A traffic signal control method, a signal machine, an electronic device, and a storage medium

Abstract

The application discloses a traffic signal control method, a signal machine, an electronic device and a storage medium, relates to the technical field of traffic control, and is used for solving the problem of high delay in the determination process of a traffic signal control scheme. The method comprises the following steps: acquiring intersection information of a first intersection and receiving intersection information of a second intersection sent by a second signal machine; the first intersection corresponds to the first signal machine, the second intersection corresponds to the second signal machine, other signal machines are arranged in adjacent intersections of the first type of intersection, at least one path is not arranged with other signal machines in a path between any two second type of intersections in the same group, and the other signal machines are not in communication connection with the first signal machine; according to the categories of the first intersection and the second intersection, the traffic signal control scheme of the first intersection and the traffic signal control scheme of the second intersection are determined; and the traffic signal control scheme of the second intersection is sent to the second signal machine.

Description

Technical Field

[0001] This application relates to the field of traffic control technology, and in particular to a traffic signal control method, a traffic signal controller, an electronic device, and a storage medium. Background Technology

[0002] Traffic lights are signals used to control traffic flow, consisting of red, green, and yellow lights. A red light indicates "stop," a green light indicates "go," and a yellow light indicates "warning." A traffic signal controller (hereinafter referred to as a signal controller) is a device used to control traffic lights, controlling their sequence and timing. With the increase in population and vehicle ownership, road pressure is increasing, exceeding the road's capacity to handle traffic, leading to congestion, travel delays, and vehicle emissions problems. While road expansion can increase capacity, this incurs high construction costs and disrupts traffic during construction, further reducing road capacity. Therefore, traffic signal control schemes using signal controllers are commonly used to improve traffic congestion.

[0003] Currently, traffic signal control schemes for traffic signal controllers typically employ the Webster timing method, or a method based on variations of the Webster timing method. This involves determining the signal control scheme for the current cycle based on vehicle and pedestrian flow data from previous traffic signal control cycles. However, since the traffic signal control scheme is determined by the control platform based on intersection flow information sent by each traffic signal controller, and then returned to each controller for execution, the high latency in information transmission means that it cannot react quickly to traffic conditions. Summary of the Invention

[0004] This application provides a traffic signal control method, a traffic signal controller, an electronic device, and a storage medium to solve the problem of high time delay in the determination process of traffic signal control schemes.

[0005] To achieve the above technical objectives, this application adopts the following technical solution:

[0006] In a first aspect, embodiments of this application provide a traffic signal control method, applied to a first traffic signal among multiple traffic signal controllers. The multiple traffic signal controllers include the first traffic signal controller and at least one second traffic signal controller communicatively connected to the first traffic signal controller. Each traffic signal controller corresponds to one intersection and is used to acquire intersection information, including intersection environmental information and intersection traffic flow information. The method includes:

[0007] Obtain the intersection information of the first intersection and receive the intersection information of the second intersection sent by the second traffic signal controller; the first intersection corresponds to the first traffic signal controller, and the second intersection corresponds to the second traffic signal controller;

[0008] When the first intersection is a Class I intersection, the traffic signal control scheme for the first intersection is determined based on the intersection information. Other traffic signal controllers are deployed at the adjacent intersections of the Class I intersection, and these other traffic signal controllers are not connected to the first traffic signal controller.

[0009] If the second intersection is a Class I intersection, determine the traffic signal control scheme for the second intersection based on the intersection information.

[0010] When a first intersection and at least one second intersection form a group of second-class intersections, the traffic signal control scheme for the first intersection and the traffic signal control scheme for at least one second intersection are determined based on the intersection information of the first intersection and the intersection information of at least one second intersection. In the path between any two second-class intersections in the same group, there is at least one path on which no other traffic signal is deployed.

[0011] When at least two second intersections form a group of second-class intersections, determine the traffic signal control scheme for at least two second intersections based on the intersection information of at least two second intersections;

[0012] The traffic signal control plan for the second intersection is sent to the second traffic signal controller.

[0013] The technical solution provided in this application brings at least the following beneficial effects: Since the second traffic signal is directly connected to the first traffic signal, the first traffic signal can directly receive the information transmitted by the second traffic signal without needing to go through a multi-level network topology. This significantly reduces the latency during information transmission, allowing the first traffic signal to promptly receive the intersection environment and traffic flow information of the second intersection sent by the second traffic signal. Combined with the intersection environment and traffic flow information of the first intersection, the traffic signal control scheme for each intersection can be quickly and accurately determined. Since other traffic signals are deployed at adjacent intersections of the first type of intersection, it indicates that the traffic flow at the first type of intersection has little impact on the intersection corresponding to the traffic signal that has established a communication connection with the first traffic signal. Therefore, the traffic signal control scheme for the first type of intersection can be quickly and directly determined based on the intersection information of the first type of intersection. Since at least one of the routes between any two Class II intersections in the same group does not have other traffic signals deployed, it indicates that the traffic flow of Class II intersections in the same group affects each other. Therefore, based on the intersection information of all Class II intersections in the same group, a traffic signal control scheme for all Class II intersections in the same group is determined to make the traffic flow of Class II intersections in the same group more balanced and avoid traffic congestion at Class II intersections.

[0014] In one possible implementation, if the first intersection is a Class I intersection, the traffic signal control scheme for the first intersection is determined based on the intersection information, including: predicting the traffic flow of the first intersection in the next signal control cycle based on the intersection information of the first intersection in the current signal control cycle; and determining the traffic signal control scheme for the first intersection in the next signal control cycle based on the predicted traffic flow of the first intersection in the next signal control cycle. Similarly, if the second intersection is a Class I intersection, the traffic signal control scheme for the second intersection is determined based on the intersection information of the second intersection, including: predicting the traffic flow of the second intersection in the next signal control cycle based on the intersection information of the second intersection in the current signal control cycle; and determining the traffic signal control scheme for the second intersection in the next signal control cycle based on the predicted traffic flow of the second intersection in the next signal control cycle. In this way, by predicting the traffic flow of the first type of intersection in the next signal control cycle, the traffic signal control scheme for the first type of intersection in the next signal control cycle can be accurately determined. The logic for determining the traffic signal control scheme is not complicated, the time required for determining the traffic signal control scheme is reduced, and the time delay in the transmission process of the traffic signal control scheme can be reduced.

