium storing a computer program, and the computer program is executed by a processor to implement the steps of the control method for vehicle passing at an intersection as described above.

[0086] Compared with the prior art, the control method for vehicle passing at an intersection, the roadside unit, and the vehicle-road cooperation system provided by the embodiments of the present application have at least the following beneficial effects:

[0087] The application collects vehicle information and signal light state information in a preset area of an intersection periodically to perform real-time control. After collecting the vehicle information, the distribution of vehicles near the intersection on each signal light phase can be determined according to the vehicle position information and vehicle category information in the vehicle information, and then the current vehicle passing type of the intersection can be determined, and further the control logic to be used for control at present can be determined, and then the signal light control information including but not limited to the state and configuration time of each signal light phase in the signal light can be generated in combination with the vehicle information, the signal light state information and / or the preset green light time length limit range, which is beneficial to guarantee the targeted control based on different situations, reduce the empty waiting rate, improve the passing efficiency, relieve the traffic pressure, and ensure the priority of emergency vehicles. BRIEF DESCRIPTION OF DRAWINGS

[0088] Figure 1 One of the flowcharts of the intersection vehicle passing control method of the application;

[0089] Figure 2 The signal light phase switching schematic diagram of a two-way four-lane;

[0090] Figure 3 The signal light phase switching schematic diagram of a single lane;

[0091] Figure 4 The second flowchart of the intersection vehicle passing control method of the application;

[0092] Figure 5 The third flowchart of the intersection vehicle passing control method of the application;

[0093] Figure 6 The fourth flowchart of the intersection vehicle passing control method of the application;

[0094] Figure 7 The membership function schematic diagram of the fuzzy set domain of input or output variables;

[0095] Figure 8 The preset fuzzy rule schematic diagram;

[0096] Figure 9 The fuzzy control query representation schematic diagram;

[0097] Figure 10 The fifth flowchart of the intersection vehicle passing control method of the application;

[0098] Figure 11 The sixth flowchart of the intersection vehicle passing control method of the application;

[0099] Figure 12A structure diagram of a roadside unit of the present application;

[0100] Figure 13 A structure diagram of a vehicle-road system of the present application. DETAILED DESCRIPTION

[0101] To make the technical problems, technical solutions and advantages of the present application clearer, the following will be described in detail with reference to the accompanying drawings and specific embodiments. In the following description, specific details such as specific configurations and components are provided only to help a comprehensive understanding of the embodiments of the present application. Therefore, it should be apparent to those skilled in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. In addition, descriptions of known functions and configurations are omitted for clarity and conciseness.

[0102] It should be understood that the term "one embodiment" or "an embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner.

[0103] In various embodiments of the present application, it should be understood that the size of the serial number of the following processes does not mean the order of execution, and the execution order of the processes should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0104] It should be understood that the term "and / or" herein is only a description of the association relationship between the associated objects, which means that there can be three relationships, for example, A and / or B can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " herein generally represents an "or" relationship between the associated objects before and after it.

[0105] In the embodiments provided in the present application, it should be understood that "B corresponding to A" means that B is associated with A, and B can be determined according to A. However, it should also be understood that the determination of B according to A does not mean that B is determined only according to A, but B can also be determined according to A and / or other information.

[0106] Referring to Figure 1 A preferred embodiment of the present application provides a control method for vehicle passing through an intersection, applied to a roadside unit, comprising:

[0107] In step S101, vehicle information and signal light state information of vehicles in a preset area of the intersection are collected.

[0108] Step S101, determining the current vehicle passing type of the intersection according to the vehicle information;

[0109] Step S103, generating the signal lamp control information according to the vehicle passing type, the vehicle information, the signal lamp state information and / or the preset green light duration limit range.

[0110] In a preferred embodiment of the present application, a control method applied to a road side unit is provided, wherein the road side unit collects vehicle information and signal lamp state information in a preset area near an intersection, wherein the vehicle information is preferably sent by vehicle broadcasting, and the signal lamp state information is preferably obtained by periodically transmitting or sending instructions by the road side unit, so that the collection of the road side unit is periodic collection, ensuring real-time control of the road side unit. After collecting the vehicle information, since the vehicle information includes at least one of vehicle position information, vehicle speed information, vehicle category information, vehicle size information and vehicle intention and request message (VIR), etc., the road side unit can determine the distribution of vehicles near the intersection on each signal lamp phase according to the vehicle position information and vehicle category information in the vehicle information, and then determine the current vehicle passing type of the intersection, including but not limited to: the first type that each signal lamp phase can pass, the second type that passes according to a preset signal lamp phase switching rule (i.e. normal passing) and the third type that emergency vehicles pass in priority; after obtaining the vehicle passing type, it can be determined which control logic needs to be used for control, and then signal lamp control information is generated by combining the vehicle information, the signal lamp state information and / or the preset green light duration limit range. The signal lamp control information includes but is not limited to the state and configuration time of each signal lamp phase in the signal lamp, which is beneficial to ensure targeted control based on different situations, reduce the empty waiting rate, improve the passing efficiency, relieve the traffic pressure, and ensure that emergency vehicles pass in priority.

[0111] In another embodiment of the present application, while generating the signal lamp control information, guidance information can also be generated, which is used to guide the passing of vehicles at the intersection, including but not limited to the guidance of lanes, vehicle speed, etc. Alternatively, the guidance information is included in the signal lamp control information.

[0112] It should be noted that the above-mentioned vehicle position information (longitude, latitude, heading angle), vehicle speed information, vehicle category information and vehicle size information are carried in the basic safety information (BSM) of the vehicle. For the convenience of understanding, it should also be noted that the signal lamp phases of different types of intersections are different, such as Figure 2 and Figure 3As shown, the signal phase diagrams are respectively for two-way four-lane and single-lane signal lights. In addition, a corresponding signal phase switching rule is given (such as the switching order from left to right in the diagram) for the corresponding intersection type.