[0015] In one possible implementation, determining the traffic signal control scheme for the first intersection in the next signal control cycle based on the predicted traffic flow at the first intersection includes: obtaining the actual traffic flow at the first intersection at the end of a target signal cycle; the target signal cycle includes the current signal control cycle and a preset number of signal control cycles preceding the current signal control cycle; if the difference between the actual traffic flow at the first intersection at the end of each target signal cycle and the predicted traffic flow at the first intersection in the target signal cycle does not all exceed a preset threshold range, then determining the traffic control scheme for the first intersection in the next signal control cycle based on the predicted traffic flow at the first intersection. The traffic signal control scheme for the second intersection in the next signal control cycle is determined based on the predicted traffic flow. This includes: obtaining the actual traffic flow at the second intersection at the end of the target signal cycle; the target signal cycle includes the current signal control cycle and a preset number of signal control cycles preceding it; if the difference between the actual traffic flow at the second intersection at the end of each target signal cycle and the predicted traffic flow at the first intersection in the target signal cycle does not exceed a preset threshold, then the traffic signal control scheme for the second intersection in the next signal control cycle is determined based on the predicted traffic flow. In this way, since the difference between the actual traffic flow at the first intersection at the end of each target signal cycle and the predicted traffic flow at the first intersection in the target signal cycle does not exceed a preset threshold, it indicates that the traffic flow predicted by the first model is close to the actual traffic flow at this intersection, and the predicted traffic flow is reliable. Therefore, the traffic signal control scheme for the intersection in the next signal control cycle is accurately determined based on the predicted traffic flow.

[0016] In one possible implementation, when a first intersection and at least one second intersection form a group of second-type intersections, the traffic signal control scheme for the first intersection and the traffic signal control scheme for at least one second intersection are determined based on the intersection information of the first intersection and the intersection information of at least one second intersection. This includes: when the first intersection and at least one second intersection form a group of second-type intersections, determining the intersection congestion index of each of the first intersection and at least one second intersection in the next signal control cycle based on the intersection information of each of the first intersection and at least one second intersection in the current signal control cycle; and determining the traffic signal control scheme for the first intersection and at least one second intersection in the next signal control cycle based on the intersection congestion index of each of the first intersection and at least one second intersection. The system addresses the issue of traffic signal control schemes for each intersection within a second intersection group in the next signal control cycle. Specifically, it addresses situations where at least two second intersections form a group of second-class intersections. This involves determining the traffic signal control scheme for each of these two groups based on their intersection information, including: determining the intersection congestion index for each intersection in the next signal control cycle based on its current signal control cycle information; and determining the traffic signal control scheme for each intersection in the next signal control cycle based on its congestion index. This approach allows for accurate determination of the traffic signal control schemes for all second-class intersections in the group by identifying their congestion indices in the next signal control cycle. The logic for determining the traffic signal control scheme is not complex, and the time required for determination is reduced, thus decreasing the latency during transmission.

[0017] In one possible implementation, based on the intersection congestion index of each of the first intersection and at least one second intersection in the next signal control cycle, a traffic signal control scheme for each of the first intersection and at least one second intersection in the next signal control cycle is determined, including: adjusting the traffic signal control scheme for each of the first intersection and at least one second intersection in the next signal control cycle; determining an average intersection congestion index based on the intersection congestion index of each of the first intersection and at least one second intersection in the next signal control cycle after adjusting the traffic signal control scheme; and determining the traffic signal control scheme corresponding to the first intersection when the average intersection congestion index is minimized as the traffic signal control scheme for the first intersection in the next signal control cycle, and the second intersection... The corresponding traffic signal control scheme is determined as the traffic signal control scheme for the second intersection in the next signal control cycle; based on the intersection congestion index of each of the at least two second intersections in the next signal control cycle, the traffic signal control scheme for each of the at least two second intersections in the next signal control cycle is determined, including: adjusting the traffic signal control scheme for each of the at least two second intersections in the next signal control cycle; determining the average intersection congestion index based on the intersection congestion index of each of the at least two second intersections in the next signal control cycle after adjusting the traffic signal control scheme; when the average intersection congestion index is minimized, the traffic signal control scheme corresponding to the second intersection is determined as the traffic signal control scheme for the second intersection in the next signal control cycle. In this way, since at least one path between any two Class II intersections in the same group is not equipped with other traffic signals, it indicates that the Class II intersections in the same group will affect each other. By determining the average intersection congestion index of all Class II intersections in the same group, the point where the average intersection congestion index is the minimum indicates that the traffic signal control schemes of these Class II intersections have the least impact on other Class II intersections in the same group. At this point, the traffic signal control schemes of each Class II intersection can achieve the best traffic effect.

[0018] In one possible implementation, based on the intersection information of each of the first intersection and at least one second intersection in the current signal control cycle, the intersection congestion index of each of the first intersection and at least one second intersection in the next signal control cycle is determined, including: for any target intersection among the first intersection and at least one second intersection, determining the number of lanes in each phase of the target intersection based on the intersection environment information of the target intersection; and predicting the intersection traffic flow information for the next signal control cycle based on the intersection traffic flow information of the current signal control cycle.

[0019] Based on the predicted intersection traffic flow information for the next signal control cycle, determine the total waiting time for all vehicles in all lanes of each phase in the next signal control cycle; based on the total waiting time for each phase in the next signal control cycle and the number of lanes in each phase, determine the average waiting time for each lane in each phase of the next signal control cycle; determine the maximum average waiting time among multiple phases of the target intersection as the intersection congestion index of the target intersection in the next signal control cycle; based on the intersection information of each of the at least two second intersections in the current signal control cycle, determine the intersection congestion index of each of the at least two second intersections in the next signal control cycle, including: for the at least two second intersections... For any given second intersection, based on the intersection environment information, determine the number of lanes in each phase of the second intersection; predict the intersection traffic flow information for the next signal control cycle based on the intersection traffic flow information of the current signal control cycle; based on the predicted intersection traffic flow information for the next signal control cycle, determine the total waiting time for all vehicles in all lanes of each phase in the next signal control cycle; based on the total waiting time for each phase in the next signal control cycle, and the number of lanes in each phase, determine the average waiting time for each lane in each phase in the next signal control cycle; the maximum average waiting time among multiple phases of the second intersection is determined as the intersection congestion index of the target intersection in the next signal control cycle. In this way, the intersection congestion index of each type of second intersection can be determined in the next signal control cycle. The intersection congestion index can characterize the congestion situation of the intersection, and in subsequent processes, the traffic signal control scheme for each type of second intersection can be accurately determined.

[0020] In one possible implementation, when the first intersection is a Class I intersection, the traffic signal control scheme for the first intersection is determined based on the intersection information, including: inputting the intersection information of the first intersection in the current signal control cycle into a first model to obtain the traffic signal control scheme for the first intersection in the next signal control cycle; wherein, the first model is used to determine the traffic signal control scheme for the first intersection in the next signal control cycle based on the intersection information of the first intersection in the current signal control cycle. Similarly, when the second intersection is a Class I intersection, the traffic signal control scheme for the second intersection is determined based on the intersection information, including: inputting the intersection information of the second intersection in the current signal control cycle into the first model to obtain the traffic signal control scheme for the second intersection in the next signal control cycle; wherein, the first model is also used to determine the traffic signal control scheme for the second intersection in the next signal control cycle based on the intersection information of the second intersection in the current signal control cycle. In this way, the first signal controller determines the traffic signal control scheme for the first type of intersection through the first model. In the process of continuously determining the traffic signal control scheme, the first model is continuously trained. Compared with the traffic signal control scheme determined by formula method in related technologies, the traffic signal control scheme determined by the continuously trained first model is more in line with the traffic conditions of the first type of intersection.

[0021] In one possible implementation, when a first intersection and at least one second intersection form a group of second-type intersections, the traffic signal control schemes for the first intersection and at least one second intersection are determined based on the intersection information of the first intersection and the intersection information of the at least one second intersection. This includes: when the first intersection and at least one second intersection form a group of second-type intersections, inputting all the intersection information of the first intersection and at least one second intersection in the current signal control cycle into a second model to obtain the traffic signal control schemes for the first intersection and at least one second intersection in the next signal control cycle; wherein, the second model is used to determine the first... The system provides traffic signal control schemes for each of the intersections and at least one second intersection in the next signal control cycle. When at least two second intersections form a group of Class II intersections, the system determines traffic signal control schemes for at least two second intersections based on their intersection information. This includes: inputting all intersection information from each of the at least two second intersections in the current signal control cycle into a second model to obtain traffic signal control schemes for each of the at least two second intersections in the next signal control cycle. The second model is also used to determine the traffic signal control schemes for each of the at least two second intersections in the next signal control cycle based on their intersection information from the current signal control cycle. In this way, the first traffic signal controller determines the traffic signal control schemes for Class II intersections through the second model. By continuously determining traffic signal control schemes, the second model is continuously trained. Compared to related technologies that determine traffic signal control schemes using formulas, the traffic signal control schemes determined by the continuously trained second model are more consistent with the traffic conditions of Class II intersections.

[0022] Secondly, this application provides a first signal device, comprising:

[0023] The acquisition module is used to acquire the intersection information of the first intersection, which corresponds to the first traffic signal controller. The intersection information includes intersection environmental information and intersection traffic flow information.

[0024] The receiving module is used to receive intersection information of a second intersection sent by at least one second signal that is communicatively connected to the first signal, wherein the second intersection corresponds to the second signal.

[0025] The processing module is used for:

[0026] When the first intersection is a Class I intersection, the traffic signal control scheme for the first intersection is determined based on the intersection information. Other traffic signal controllers are deployed at the adjacent intersections of the Class I intersection, and these other traffic signal controllers are not connected to the first traffic signal controller.

[0027] If the second intersection is a Class I intersection, determine the traffic signal control scheme for the second intersection based on the intersection information.

[0028] When a first intersection and at least one second intersection form a group of second-class intersections, the traffic signal control scheme for the first intersection and the traffic signal control scheme for at least one second intersection are determined based on the intersection information of the first intersection and the intersection information of at least one second intersection. In the path between any two second-class intersections in the same group, there is at least one path on which no other traffic signal is deployed.

[0029] When at least two second intersections form a group of second-class intersections, determine the traffic signal control scheme for at least two second intersections based on the intersection information of at least two second intersections;

[0030] The transmitting module is used to send the traffic signal control plan for the second intersection to the second signal controller.

[0031] In one possible implementation, the processing module is specifically used to: if the first intersection is a Class I intersection, predict the traffic flow of the first intersection in the next signal control cycle based on the intersection information of the first intersection in the current signal control cycle; determine the traffic signal control scheme for the first intersection in the next signal control cycle based on the predicted traffic flow of the first intersection in the next signal control cycle; if the second intersection is a Class I intersection, predict the traffic flow of the second intersection in the next signal control cycle based on the intersection information of the second intersection in the current signal control cycle; determine the traffic signal control scheme for the second intersection in the next signal control cycle based on the predicted traffic flow of the second intersection in the next signal control cycle.

[0032] In one possible implementation, the acquisition module is further configured to acquire the actual traffic flow at the first intersection at the end of the target signal cycle; the target signal cycle includes the current signal control cycle and a preset number of signal control cycles preceding the current signal control cycle; the processing module is specifically configured to: if the difference between the actual traffic flow at the first intersection at the end of each target signal cycle and the predicted traffic flow at the first intersection in the target signal cycle does not all exceed a preset threshold range, then determine the traffic signal control scheme for the first intersection in the next signal control cycle based on the predicted traffic flow at the first intersection in the next signal control cycle; the acquisition module is further configured to acquire the actual traffic flow at the second intersection at the end of the target signal cycle; the target signal cycle includes the current signal control cycle and a preset number of signal control cycles preceding the current signal control cycle; the processing module is specifically configured to: if the difference between the actual traffic flow at the second intersection at the end of each target signal cycle and the predicted traffic flow at the first intersection in the target signal cycle does not all exceed a preset threshold range, then determine the traffic signal control scheme for the second intersection in the next signal control cycle based on the predicted traffic flow at the second intersection in the next signal control cycle.

[0033] In one possible implementation, the processing module is specifically configured to: when the first intersection and at least one second intersection form a group of second-type intersections, determine the intersection congestion index of each of the first intersection and at least one second intersection in the next signal control cycle based on the intersection information of each of the first intersection and at least one second intersection in the current signal control cycle; determine the traffic signal control scheme for each of the first intersection and at least one second intersection in the next signal control cycle based on the intersection congestion index of each of the first intersection and at least one second intersection in the next signal control cycle; when at least two second intersections form a group of second-type intersections, determine the intersection congestion index of each of the at least two second intersections in the next signal control cycle based on the intersection information of each of the at least two second intersections in the current signal control cycle; and determine the traffic signal control scheme for each of the at least two second intersections in the next signal control cycle based on the intersection congestion index of each of the at least two second intersections in the next signal control cycle.

[0034] In one possible implementation, the processing module is specifically used to: adjust the traffic signal control scheme for each of the first intersection and at least one second intersection in the next signal control cycle; determine the average intersection congestion index based on the intersection congestion index of each of the first intersection and at least one second intersection in the next signal control cycle after adjusting the traffic signal control scheme; determine the traffic signal control scheme corresponding to the first intersection as the traffic signal control scheme for the first intersection in the next signal control cycle when the average intersection congestion index is minimized, and determine the traffic signal control scheme corresponding to the second intersection as the traffic signal control scheme for the second intersection in the next signal control cycle; adjust the traffic signal control scheme for each of at least two second intersections in the next signal control cycle; determine the average intersection congestion index based on the intersection congestion index of each of the at least two second intersections in the next signal control cycle after adjusting the traffic signal control scheme; and determine the traffic signal control scheme corresponding to the second intersection as the traffic signal control scheme for the second intersection in the next signal control cycle when the average intersection congestion index is minimized.