[0113] Specifically, the control method as described above further comprises:

[0114] The signal light control information is sent to a signal receiving end, which comprises a signal light controller and / or a vehicle.

[0115] In a specific embodiment of the present application, after obtaining the signal light control information as described above, the signal light control information is sent to a signal receiving end, which comprises a signal light controller and / or a vehicle, so as to make the signal light controller update the state and configuration time of each signal light phase according to the signal light control information; and / or make the vehicle give a prompt to the driver according to the signal controller.

[0116] It should be noted that when the signal light control information is sent to the signal light controller, the signal light phase and timing message (SPAT) or a signal corresponding to the signal light model is preferably used; when the signal light control information is sent to the vehicle, the infrastructure to vehicle (I2V) communication mode or transmission mode is preferably used.

[0117] It should be noted that after the signal light control information is sent to the vehicle, the vehicle gives feedback according to the signal light control information, and the feedback information includes but is not limited to the vehicle information as described above.

[0118] Specifically, the control method as described above determines the current vehicle passing type of the intersection according to the vehicle information, which comprises:

[0119] When it is determined according to the vehicle position information in the vehicle information that there is no first vehicle in the preset area, the vehicle passing type is determined to be a first type in which all signal light phases are passable, wherein the first vehicle is any vehicle in the vehicle that needs to pass through the intersection;

[0120] When it is determined according to the vehicle position information that there is a first vehicle in the preset area, and it is determined according to the vehicle category information in the vehicle information that none of the first vehicles is an emergency vehicle, the passing type is determined to be a second type that passes according to a preset signal light phase switching rule.

[0121] When it is determined according to the vehicle position information that the first vehicle exists in the preset area, and it is determined according to the vehicle category information that at least one first vehicle is an emergency vehicle, the vehicle passing type is determined as the third type of emergency vehicle priority passing.

[0122] In an embodiment of the present application, based on whether there is a vehicle near the intersection and the type of the vehicle, the vehicle passing type is divided into three types. When there is no first vehicle that needs to pass through the intersection in the preset area, no waiting vehicle needs to pass through the intersection at this time, the vehicle passing type can be determined as the first type that each signal light phase can pass, so that when the first vehicle appears in a certain signal light phase, it can pass through in time, improving the passing efficiency. When there is a first vehicle in the preset area, it is necessary to determine whether at least one first vehicle is an emergency vehicle according to the vehicle category. Specifically, the vehicle category includes but is not limited to ordinary vehicles and emergency vehicles. Further, it needs to be explained that the emergency vehicle is a vehicle that is performing a special task, such as an ambulance, a fire truck, a police car, etc. For example, when the ambulance is not performing a special task (outpatient), it is also determined as an ordinary vehicle. At this time, if there is no emergency vehicle, the priority of each first vehicle is the same, that is, the current type is determined as the second type of passing according to the preset signal light phase switching rule. If there is an emergency vehicle, it needs to pass in time and priority based on the priority of the emergency vehicle, so the vehicle passing type is determined as the third type of emergency vehicle priority passing.

[0123] It should be noted that the above three types are only specific embodiments given by the present application to enable those skilled in the art to correctly understand the vehicle passing type. Based on other information, those skilled in the art can increase, decrease or refine the above vehicle passing type, which also belongs to the protection scope of the present application.

[0124] Preferably, the control method as described above generates the signal light control information according to the green light duration limit range of the vehicle passing type, including:

[0125] In the case of the first type of vehicle passing type, the first signal light control information is generated, which is used to control each signal light phase of the signal light to switch to the yellow light state.

[0126] In an embodiment of the present application, when generating the signal light control information, if the vehicle passing type is the first type, it can be known that there is no waiting vehicle that needs to pass through the intersection at this time, the first signal light control information is generated, which is used to control each signal light phase of the signal light to switch to the yellow light state, so that the newly appeared vehicle in each signal light phase can pass through the intersection in time, improving the passing efficiency.

[0127] Referring to Figure 4Preferably, the control method according to the vehicle type, the vehicle information, the signal light state information and the green light duration limit range generates signal light control information, including:

[0128] In step S401, when the vehicle type is the second type and the signal light state information indicates that none of the signal light phases of the signal light is in the green light state, the first expected arrival time of each first vehicle at the intersection in the preset area is obtained according to the vehicle information.

[0129] In step S402, the first signal light phase corresponding to the first target expected time needs to be switched to the green light state, wherein the first target expected time is the minimum value in the first expected time.

[0130] In step S403, the larger value between the first target expected time and the lower limit of the green light duration limit range is determined as the first green light configuration time of the green light state.

[0131] In step S404, the second signal light control information is generated according to the first signal light phase and the first green light configuration time, and the second signal light control information is used to control the first signal light phase of the signal light to be switched to the green light state, and the initial duration of the green light state is configured as the first green light configuration time.

[0132] In another specific embodiment of the present application, when generating the signal lamp control information, if the vehicle passing type is the second type, further determination is made according to the signal lamp state information, and if it is determined that none of the signal lamp phases of the signal lamp is green at this time, all the first vehicles can pass through the intersection or cannot pass through the intersection. At this time, in order to ensure the passing efficiency, the first vehicle that reaches the intersection first needs to pass, so the first expected time of each vehicle to reach the intersection is obtained according to the vehicle information uploaded by each first vehicle. Specifically, the lane in which the first vehicle is located is determined according to the vehicle position information (including latitude, longitude, heading angle, etc.) in the vehicle information and the built-in map information, and the position information of the intersection downstream of the first vehicle is obtained, and then the distance between the two is calculated through the positions of the two. After the distance is obtained, the first expected time is obtained by calculating based on the vehicle speed information in the vehicle information. After obtaining all the first expected times, the minimum value in the first expected times is obtained by comparison and is recorded as the first target expected time. At this time, it can be determined that the first vehicle corresponding to the first target expected time is the first vehicle that reaches the intersection, and it is determined that the first signal lamp phase corresponding to the first vehicle is the signal lamp phase that needs to be switched to green. In order to ensure that the vehicle can pass through the intersection within the green duration and avoid frequent switching of the green state, the larger value between the first target expected time and the lower limit of the green duration limit range is determined as the first green configuration time of the green state, and then the second signal lamp control information is generated according to the first signal lamp phase and the first green configuration time. After the second signal lamp control information is sent to the signal lamp controller, the signal lamp controller can control the first signal lamp phase of the signal lamp to be switched to green, and the initial configuration time of the green state is configured to be the first green configuration time. After the first signal lamp control information is sent to the vehicle, the vehicle can display the state of the current signal lamp phase.