[0035] In one possible implementation, the processing module is specifically used to: for any one of the first intersection and at least one second intersection, determine the number of lanes in each phase of the target intersection based on the intersection environment information of the target intersection; predict the intersection traffic flow information for the next signal control cycle based on the intersection traffic flow information of the current signal control cycle; determine the total waiting time of all vehicles in all lanes of each phase in the next signal control cycle based on the predicted intersection traffic flow information of the next signal control cycle; determine the average waiting time of each lane in each phase of the next signal control cycle based on the total waiting time corresponding to each phase in the next signal control cycle and the number of lanes in each phase; and determine the maximum average waiting time among the multiple phases of the target intersection as the target intersection's waiting time in the next signal control cycle. The intersection congestion index for the current signal control cycle is calculated as follows: For any one of at least two second intersections, the number of lanes in each phase of the second intersection is determined based on the intersection environment information; the intersection traffic flow information for the next signal control cycle is predicted based on the intersection traffic flow information of the current signal control cycle; the total waiting time for all vehicles in all lanes of each phase in the next signal control cycle is determined based on the predicted intersection traffic flow information; the average waiting time for each lane in each phase of the next signal control cycle is determined based on the total waiting time for each phase and the number of lanes in each phase; the maximum average waiting time among the multiple phases of the second intersection is determined as the intersection congestion index of the target intersection in the next signal control cycle.

[0036] In one possible implementation, the processing module is specifically used to: when the first intersection is a Class I intersection, input the intersection information of the first intersection in the current signal control cycle into the first model to obtain the traffic signal control scheme for the first intersection in the next signal control cycle; wherein, the first model is used to determine the traffic signal control scheme for the first intersection in the next signal control cycle based on the intersection information of the first intersection in the current signal control cycle; when the second intersection is a Class I intersection, input the intersection information of the second intersection in the current signal control cycle into the first model to obtain the traffic signal control scheme for the second intersection in the next signal control cycle; wherein, the first model is also used to determine the traffic signal control scheme for the second intersection in the next signal control cycle based on the intersection information of the second intersection in the current signal control cycle.

[0037] In one possible implementation, the processing module is further configured to: when the first intersection and at least one second intersection form a group of second-type intersections, input all the intersection information of the first intersection and at least one second intersection in the current signal control cycle into the second model to obtain the traffic signal control schemes for the first intersection and at least one second intersection in the next signal control cycle; wherein, the second model is configured to determine the traffic signal control schemes for the first intersection and at least one second intersection in the next signal control cycle based on the intersection information of the first intersection and at least one second intersection in the current signal control cycle; when at least two second intersections form a group of second-type intersections, input all the intersection information of the at least two second intersections in the current signal control cycle into the second model to obtain the traffic signal control schemes for the at least two second intersections in the next signal control cycle; wherein, the second model is further configured to determine the traffic signal control schemes for the at least two second intersections in the next signal control cycle based on the intersection information of the at least two second intersections in the current signal control cycle.

[0038] Thirdly, this application provides an electronic device, comprising: one or more processors; one or more memories; wherein the one or more memories are used to store computer program code, the computer program code including computer instructions, and when the one or more processors execute the computer instructions, the electronic device executes any of the traffic signal control methods provided in the first aspect above.

[0039] Fourthly, this application provides a computer-readable storage medium storing computer-executable instructions that, when executed on a computer, cause the computer to perform any of the traffic signal control methods provided in the first aspect.

[0040] Fifthly, this application provides a computer program product including computer instructions that, when executed on an electronic device, cause the electronic device to perform the traffic signal control method as described in the first aspect and any possible design thereof.

[0041] For a detailed description of the second to fifth aspects and their various implementations in this application, please refer to the detailed description in the first aspect and its various implementations; and for a detailed analysis of the beneficial effects of the second to fifth aspects and their various implementations in the first aspect and its various implementations, please refer to the beneficial effect analysis in the first aspect and its various implementations, which will not be repeated here.

[0042] These or other aspects of this application will become more readily apparent in the following description. Attached Figure Description

[0043] Figure 1 This is a schematic diagram of the structure of a traffic signal control system provided in an embodiment of this application;

[0044] Figure 2 This is a schematic diagram of the structure of a computing device provided in an embodiment of this application;

[0045] Figure 3 A flowchart of a traffic signal control method provided in an embodiment of this application;

[0046] Figure 4 This application provides an illustration of a traffic signal control method for use in an embodiment of this application. Figure 1 ;

[0047] Figure 5 A schematic diagram of the control logic of a traffic signal control method provided in this application embodiment. Figure 1 ;

[0048] Figure 6 This application provides an illustration of a traffic signal control method for use in an embodiment of this application. Figure 2 ;

[0049] Figure 7 A schematic diagram of the control logic of a traffic signal control method provided in this application embodiment. Figure 2 ;

[0050] Figure 8 This is a schematic diagram of the structure of a first signal machine provided in an embodiment of this application;

[0051] Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0052] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0053] It should be noted that, in the embodiments of this application, the terms "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner. The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0054] To facilitate understanding, we will first provide a brief introduction and explanation of some terms or basic concepts of technology involved in the embodiments of this application.

[0055] A traffic signal controller, also known as a road traffic signal controller, is a device used to control traffic lights. It can control the sequence of traffic lights and adjust the timing of traffic lights.

[0056] Traffic lights are signals used to direct traffic and generally consist of red, green, and yellow lights. Red indicates "stop," green indicates "go," and yellow indicates "warning."

[0057] Traffic signal control schemes are ordered sets of phases, phase sequences, and signal timings at intersections where traffic lights are located.

[0058] Phase refers to the signal display status of one or more traffic flows that simultaneously have the right of way within a signal control cycle.

[0059] Phase sequence, also known as phase order, is the order in which phases are arranged.

[0060] Signal timing refers to the duration of each traffic signal in a phase.

[0061] The above is an introduction to some of the concepts involved in the embodiments of this application, which will not be repeated below.

[0062] With the increase in population and vehicle ownership, roads are under increasing pressure, leading to traffic congestion, travel delays, and vehicle emissions problems as roads exceed their capacity to handle transportation demands. While road expansion can increase capacity, this not only incurs high construction costs but also disrupts traffic during construction, further reducing road capacity. Therefore, traffic signal control schemes using traffic lights are commonly used to improve traffic congestion.

[0063] Currently, traffic signal control schemes for traffic signal controllers typically employ the Webster timing method, or a variation thereof. This method determines the signal control scheme for the current cycle based on vehicle and pedestrian flow data from previous traffic signal control cycles. However, this approach is limited by the volume of vehicle and pedestrian traffic at the intersection. Furthermore, the traffic signal control scheme is determined by the control platform receiving intersection traffic flow information from each traffic signal controller, which is then returned to the individual controllers for execution. This information transmission process incurs significant latency, hindering rapid responses to traffic conditions.

[0064] Therefore, determining a low-latency traffic signal control scheme is a problem that needs to be solved.

[0065] To address this issue, this application provides a traffic signal control method applied to a first traffic signal controller, which is directly connected to at least one second traffic signal controller. The first traffic signal controller can directly receive intersection traffic flow information and intersection environment information from the second traffic signal controller, eliminating the need for multi-level network topology switching as in related technologies. This significantly reduces latency during information transmission, allowing the first traffic signal controller to receive information from each second traffic signal controller more promptly. Combined with the intersection environment and traffic flow information of the first intersection, the first traffic signal controller can quickly and accurately determine the traffic signal control scheme for both the first and second intersections, thus preventing traffic congestion at both intersections.

[0066] Please refer to Figure 1 This illustrates the traffic signal control system to which the traffic signal control method provided in this application is applicable. For example... Figure 1 The traffic signal control system 1 includes a first signal controller 10 and at least one second signal controller 20. A communication connection is established between the first signal controller 10 and the at least one second signal controller 20, which can be a wired connection or a wireless connection; this embodiment does not impose specific limitations.

[0067] In some embodiments, one traffic signal controller corresponds to one intersection, and the controller is used to acquire intersection information for its corresponding intersection. This intersection information includes intersection environmental information and intersection traffic flow information. Intersection environmental information, also known as intersection channelization information, refers to the actual physical environment at the intersection, including but not limited to lanes, turning areas, residential areas, schools, hospitals, etc. Intersection traffic flow information includes vehicle and pedestrian traffic volume passing through the intersection.

[0068] In some embodiments, at the intersection corresponding to the traffic signal, one or more sensing devices connected to the traffic signal are configured, and the traffic signal obtains intersection information through these sensing devices. The sensing devices are those capable of determining the number of vehicles and pedestrians passing through the intersection, such as cameras, video vehicle detectors, radar detectors, inductive coils, and geomagnetic sensors.

[0069] Optionally, the sensing device can be integrated into the signal controller.

[0070] In some embodiments, the traffic signal controller can also acquire traffic event information at the intersection through sensing devices. Based on the traffic event information at each intersection, the first traffic signal controller 10 adjusts the traffic signal control scheme for each intersection so that the traffic signal control scheme for each intersection is more in line with the actual traffic conditions at that intersection.

[0071] In some embodiments, when the sensing device of the second traffic signal controller 20 is offline and the second traffic signal controller 20 is normally connected to the first traffic signal controller 10, the first traffic signal controller 10 predicts the traffic signal control scheme of the second traffic signal controller 20 in the next signal control cycle based on the intersection information of the intersection corresponding to the second traffic signal controller 20 in the previous few signal control cycles.

[0072] In some embodiments, the first traffic signal controller 10 is used to determine the traffic signal control schemes for the intersections corresponding to the first traffic signal controller 10 and each of the second traffic signal controllers 20. For example, the first traffic signal controller 10 acquires the intersection information of the intersection corresponding to the first traffic signal controller 10, receives the intersection information of the intersection corresponding to the second traffic signal controller 20 sent by the second traffic signal controller 20, and determines the traffic signal control schemes for the intersections corresponding to the first traffic signal controller 10 and the intersections corresponding to the second traffic signal controllers based on this intersection information.

[0073] In some embodiments, after the first traffic signal controller 10 determines the traffic signal control scheme for the second intersection corresponding to the second traffic signal controller 20, it sends the traffic signal control scheme to the second traffic signal controller 20, and the second traffic signal controller 20 controls the operation of the traffic lights at the second intersection according to the traffic signal control scheme.

[0074] In some embodiments, the traffic signal controller controls the operation of the traffic lights at the intersection according to the traffic signal control scheme of the intersection corresponding to the traffic signal controller. For example, in one signal control cycle, the first traffic signal controller 10 controls the green light of the traffic light corresponding to phase a of the first intersection to illuminate, and controls the red light of the traffic lights corresponding to phases b and c to illuminate. After a preset interval, the first traffic signal controller 10 controls the green light of the traffic light corresponding to phase b to illuminate, and controls the red light of the traffic lights corresponding to phases a and c to illuminate. After a preset interval, the first traffic signal controller 10 controls the green light of the traffic light corresponding to phase c to illuminate, and controls the red light of the traffic lights corresponding to phases a and b to illuminate. After a preset interval, the first traffic signal controller 10 controls the green light of the traffic light corresponding to phase a to illuminate, and controls the red light of the traffic lights corresponding to phases b and c to illuminate.

[0075] In some embodiments, the traffic signal controller is connected to a back-end control platform, receives control commands sent by the control platform, and controls the traffic lights to operate according to the control commands sent by the control platform.

[0076] In some embodiments, the traffic signal controller can be connected to a terminal device used by the operator. When the operator needs to modify or test the traffic signal control scheme determined by the traffic signal controller, the operator connects to the traffic signal controller through the terminal device he / she uses, controls the traffic signal controller to open and close, and can also modify the traffic signal control scheme of the traffic signal controller to achieve better traffic signal control effect.

[0077] In some embodiments, the first traffic signal controller 10 is a high-computing-power traffic signal controller, equipped with a graphics processing unit (GPU) or a high-performance processor, capable of training learning algorithms. Thus, after acquiring intersection information, the first traffic signal controller 10 can quickly determine the traffic signal control scheme for each intersection, reacting rapidly to the traffic conditions at each intersection and avoiding traffic congestion caused by late determination of the traffic signal control scheme. This application does not impose hardware requirements on the second traffic signal controller 20. In practical applications, only the high-computing-power first traffic signal controller 10 needs to be deployed; the already deployed traffic signal controller serves as the second traffic signal controller 20. No secondary development of the second traffic signal controller is required, which can reduce the deployment cost of the traffic signal control system 1.

[0078] The hardware structure of the first signal device 10 mentioned above includes: Figure 2 The components included in the computing device shown. The following are examples... Figure 2 Taking the computing device shown as an example, the hardware structure of the first signal device 10 will be introduced.

[0079] like Figure 2As shown, the computing device may include a processor 301, a memory 302, a communication interface 303, and a bus 304. The processor 301, the memory 302, and the communication interface 303 can be connected via the bus 304.

[0080] Processor 301 is the control center of the computing device. It can be a single processor or a collective term for multiple processing elements. For example, processor 301 can be a general-purpose central processing unit (CPU) or other general-purpose processors. The general-purpose processor can be a microprocessor or any conventional processor.

[0081] As one embodiment, processor 301 may include one or more CPUs, for example Figure 2 CPU 0 and CPU 1 are shown in the diagram.

[0082] The memory 302 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but is not limited thereto.