[0133] In one specific embodiment, the lower limit of the green duration limit range is preferably 7 to 13 seconds.

[0134] Referring to Figure 5 , preferably, the control method as described above generates the signal lamp control information according to the vehicle passing type, the vehicle information, the signal lamp state information and the green duration limit range, comprising:

[0135] In step S501, when the vehicle passing type is the second type and the signal lamp state information is that the second signal lamp phase of the signal lamp is in the green state, if the duration of the green state has reached the pre-configured second green configuration time, the first green extension time is obtained by fuzzy control according to the vehicle information and the green duration limit range.

[0136] In step S502, when the first green light extension time is greater than zero, the second green light configuration time is updated according to the first green light extension time, to obtain an updated second green light configuration time, and third signal light control information is generated according to the second signal light phase and the updated second green light configuration time, the third signal light control information being used to control the second signal light phase to keep a green light state, and extend the configuration time of the green light state to the second green light configuration time.

[0137] Alternatively, in step S503, when the first green light extension time is equal to zero, the third signal light phase that needs to be switched to a green light state and the third green light configuration time are determined according to the second signal light phase and the signal light phase switching rule, and fourth signal light control information is generated according to the third signal light phase and the third green light configuration time, the fourth signal light control information being used to control the signal light to switch the second signal light phase to a green light state, and configure the initial configuration time of the green light state as the third green light configuration time.

[0138] In another preferred embodiment of the present application, when generating the signal light control information, if it is determined according to the vehicle passing type and the signal light state information that the vehicle passing type of the intersection is the second type, and the signal light state information is that the second signal light phase of the signal light is in a green light state, further judgment and processing are performed according to the duration of the green light state and the pre-configured second green light configuration time. When the duration reaches the second green light configuration time, the first green light extension time of the current green light state is obtained by fuzzy control according to the vehicle information of the first vehicle and the green light duration limit range. If the first green light extension time is greater than zero, it indicates that the green light state of the second signal light phase needs to be extended, and the extension time is the first green light extension time. At this time, the second green light configuration time is updated according to the first green light extension time, to obtain an updated second green light configuration time. At this time, the third signal light control information is generated according to the second signal light phase and the updated second green light configuration time, to make the passing time of the second signal light phase longer, so that the first vehicle on the second signal light phase can pass the intersection without deceleration. Compared with the case without extension, the passing time of part of the vehicles is reduced, and the passing efficiency is improved.

[0139] When the first green light extension time is equal to zero, it is determined that there is no first vehicle in the second signal light phase or the first vehicle in other signal light phases needs to be given priority to pass, at this time, according to the second signal light phase and the signal light phase switching rule, the third signal light phase which needs to be switched to the green light state and the third green light configuration time are determined, and the fourth signal light control information is generated according to the third signal light phase and the third green light configuration time, the fourth signal light control information is used to control the signal light to switch the second signal light phase to the green light state, and the initial configuration time of the green light state is configured as the third green light configuration time. At this time, the alternating passing of vehicles in different signal light phases is ensured, which is beneficial to avoid the situation that the passing of vehicles in other signal light phases is affected when there are many first vehicles in a signal light phase. The normal vehicle passing order is ensured.

[0140] Referring to Figure 6 Further, the control method described above performs fuzzy control according to the vehicle information and the green light duration limit range to obtain the first green light extension time, including:

[0141] In step S601, the first equivalent vehicle number in the second signal light phase and the second equivalent vehicle number in the fourth signal light phase in the red light state are determined according to the vehicle information.

[0142] In step S602, the first equivalent vehicle number, the second equivalent vehicle number and the preset fuzzy control query table are used to obtain the candidate green light extension time.

[0143] In step S603, when the candidate green light extension time is less than the preset extension time threshold, the first green light extension time is determined to be zero.

[0144] Alternatively, in step S604, when the candidate green light extension time is greater than or equal to the preset extension time threshold and less than the first difference value between the upper limit of the green light duration limit range and the duration time, the first green light extension time is determined to be the candidate green light extension time.

[0145] Alternatively, in step S605, when the candidate green light extension time is greater than or equal to the first difference value, the first green light extension time is determined to be the first difference value.

[0146] In a preferred embodiment, when the first green light extension time is obtained through fuzzy control, the first equivalent vehicle number in the second signal light phase (green light state) and the second equivalent vehicle number in the fourth signal light phase (red light state) are determined according to the received vehicle information of each vehicle or the first vehicle, and the alternative green light extension time of the second signal light phase is obtained according to the first equivalent vehicle number and the second equivalent vehicle number, which is queried in the preset fuzzy control query table. In order to avoid invalid delay, the extension time of the green light needs to be greater than or equal to the preset extension time threshold, so the alternative green light extension time needs to be compared with the preset extension time threshold, and if the selected green light extension time is less than the preset extension time threshold, the first green light extension time is determined to be zero. At the same time, in order to ensure the normal vehicle passing order, the duration of the green light needs to be less than the upper limit of the green light duration limit range in the absence of emergency vehicles, so the alternative green light extension time also needs to be compared with the upper limit of the green light duration limit range and the first difference of the duration. In the case where the alternative green light extension time is greater than or equal to the preset extension time threshold, if the alternative green light extension time is less than the first difference, the first green light extension time is determined to be the alternative green light extension time. Otherwise, the first green light extension time is determined to be the first difference.