[0083] In one possible implementation, the memory 302 can exist independently of the processor 301. The memory 302 can be connected to the processor 301 via a bus 304 and is used to store instructions or program code. When the processor 301 calls and executes the instructions or program code stored in the memory 302, it can implement the model deployment method provided in the embodiments of this application.

[0084] In another possible implementation, the memory 302 can also be integrated with the processor 301.

[0085] Communication interface 303 is used for connecting the computing device to other devices via a communication network, such as Ethernet, radio access network (RAN), wireless local area network (WLAN), etc. Communication interface 303 may include a receiving unit for receiving data and a transmitting unit for transmitting data.

[0086] Bus 304 can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. This bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 2 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0087] It should be pointed out that, Figure 2 The structure shown does not constitute a limitation on the computing device, except Figure 2 In addition to the components shown, the computing device may include more or fewer components than illustrated, or combine certain components, or have different component arrangements.

[0088] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0089] The traffic signal control method provided in this application embodiment is executed by the first signal controller 10.

[0090] like Figure 3 As shown in the figure, this application provides a traffic signal control method, which includes the following steps:

[0091] S101. Obtain the intersection information of the first intersection and receive the intersection information of the second intersection sent by the second traffic signal.

[0092] The first intersection corresponds to the first traffic signal, the second intersection corresponds to the second traffic signal, and the intersection information includes intersection environmental information and intersection traffic flow information.

[0093] When the first intersection is a Class I intersection, the first traffic signal controller executes step S102; when the second intersection is a Class I intersection, the first traffic signal controller executes step S103; when the first intersection and at least one second intersection form a group of Class II intersections, the first traffic signal controller executes step S104; when at least two second intersections form a group of Class II intersections, the first traffic signal controller executes step S105. In this case, other traffic signal controllers are deployed in adjacent intersections of the Class I intersections, and at least one path between any two Class II intersections in the same group does not have other traffic signal controllers deployed, and these other traffic signal controllers are not communicatively connected to the first traffic signal controller.

[0094] S102. Based on the intersection information of the first intersection, determine the traffic signal control scheme for the first intersection.

[0095] S103. Based on the intersection information of the second intersection, determine the traffic signal control scheme for the second intersection.

[0096] The following describes the cases where the first or second intersection is a Class I intersection. Here, "Class I intersection" refers to any intersection within any traffic signal control system that is classified as a Class I intersection:

[0097] In some embodiments, the first traffic signal controller inputs the intersection information of the first type of intersection in the current signal control cycle into the first model to obtain the traffic signal control scheme for the first type of intersection in the next signal control cycle. The first model is used to determine the traffic signal control scheme for the first type of intersection in the next signal control cycle based on the intersection information of the first type of intersection in the current signal control cycle.

[0098] For example, such as Figure 4 In the road network structure shown, the traffic signal control system includes traffic signal controllers A through D. Traffic signal controllers E and F do not belong to this system. Traffic signal controllers A through F each correspond to intersections a through f. Traffic signal controllers E or F are deployed along any path from intersection a to any of the intersections b through d. Therefore, intersection a is a first-class intersection. To determine the traffic signal control scheme for intersection a, the intersection information is input into the first model to obtain the traffic signal control scheme for intersection a.

[0099] In this way, the first signal controller determines the traffic signal control scheme for the first type of intersection through the first model. In the process of continuously determining the traffic signal control scheme, the first model is continuously trained. Compared with the traffic signal control scheme determined by formula method in related technologies, the traffic signal control scheme determined by the continuously trained first model is more in line with the traffic conditions of the first type of intersection.

[0100] Specifically, the first model determines the traffic signal control scheme for the first type of intersection in the next signal control cycle based on the intersection information of the first type of intersection in the current signal control cycle. The specific logic is as follows: Based on the intersection information of the first type of intersection in the current signal control cycle, predict the traffic flow of the first type of intersection in the next signal control cycle, and then determine the traffic signal control scheme for the first type of intersection in the next signal control cycle based on the predicted traffic flow of the first type of intersection in the next signal control cycle.

[0101] When determining the traffic signal control scheme for a Class I intersection in the next signal control cycle based on the predicted traffic flow, the Webster timing method can be used for calculation.

[0102] In this way, by predicting the traffic flow of the first type of intersection in the next signal control cycle, the traffic signal control scheme for the first type of intersection in the next signal control cycle can be accurately determined. The logic for determining the traffic signal control scheme is not complicated, the time required for determining the traffic signal control scheme is reduced, and the time delay in the transmission process of the traffic signal control scheme can be reduced.

[0103] In some embodiments, determining the traffic signal control scheme for the first type of intersection in the next signal control cycle based on the predicted traffic flow of the first type of intersection in the next signal control cycle can be specifically implemented as follows: obtaining the actual traffic flow of the first type of intersection at the end of the target signal cycle; if the difference between the actual traffic flow of the first type of intersection at the end of each target signal cycle and the predicted traffic flow of the first type of intersection in the target signal cycle does not all exceed a preset threshold range, then determining the traffic signal control scheme for the first intersection in the next signal control cycle based on the predicted traffic flow of the first type of intersection in the next signal control cycle. The target signal cycle includes the current signal control cycle and a preset number of signal control cycles preceding the current signal control cycle.

[0104] Optionally, the first traffic signal controller may acquire the actual traffic flow of the first type of intersection at the end of the target signal cycle, or the first traffic signal controller may acquire the actual traffic flow of the first type of intersection at the last preset duration of the target signal cycle.

[0105] For example, if the first intersection is a Class I intersection, then for the first intersection, at the end of signal control cycle 1, the traffic flow of the first intersection in signal control cycle 2 is predicted by the first model. At the end of signal control cycle 2, the actual traffic flow of the first intersection at the end of signal control cycle 2 is obtained, the traffic flow of the first intersection in signal control cycle 3 is predicted, and so on, until the actual traffic flow of the first intersection is obtained at the end of signal control cycle 6. If the preset number is 4, and the difference between the predicted traffic flow and the actual traffic flow of the first intersection in each signal control cycle from signal control cycle 2 to signal control cycle 6 does not exceed the preset threshold range, it indicates that the traffic flow predicted by the first model for the intersection is reliable. Therefore, the traffic signal control scheme for the intersection in the next signal control cycle can be determined according to the predicted traffic flow. If, in each of the signal control cycles 2 to 6, the difference between the predicted traffic flow and the actual traffic flow at the first intersection exceeds the preset threshold range, it indicates that the predictions of the first model have all failed for a preset number of consecutive times. Therefore, the traffic flow predicted by the first model at the intersection is unreliable, and there may be abnormal traffic flow at the intersection, requiring real-time traffic control.

[0106] In this way, since the difference between the actual traffic flow at the first type of intersection at the end of each target signal cycle and the predicted traffic flow at the intersection corresponding to the first type of signal controller in the target signal cycle does not exceed the preset threshold range, it indicates that the traffic flow predicted by the first model is close to the actual traffic flow of this intersection and the predicted traffic flow is reliable. Therefore, based on the predicted traffic flow, the traffic signal control scheme for the intersection in the next signal control cycle can be accurately determined.