[0147] It should be noted that before fuzzy control, a fuzzy control query table needs to be generated in advance, wherein the generation of the fuzzy control query table includes:

[0148] (1) Determine the input variable, the output variable, the basic domain of the input variable, and the basic domain of the output variable.

[0149] Specifically, the input variable: the first equivalent vehicle number Gn in the signal light phase with the green light state and the second equivalent vehicle number Rn in the signal light phase with the red light state.

[0150] The output variable: the alternative green light extension time ΔT.

[0151] The basic domain of the input variable is the number of standard vehicles that can be parked in the preset area. For ease of understanding, in a specific embodiment, the vehicle detection distance is set to d meters, and the length of the standard vehicle is l meters. The distance between the vehicles on the lane is w meters, so the maximum number of standard vehicles that can be parked in the detection range is about d / (l+w). For example: set the vehicle detection distance d to 150 meters, the length of the standard vehicle to 4.5 meters, and the distance between the vehicles on the lane to 0.5 meters. Then, the maximum number of standard small passenger cars that can be parked in the detection range is about 30, that is, the basic domain of the input variables Gn and Rn is [0, 30].

[0152] The fundamental domain of the output variable is the extendable green light duration. For ease of understanding, in a specific embodiment, the lower limit of the green light duration limit is set to Tmin seconds. A green light that is too short will prevent vehicles from passing through the intersection in time, posing a safety hazard. The upper limit of the green light duration limit is set to Tmax seconds; otherwise, it may affect driver psychology and lead to running red lights. The fundamental domain of the alternative green light extension is [0, Tmax - Tmin]. For example, if the lower limit Tmin of the green light duration limit is set to 10 seconds and the upper limit Tmax is set to 70 seconds, then the fundamental domain of the output variable is [0, 60].

[0153] (2) Determine the quantification factor of the input variable and the scaling factor of the output variable.

[0154] The scaling factor is determined based on the relationship between the basic universe of discourse of each variable and the selected quantization universe of discourse of each variable. For example, if the quantization universe of discourse of the input variable is [0, 12], then the quantization factor of the input variable is 0.4. If the quantization universe of discourse of the output variable is [0, 10], then the scaling factor of the output variable is 6.

[0155] (3) Determine the universe of discourse of the fuzzy set of input variables, the fuzzy subset of input variables, the universe of discourse of the fuzzy set of output variables, and the fuzzy subset of output variables.

[0156] In one specific embodiment, the input variables Gn and Rn are defined with seven fuzzy subsets on their fuzzy universe of discourse, with fuzzy linguistic variable values ​​of {g1 very few, g2 few, g3 few, g4 moderate, g5 many, g6 many, g7 many} and {r1 very few, r2 few, r3 few, r4 moderate, r5 many, r6 many, r7 many}, respectively. The output variable ΔT is defined with six fuzzy subsets on its fuzzy universe of discourse, with corresponding fuzzy variable linguistic values ​​of {ΔT1 zero, ΔT2 very short, ΔT3 short, ΔT4 moderate, ΔT5 long, ΔT6 relatively long}.

[0157] (4) Determine the membership functions of the fuzzy subsets of the input variables and the fuzzy subsets of the output variables.

[0158] In one specific embodiment, the membership function can be a triangular membership function. A schematic diagram of the membership functions of the fuzzy set universes of the input and output variables is shown below. Figure 7 As shown, x represents g, r, and ΔT, respectively.

[0159] (5) Determine fuzzy rules

[0160] In one specific embodiment, based on the actual control experience of traffic police in daily practice, the following conclusions were drawn through induction: Figure 8 The preset fuzzy rules are shown.

[0161] (6) determining the fuzzy inference algorithm and the defuzzification method

[0162] In a specific embodiment, the fuzzy inference algorithm can adopt the Mamdani inference method, and the defuzzification method can adopt the gravity method.

[0163] (7) generating the fuzzy controller based on the parameters determined in (1)-(6) above;

[0164] (8) using the fuzzy controller to create a comparison relationship table of input variables and output variables, i.e., a fuzzy control query table (as shown in Figure 9 ).

[0165] Referring to Figure 10 , preferably, the control method generates signal light control information according to the vehicle passing type, the vehicle information, the signal light state information, and the preset green light duration limit range, including:

[0166] Step S1001, in a case where the vehicle passing type is the third type and none of the signal light phases in which the emergency vehicle is located is in the green light state, obtaining, according to the vehicle information, priority information of each first emergency vehicle that is about to pass through the intersection and a second estimated time of arrival of the first emergency vehicle at the intersection;

[0167] Step S1002, determining, according to the priority information and / or the second estimated time, a target emergency vehicle that has priority to pass, and determining that a signal light phase corresponding to the target emergency vehicle is a fifth signal light phase that needs to be switched to the green light state;

[0168] Step S1003, determining, as a fourth green light configuration time of the fifth signal light phase, a larger value between the second estimated time corresponding to the target emergency vehicle and a lower limit of the green light duration limit range;

[0169] Step S1004, generating fifth signal light control information according to the fifth signal light phase and the fourth green light configuration time, wherein the fifth signal light control information is used to control the signal light to switch the fifth signal light phase to the green light state, and the initial configuration time of the green light state is configured as the fourth green light configuration time.

[0170] In another preferred embodiment of the present application, when generating the signal lamp control information, if it is determined according to the vehicle passing type and the signal lamp state information that none of the signal lamp phases in which the emergency vehicle is located is in the green light state, the signal lamp phase in which the emergency vehicle is located is selected as the signal lamp phase that needs to be switched to the green light state to ensure the priority passing of the emergency vehicle. Specifically, when there are multiple emergency vehicles and at least two signal lamp phases in which the emergency vehicles are located, the signal lamp phase in which the emergency vehicle with a higher priority or the emergency vehicle that arrives at the intersection first is selected as the signal lamp phase that needs to be switched to the green light state to ensure the priority passing of the emergency vehicle and improve the passing efficiency. Therefore, according to the vehicle information, the priority information of each first emergency vehicle that will pass through the intersection and the second estimated time of arrival of the first emergency vehicle at the intersection are obtained, and the target emergency vehicle for priority passing is determined according to the priority information and / or the second estimated time. It should be noted that in a specific embodiment, the target emergency vehicle is determined according to the priority information first. If the priorities of at least two emergency vehicles are the same, the target emergency vehicle is determined according to the second estimated time. If the second estimated times of at least two emergency vehicles are the same, one of them is determined as the target emergency vehicle. After the target emergency vehicle is determined, the signal lamp phase corresponding to the target emergency vehicle is determined as the fifth signal lamp phase that needs to be switched to the green light state. To ensure that the target emergency vehicle can pass through the intersection within the green light duration and avoid frequent switching of the green light state, the larger value between the second estimated time and the lower limit of the green light duration limit range is determined as the fourth green light configuration time of the green light state. Then, the fifth signal lamp control information is generated according to the fifth signal lamp phase and the fourth green light configuration time.

[0171] Referring to Figure 11 , preferably, the control method as described above generates the signal lamp control information according to the vehicle passing type, the vehicle information and the signal lamp state information, comprising:

[0172] In step S1101, when the vehicle passing type is the third type and there is at least one second emergency vehicle in the sixth signal lamp phase in the green light state, if the duration of the green light state has reached the fifth green light configuration time determined in advance, the third estimated time of arrival of the second emergency vehicle at the intersection is obtained.

[0173] In step S1102, the maximum value in the third estimated time is determined as the second green light extension time.

[0174] In step S1103, the second green light extension time is used to update the fifth green light configuration time, and the updated fifth green light configuration time is obtained.

[0175] S1104, generating the sixth signal lamp control information according to the sixth signal lamp phase and the updated fifth green light configuration time, the sixth signal lamp control information being used to control the sixth signal lamp phase to keep the green light state and extend the configuration time of the green light state to the fifth green light configuration time.

[0176] In another preferred embodiment of the present application, when generating the signal lamp control information, if it is determined according to the vehicle passing type and the signal lamp state information that the vehicle passing type of the intersection is the third type and there is at least one second emergency vehicle in the sixth signal lamp phase in the green light state, further judgment and processing are performed according to the duration of the green light state and the fifth green light configuration time configured in advance; when the duration reaches the fifth green light configuration time, the third expected time of the second emergency vehicle reaching the intersection is obtained; the maximum value in the third expected time is determined as the second green light extension time, and the fifth green light configuration time is updated according to the second green light extension time to obtain the updated fifth green light configuration time; and the sixth signal lamp control information is generated according to the fifth signal lamp phase and the updated second green light configuration time, so as to extend the passing time of the sixth signal lamp phase, so that the second emergency vehicle in the sixth signal lamp phase can pass through the intersection without deceleration, and the priority right of the emergency vehicle is ensured.

[0177] It should be noted that in the above case where one signal lamp phase is in the green light state, the road side unit can increase the frequency of information collection or increase the determination of the vehicle passing situation in the current signal lamp phase through video and the like, so as to switch the signal lamp phase in time when the current signal lamp phase does not need the green light, and / or control according to the preset signal lamp phase switching rule when the emergency vehicle in the current signal lamp phase passes through the intersection.

[0178] Specifically, the control method described above further includes:

[0179] In the case where the road side unit is just powered on, an initialization operation is performed, the seventh signal lamp control information is generated and sent to the signal receiving end, and the seventh signal lamp control information is used to control each signal lamp phase of the signal lamp to be in the red light state.

[0180] In a preferred embodiment of the present application, in the case where the road side unit is just powered on, an initialization operation is required to analyze the preset map information, because the road side unit cannot provide the data required for phase calculation to complete the information collection of the vehicles in the preset area, and cannot complete the signal lamp state prediction, the seventh signal lamp control information is generated, so that the signal lamp controller can control each signal lamp phase of the signal lamp to be in the red light state according to the seventh signal lamp control information, so as to avoid providing incorrect guidance to the vehicles in the preset range.

[0181] Referring to Figure 12 Another preferred embodiment of the present application also provides a road side unit, comprising:

[0182] The first processing module 1201 is configured to collect vehicle information of vehicles in a preset area of the intersection and signal light state information.

[0183] The second processing module 1202 is configured to determine a current vehicle passing type of the intersection according to the vehicle information.

[0184] The third processing module 1203 is configured to generate signal light control information according to the vehicle passing type, the vehicle information, the signal light state information and / or a preset green light duration limit range.

[0185] Specifically, the road side unit as described above further comprises:

[0186] The fourth processing module is configured to send the signal light control information to a signal receiving end, wherein the signal receiving end comprises a signal light controller and / or a vehicle.

[0187] Specifically, the road side unit as described above, the second processing module is specifically configured to:

[0188] When it is determined according to the vehicle position information in the vehicle information that there is no first vehicle in the preset area, the vehicle passing type is determined as a first type in which all signal light phases are passable, wherein the first vehicle is any vehicle in the vehicle that needs to pass through the intersection;

[0189] When it is determined according to the vehicle position information that there is a first vehicle in the preset area, and it is determined according to the vehicle category information in the vehicle information that none of the first vehicles is an emergency vehicle, the passing type is determined as a second type according to a preset signal light phase switching rule;

[0190] When it is determined according to the vehicle position information that there is a first vehicle in the preset area, and it is determined according to the vehicle category information that at least one first vehicle is an emergency vehicle, the vehicle passing type is determined as a third type in which emergency vehicles have priority.