[0107] Figure 5 This diagram illustrates the logic of determining the traffic signal control scheme for the intersection corresponding to the first type of signal controller in the next signal control cycle using a first model. Figure 5 As shown, the first traffic signal controller acquires the intersection information corresponding to each traffic signal controller in the traffic signal control system. It then inputs the intersection information of each first-type intersection into a trained first model, which predicts the traffic flow for each first-type intersection in the next signal control cycle. If, in the N signal control cycles preceding the next cycle, the difference between the predicted traffic flow and the actual traffic flow in that signal control cycle does not exceed a preset threshold, then based on the predicted traffic flow of the first-type intersection in the next signal control cycle, the Webster timing method is used to determine the traffic signal control scheme for the first-type intersection in the next signal control cycle. If, in the N signal control cycles preceding the next cycle, the difference between the predicted traffic flow and the actual traffic flow in that signal control cycle exceeds a preset threshold, then real-time traffic demand switching control is implemented. Furthermore, the predicted and actual traffic flows within each signal control cycle can be used to correct the process of predicting the traffic flow at intersections.

[0108] S104. Based on the intersection information of the first intersection and the intersection information of at least one second intersection, determine the traffic signal control scheme for the first intersection and the traffic signal control scheme for at least one second intersection.

[0109] S105. Based on the intersection information of at least two second intersections, determine the traffic signal control scheme for at least two second intersections.

[0110] The following describes the process of determining the traffic signal control scheme for all Class II intersections in the same group. A group of Class II intersections can be a combination of a first intersection and at least one second intersection, or a group of Class II intersections can be a combination of at least two second intersections. Class II intersections within the same group refer to any group of Class II intersections in the traffic signal control system.

[0111] In some embodiments, the intersection information of all second-type intersections in the same group during the current signal control cycle is input into the second model to obtain the traffic signal control scheme of all second-type intersections in the same group during the next signal control cycle; wherein, the second model is used to determine the traffic signal control scheme of all second-type intersections in the same group during the next signal control cycle based on the intersection information of all second-type intersections during the current signal control cycle.

[0112] In practical applications, a traffic signal control system can contain one or more traffic domains. Within any two intersections belonging to the same traffic domain, at least one route does not have traffic signals deployed in other traffic signal control systems. When determining the traffic signal control scheme for intersections within the same traffic domain in the next signal control cycle, the intersection information of all intersections within the same traffic domain in the current signal control cycle is input into a second model to obtain the traffic signal control scheme for all intersections within that traffic domain in the next signal control cycle. Here, a traffic domain is considered a group, and intersections within the same group are classified as Class II intersections within that group.

[0113] For example, such as Figure 6In the road network structure shown, the traffic signal control system includes signal controllers A through F. Signal controllers G and H do not belong to this system. Signal controller A is the first signal controller. Signal controllers B through F are all connected to signal controller A. Intersection b (corresponding to signal controller B), intersection c (corresponding to signal controller C), and intersection d (corresponding to signal controller D) are interconnected in the road network. No other traffic signal control system signals are deployed along the path between any two intersections b, c, and d. Therefore, intersections b, c, and d are all Class II intersections belonging to the same traffic domain. Similarly, no other traffic signal control system signals are deployed along the path between intersection e (corresponding to signal controller E) and intersection f (corresponding to signal controller F). Therefore, intersections e and f are Class II intersections belonging to the same traffic domain. Signal controller G is deployed along the path between intersection e and intersection b. Therefore, the traffic domain to which intersections e and f belong is different from the traffic domain to which intersections b, c, and d belong. When determining the traffic signal control schemes for intersections b, c, and d, the intersection information for each of these intersections is simultaneously input into the second model to obtain their respective traffic signal control schemes. Similarly, when determining the traffic signal control schemes for intersections e and f, the intersection information for each of these intersections is simultaneously input into the second model to obtain their respective traffic signal control schemes. If traffic signal G is deployed along the path from intersection a (corresponding to signal A) to any of the intersections b-f, then intersection a is a first-class intersection. When determining the traffic signal control scheme for intersection a, the intersection information for intersection a is input into the first model to obtain its traffic signal control scheme.

[0114] In this way, the first signal controller determines the traffic signal control scheme for the second type of intersection through the second model. In the process of continuously determining the traffic signal control scheme, the second model is continuously trained. Compared with the traffic signal control scheme determined by formula method in related technologies, the traffic signal control scheme determined by the continuously trained second model is more in line with the traffic conditions of the second type of intersection.

[0115] Specifically, the second model determines the traffic signal control scheme for all Class II intersections within the same group based on the intersection information of all Class II intersections within the same group. The specific logic is as follows: Based on the intersection information of all Class II intersections within the same group in the current signal control cycle, determine the intersection congestion index of each Class II intersection within the same group in the next signal control cycle; Based on the intersection congestion index of each Class II intersection within the same group in the next signal control cycle, determine the traffic signal control scheme for all Class II intersections within the same group in the next signal control cycle.

[0116] In this way, by determining the intersection congestion index of each Class II intersection in the same group in the next signal control cycle, the traffic signal control scheme for all Class II intersections in the group in the next signal control cycle can be accurately determined. The logic for determining the traffic signal control scheme is not complicated, the time required for determining the traffic signal control scheme is reduced, and the latency in the transmission process of the traffic signal control scheme can be reduced.

[0117] In some embodiments, for any second-type intersection, the first traffic signal controller determines the intersection congestion index of each second-type intersection in the same group in the next signal control cycle based on the intersection information of all second-type intersections in the same group in the current signal control cycle. Specifically, this can be implemented as follows: the first traffic signal controller determines the number of lanes in each phase of the second-type intersection based on the intersection environment information; predicts the intersection flow information of the next signal control cycle based on the intersection flow information of the current signal control cycle; determines the total waiting time of all vehicles in all lanes in each phase in the next signal control cycle based on the predicted intersection flow information of the next signal control cycle; determines the average waiting time of each lane in each phase in the next signal control cycle based on the total waiting time of each phase in the next signal control cycle and the number of lanes in each phase; and determines the maximum value of the average waiting time among multiple phases of the second-type intersection as the intersection congestion index of the second-type intersection in the next signal control cycle.

[0118] In other words, the formula for determining the intersection congestion index is:

[0119]

[0120] in, Indicates the intersection congestion index. This represents the duration a vehicle remains stationary in its current lane, where n represents the total number of lanes for a given flow direction. This represents the total waiting time for all vehicles in each lane along a single direction. For example, if there are three lanes for straight traffic heading east, then... It is the sum of all waiting times across the three lanes. If the average waiting time for eastbound straight traffic is the longest at a certain type II intersection, then the average waiting time for eastbound straight traffic is determined as the intersection congestion index.