[0191] Preferably, the road side unit as described above, the third processing module comprises:

[0192] The first processing unit is configured to generate first signal light control information for controlling all signal light phases of the signal light to switch to a yellow light state when the vehicle passing type is the first type.

[0193] Preferably, the road side unit as described above, the third processing module further comprises:

[0194] The second processing unit is configured to, when the vehicle passing type is the second type and the signal lamp state information indicates that none of the signal lamp phases of the signal lamp is in the green light state, acquire, according to the vehicle information, a first expected time at which each first vehicle in the preset area arrives at the intersection.

[0195] The third processing unit is configured to determine that a first signal lamp phase corresponding to the first target expected time needs to be switched to the green light state, wherein the first target expected time is a minimum value in the first expected times.

[0196] The fourth processing unit is configured to determine a larger value between the first target expected time and a lower limit of the green light duration limit range as a first green light configuration time of the green light state.

[0197] The fifth processing unit is configured to generate second signal lamp control information according to the first signal lamp phase and the first green light configuration time, the second signal lamp control information being used to control the first signal lamp phase of the signal lamp to be switched to the green light state and configure an initial duration of the green light state as the first green light configuration time.

[0198] Preferably, the road side unit as described above, the third processing module further comprises:

[0199] The sixth processing unit is configured to, when the vehicle passing type is the second type and the signal lamp state information indicates that a second signal lamp phase of the signal lamp is in the green light state, if a duration of the green light state has reached a second green light configuration time configured in advance, perform fuzzy control according to the vehicle information and the green light duration limit range to obtain a first green light extension time.

[0200] The seventh processing unit is configured to, when the first green light extension time is greater than zero, update the second green light configuration time according to the first green light extension time to obtain an updated second green light configuration time, and generate third signal lamp control information according to the second signal lamp phase and the updated second green light configuration time, the third signal lamp control information being used to control the second signal lamp phase to remain in the green light state and extend the configuration time of the green light state to the second green light configuration time.

[0201] The eighth processing unit is configured to, when the first green light extension time is equal to zero, determine a third signal lamp phase that needs to be switched to the green light state and a third green light configuration time according to the second signal lamp phase and a signal lamp phase switching rule, and generate fourth signal lamp control information according to the third signal lamp phase and the third green light configuration time, the fourth signal lamp control information being used to control the signal lamp to switch the second signal lamp phase to the green light state and configure an initial configuration time of the green light state as the third green light configuration time.

[0202] Further, the road side unit as described above, the sixth processing unit comprises:

[0203] The first processing subunit is configured to determine, according to the vehicle information, a first number of equivalent vehicles in a second signal lamp phase and a second number of equivalent vehicles in a fourth signal lamp phase in a red light state;

[0204] The second processing subunit is configured to obtain a candidate green light extension time according to the first number of equivalent vehicles, the second number of equivalent vehicles, and a preset fuzzy control query table;

[0205] The third processing subunit is configured to determine that the first green light extension time is zero when the candidate green light extension time is less than a preset extension time threshold.

[0206] The fourth processing subunit is configured to determine that the first green light extension time is the candidate green light extension time when the candidate green light extension time is greater than or equal to the preset extension time threshold and less than a first difference between an upper limit of a green light duration limit range and the duration.

[0207] The fifth processing subunit is configured to determine that the first green light extension time is the first difference when the candidate green light extension time is greater than or equal to the first difference.

[0208] Preferably, the road side unit as described above, the third processing module further comprises:

[0209] The ninth processing unit is configured to, in a case where the vehicle passing type is the third type and none of the signal lamp phases in which the emergency vehicle is located is in a green light state, acquire, according to the vehicle information, priority information of each first emergency vehicle that is about to pass through the intersection and a second predicted time at which the first emergency vehicle arrives at the intersection.

[0210] The tenth processing unit is configured to determine a target emergency vehicle that has priority to pass according to the priority information and / or the second predicted time, and determine that a signal lamp phase corresponding to the target emergency vehicle is a fifth signal lamp phase that needs to be switched to a green light state.

[0211] The eleventh processing unit is configured to determine, as a fourth green light configuration time of the fifth signal lamp phase, a larger value between the second predicted time corresponding to the target emergency vehicle and a lower limit of the green light duration limit range.

[0212] The twelfth processing unit is configured to generate fifth signal lamp control information according to the fifth signal lamp phase and the fourth green light configuration time, where the fifth signal lamp control information is used to control the signal lamp to switch the fifth signal lamp phase to the green light state and configure an initial configuration time of the green light state as the fourth green light configuration time.

[0213] Preferably, the road side unit as described above, the third processing module further comprises:

[0214] The thirteenth processing unit is configured to, in a case where the vehicle passing type is the third type, there is at least one second emergency vehicle on the sixth signal lamp phase in a green light state, and a duration of the green light state reaches a predetermined fifth green light configuration time, obtain a third expected time of the second emergency vehicle reaching the intersection;

[0215] The fourteenth processing unit is configured to determine a maximum value in the third expected time as a second green light extension time.

[0216] The fifteenth processing unit is configured to update the fifth green light configuration time according to the second green light extension time, to obtain an updated fifth green light configuration time.

[0217] The sixteenth processing unit is configured to generate sixth signal lamp control information according to the sixth signal lamp phase and the updated fifth green light configuration time, the sixth signal lamp control information being used to control the sixth signal lamp phase to keep a green light state and extend a configuration time of the green light state to the fifth green light configuration time.

[0218] Specifically, the roadside unit as described above further includes:

[0219] The fifth processing module is configured to, in a case where the roadside unit is just powered on, perform an initialization operation, generate seventh signal lamp control information, and send the seventh signal lamp control information to the signal receiving end, the seventh signal lamp control information being used to control each signal lamp phase of the signal lamp to be in a red light state.

[0220] The roadside unit of the present application is corresponding to the embodiment of the intersection vehicle passing control method described above, and all the implementation means in the method embodiment are applicable to the embodiment of the roadside unit and can achieve the same technical effects.

[0221] Referring to Figure 13 , a further preferred embodiment of the present application further provides a vehicle-road cooperation system, comprising:

[0222] The vehicle-mounted terminal 1301, the signal lamp device 1302, and the roadside unit 1303 as described above;

[0223] The roadside unit 1303 is in communication connection with the vehicle-mounted terminal 1301 and the signal lamp device 1302 respectively, and the roadside unit 1303 can implement the steps of the intersection vehicle passing control method as described above when executed.

[0224] Specifically, the roadside unit 1303 is in communication connection with the signal lamp controller in the signal lamp device 1302.

[0225] A further preferred embodiment of the present application also provides a computer readable storage medium, and the computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the steps of the control method for intersection vehicle passing as described above.

[0226] Furthermore, reference numerals and / or letters can be repeated in different instances in the present application. Such repetition is for the purpose of simplicity and clarity and does not itself dictate a relationship between various embodiments and / or arrangements discussed.

[0227] It is also necessary to note that, in the present document, the relational terms such as first and second and the like can only be used to distinguish one entity or operation from another entity or operation, without necessarily requiring or implying any such actual relationship or order between such entities or operations. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion.

[0228] The above description is the preferred embodiment of the present application, and it should be pointed out that, for those skilled in the art, several improvements and refinements can be made without departing from the principles described in the present application, and these improvements and refinements should also be considered as the protection scope of the present application.

Claims

1. A method for controlling vehicle traffic at an intersection, applied to a roadside unit, characterized in that, include: Collect vehicle information and traffic light status information within a preset area of ​​the intersection; Based on the vehicle information, determine the current vehicle traffic type at the intersection; Traffic light control information is generated based on the vehicle traffic type, the vehicle information, the traffic light status information, and the preset green light duration limit. Determining the current vehicle traffic type at the intersection based on the vehicle information includes: When it is determined that there is a first vehicle in the preset area based on the vehicle location information in the vehicle information, and it is determined that none of the first vehicles are emergency vehicles based on the vehicle category information in the vehicle information, the traffic type is determined to be the second type of traffic according to the preset traffic light phase switching rules, and the first vehicle is any vehicle among the vehicles that needs to pass through the intersection. Traffic light control information is generated based on the vehicle traffic type, vehicle information, traffic light status information, and green light duration limit, including: When the vehicle traffic type is the second type and the traffic light status information is that the second traffic light phase of the traffic light is in a green light state, if the duration of the green light state reaches the pre-configured second green light configuration time, fuzzy control is performed based on the vehicle information and the green light duration limit range to obtain the first green light extension time; When the first green light extension time is greater than zero, the second green light configuration time is updated according to the first green light extension time to obtain the updated second green light configuration time. Then, according to the second traffic light phase and the updated second green light configuration time, third traffic light control information is generated. The third traffic light control information is used to control the second traffic light phase to maintain the green light state and extend the configuration time of the green light state to the second green light configuration time. Alternatively, when the first green light extension time is equal to zero, the third traffic light phase that needs to be switched to the green light state and the third green light configuration time are determined according to the second traffic light phase and the traffic light phase switching rules. Based on the third traffic light phase and the third green light configuration time, fourth traffic light control information is generated. The fourth traffic light control information is used to control the traffic light to switch the second traffic light phase to the green light state, and configure the initial configuration time of the green light state as the third green light configuration time. The step of performing fuzzy control based on the vehicle information and the green light duration limit to obtain the first green light extension time includes: Based on the vehicle information, determine the first equivalent number of vehicles in the second traffic light phase and the second equivalent number of vehicles in the fourth traffic light phase where the traffic light is red. Based on the first equivalent number of vehicles, the second equivalent number of vehicles, and the preset fuzzy control lookup table, the alternative green light extension time is obtained; When the alternative green light extension time is less than the preset extension time threshold, the first green light extension time is determined to be zero. When the candidate green light extension time is greater than or equal to the preset extension time threshold, and less than the upper limit of the green light duration limit range and the first difference between the duration already reached, the first green light extension time is determined to be the candidate green light extension time. When the alternative green light extension time is greater than or equal to the first difference, the first green light extension time is determined to be the first difference.

2. The control method according to claim 1, characterized in that, Also includes: The traffic light control information is sent to a signal receiving end, which includes a traffic light controller and / or the vehicle.

3. The control method according to claim 1, characterized in that, Determining the current vehicle traffic type at the intersection based on the vehicle information includes: When it is determined, based on the vehicle location information in the vehicle information, that the first vehicle does not exist in the preset area, the vehicle passage type is determined to be the first type, which allows passage at all traffic light phases. When it is determined that the first vehicle exists within the preset area based on the vehicle location information, and at least one of the first vehicles is determined to be an emergency vehicle based on the vehicle category information, the vehicle passage type is determined to be the third type of priority passage for emergency vehicles.

4. The control method according to claim 3, characterized in that, The step of generating traffic light control information based on the green light duration limit range for the vehicle traffic type includes: When the vehicle traffic type is the first type, first traffic light control information is generated. The first traffic light control information is used to control all phases of the traffic lights to switch to the yellow light state.

5. The control method according to claim 3, characterized in that, The step of generating traffic light control information based on the vehicle traffic type, the vehicle information, the traffic light status information, and the green light duration limit includes: When the vehicle traffic type is the second type and the traffic light status information is that none of the traffic light phases are green, the first estimated time for each of the first vehicles in the preset area to arrive at the intersection is obtained based on the vehicle information. The first traffic light phase corresponding to the estimated time of the first target needs to be switched to green light state, wherein the estimated time of the first target is the minimum value of the first estimated time; The larger of the first target estimated time and the lower limit of the green light duration limit range is determined as the first green light configuration time of the green light state; Based on the first traffic light phase and the first green light configuration time, second traffic light control information is generated. The second traffic light control information is used to control the first traffic light phase of the traffic light to switch to the green light state, and configure the initial duration of the green light state to be the first green light configuration time.

6. The control method according to claim 3, characterized in that, The step of generating traffic light control information based on the vehicle traffic type, the vehicle information, the traffic light status information, and the preset green light duration limit includes: When the vehicle traffic type is the third type and the traffic light phases where the emergency vehicle is located are not in a green light state, the priority information of each first emergency vehicle that is about to pass through the intersection and the second estimated time for the first emergency vehicle to arrive at the intersection are obtained according to the vehicle information. Based on the priority information and / or the second estimated time, the target emergency vehicle with priority passage is determined, and the traffic light phase corresponding to the target emergency vehicle is determined to be the fifth traffic light phase that needs to be switched to the green light state. The larger of the second estimated time corresponding to the target emergency vehicle and the lower limit of the green light duration limit range is determined as the fourth green light configuration time of the fifth signal light phase; Based on the fifth traffic light phase and the fourth green light configuration time, fifth traffic light control information is generated, wherein the fifth traffic light control information is used to control the traffic light to switch the fifth traffic light phase to the green light state, and the initial configuration time of the green light state is configured as the fourth green light configuration time.

7. The control method according to claim 3, characterized in that, The step of generating traffic light control information based on the vehicle traffic type, the vehicle information, and the traffic light status information includes: If there is at least one second emergency vehicle on the sixth signal phase where the vehicle traffic type is the third type and the green light is in effect, and the duration of the green light has reached a predetermined fifth green light configuration time, then the third estimated time for the second emergency vehicle to arrive at the intersection is obtained. The maximum value of the third estimated time is determined to be the second green light extension time; The fifth green light configuration time is updated based on the second green light extension time to obtain the updated fifth green light configuration time; Based on the sixth traffic light phase and the updated fifth green light configuration time, sixth traffic light control information is generated. The sixth traffic light control information is used to control the sixth traffic light phase to maintain the green light state and extend the configuration time of the green light state to the fifth green light configuration time.

8. The control method according to claim 2, characterized in that, Also includes: When the roadside unit is just powered on, it performs an initialization operation, generates the seventh traffic light control information, and sends it to the signal receiving end. The seventh traffic light control information is used to control each phase of the traffic lights to be in the red light state.

9. A roadside unit, characterized in that, include: The first processing module is used to collect vehicle information and traffic light status information of vehicles within a preset area of ​​the intersection. The second processing module determines the current vehicle traffic type at the intersection based on the vehicle information. The third processing module generates traffic light control information based on the vehicle traffic type, the vehicle information, the traffic light status information, and the preset green light duration limit range. The second processing module is specifically used for: When it is determined that there is a first vehicle in the preset area based on the vehicle location information in the vehicle information, and it is determined that none of the first vehicles are emergency vehicles based on the vehicle category information in the vehicle information, the traffic type is determined to be the second type of traffic according to the preset signal light phase switching rules, wherein the first vehicle is any vehicle that needs to pass through the intersection. The third processing module also includes: The sixth processing unit is used to perform fuzzy control based on vehicle information and green light duration limit range when the vehicle passage type is the second type and the signal light status information is that the second signal light phase of the signal light is in the green light state. If the duration of the green light state has reached the pre-configured second green light configuration time, the unit will obtain the first green light extension time by performing fuzzy control based on vehicle information and green light duration limit range. The seventh processing unit is used to update the second green light configuration time according to the first green light extension time when the first green light extension time is greater than zero, to obtain the updated second green light configuration time, and to generate third traffic light control information according to the second traffic light phase and the updated second green light configuration time. The third traffic light control information is used to control the second traffic light phase to maintain the green light state and extend the green light state configuration time to the second green light configuration time. The eighth processing unit is used to determine the third traffic light phase that needs to be switched to the green light state and the third green light configuration time according to the second traffic light phase and the traffic light phase switching rules when the first green light extension time is equal to zero. It also generates fourth traffic light control information according to the third traffic light phase and the third green light configuration time. The fourth traffic light control information is used to control the traffic light to switch the second traffic light phase to the green light state, and the initial configuration time of the green light state is the third green light configuration time. The sixth processing unit includes: The first processing subunit is used to determine, based on vehicle information, the first equivalent number of vehicles in the second traffic light phase and the second equivalent number of vehicles in the fourth traffic light phase where the traffic light is red. The second processing subunit is used to obtain the alternative green light extension time based on the first equivalent number of vehicles, the second equivalent number of vehicles, and a preset fuzzy control lookup table. The third processing subunit is used to determine that the first green light extension time is zero when the alternative green light extension time is less than the preset extension time threshold. The fourth processing subunit is used to determine the first green light extension time as the candidate green light extension time when the candidate green light extension time is greater than or equal to the preset extension time threshold and less than the first difference between the upper limit of the green light duration limit range and the duration already reached. The fifth processing subunit is used to determine the first green light extension time as the first difference when the alternative green light extension time is greater than or equal to the first difference.

10. A vehicle-road cooperative system, characterized in that, include: Vehicle-mounted terminal, traffic lights, and roadside unit as described in claim 9; The roadside unit is communicatively connected to the vehicle terminal and the traffic light, and when executed, the roadside unit can implement the steps of the intersection vehicle passage control method as described in any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, which, when executed by a processor, implements the steps of the control method for vehicle passage at an intersection as described in any one of claims 1 to 8.

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