[0121] In this way, the intersection congestion index of each type II intersection can be determined in the next signal control cycle. The intersection congestion index can characterize the congestion situation of the intersection. In the subsequent process, the traffic signal control scheme of each type II intersection can be accurately determined based on the intersection congestion index.

[0122] In some embodiments, the first traffic signal controller determines the traffic signal control scheme for all second-class intersections in the same group in the next signal control cycle based on the intersection congestion index of each second-class intersection in the same group in the next signal control cycle. Specifically, this can be implemented by: adjusting the traffic signal control scheme for all second-class intersections in the same group in the next signal control cycle; determining the average intersection congestion index based on the intersection congestion index of all second-class intersections in the same group in the next signal control cycle after adjusting the traffic signal control scheme; and determining the traffic signal control scheme corresponding to the second-class intersection when the average intersection congestion index is minimized as the traffic signal control scheme for that second-class intersection in the next signal control cycle.

[0123] For example, intersections a and b are grouped into a second-class intersection. At the end of signal control cycle 1, based on a preset traffic signal control scheme, the intersection congestion index of intersections a and b in the next signal control cycle is predicted, thus obtaining the average intersection congestion index of intersections a and b. The traffic signal control schemes for intersections a and b are continuously adjusted, and the average intersection congestion index of intersections a and b is re-determined each time an adjustment is made. When the average intersection congestion index is at its minimum, the traffic signal control scheme for the next signal control cycle corresponding to intersection a is the traffic signal control scheme that intersection a needs to execute in the next signal control cycle, and the traffic signal control scheme for the next signal control cycle corresponding to intersection b is the traffic signal control scheme that intersection b needs to execute in the next signal control cycle.

[0124] In this way, since at least one path between any two Class II intersections in the same group is not equipped with other traffic signals, it indicates that the Class II intersections in the same group will affect each other. By determining the average intersection congestion index of all Class II intersections in the same group, the point where the average intersection congestion index is the minimum indicates that the traffic signal control schemes of these Class II intersections have the least impact on other Class II intersections in the same group. At this point, the traffic signal control schemes of each Class II intersection can achieve the best traffic effect.

[0125] In some embodiments, when adjusting the traffic signal control scheme for intersections corresponding to each type of second signal controller, the user can set the second model to adjust the traffic signal control scheme only for type of second signal controllers whose intersection congestion index is greater than the average intersection congestion index.

[0126] For example, traffic signal A corresponds to intersection 1, traffic signal B corresponds to intersection 2, and traffic signal C corresponds to intersection 3. Traffic signal A, B, and C belong to traffic domain 1. When determining the traffic signal control scheme for each intersection in traffic domain 1, the intersection information for each of intersections 1, 2, and 3 in traffic domain 1 is simultaneously input into the second model to calculate the congestion index for each intersection. Then, the average congestion index for each intersection is determined. If the congestion index for intersection 3 is greater than the average congestion index, only the traffic signal control scheme for intersection 3 is adjusted. The adjusted congestion index for intersection 3 is determined, and the average congestion index for these three intersections is recalculated. This process is repeated until the average congestion index is minimized. The traffic signal control scheme for each intersection is then the traffic signal control scheme configured by the first traffic signal for the next signal control cycle.

[0127] In this way, it is not necessary to adjust all the second-class intersections, the adjustment process is faster, and the average intersection congestion index can be reduced, resulting in better traffic performance.

[0128] In some embodiments, the first model and the second model can be neural network models such as recurrent neural networks (RNN) and convolutional neural networks (CNN), and this application does not impose specific limitations on them.

[0129] Figure 7 This diagram illustrates the logic for determining the traffic signal control scheme for a type-two intersection in the next signal control cycle using a second model. Figure 7 As shown, the first traffic signal controller acquires intersection information from each traffic signal controller in the traffic signal control system. It simultaneously inputs the intersection information of all second-type intersections belonging to the same traffic domain into the trained second model to obtain the intersection congestion index for each second-type intersection in the traffic domain. Then, based on the intersection congestion index of each second-type intersection, it determines the average intersection congestion index for each second-type intersection in the traffic domain. The traffic signal control scheme for each second-type intersection in the traffic domain is continuously adjusted in the next signal control cycle (for example, if the traffic flow in a certain direction at a second-type intersection is high, the travel time for that direction is increased during adjustment to reduce the intersection congestion index). This process continues until the average intersection congestion index is minimized. The traffic signal control scheme for each second-type intersection is then the traffic signal control scheme for each second-type intersection in the traffic domain in the next signal control cycle. Furthermore, the predicted traffic flow and the actual traffic flow within each signal control cycle can be used to correct the process of predicting the traffic flow at intersections.

[0130] S106. Send the traffic signal control plan for the second intersection to the second signal controller.

[0131] In some embodiments, after the second traffic signal controller receives the traffic signal control scheme for the second intersection, the second traffic signal controller controls the operation of the traffic lights at the second intersection according to the traffic signal control scheme.

[0132] Figure 3 The technical solution presented offers at least the following advantages: Since the second traffic signal is directly connected to the first traffic signal, the first signal can directly receive information transmitted by the second signal without needing to go through a multi-level network topology. This significantly reduces latency during information transmission, allowing the first signal to promptly receive the intersection environment and traffic flow information of the second intersection sent by the second signal. Combined with the intersection environment and traffic flow information of the first intersection, the traffic signal control schemes for both the first and second type of intersections can be quickly and accurately determined. Furthermore, since other traffic signals are deployed at adjacent intersections of the first type of intersection, the traffic flow at the first type of intersection has little impact on the intersections corresponding to the traffic signals connected to the first signal. Therefore, the traffic signal control scheme for the first type of intersection can be quickly and directly determined based on its intersection information. Since at least one of the routes between any two Class II intersections in the same group does not have other traffic signals deployed, it indicates that the traffic flow of Class II intersections in the same group affects each other. Therefore, based on the intersection information of all Class II intersections in the same group, a traffic signal control scheme for all Class II intersections in the same group is determined to make the traffic flow of Class II intersections in the same group more balanced and avoid traffic congestion at Class II intersections.

[0133] The foregoing primarily describes the solutions provided by the embodiments of this application from a methodological perspective. To achieve the aforementioned functions, it includes corresponding hardware structures and / or software modules for executing each function. Those skilled in the art should readily recognize that, in conjunction with the units and algorithm steps of the various examples described in the embodiments disclosed herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0134] like Figure 8 As shown in the figure, this application embodiment also provides a first traffic signal controller for the traffic signal control method shown in the above method embodiment. The first traffic signal controller 400 includes: an acquisition module 401, a receiving module 402, a processing module 403, and a sending module 404.

[0135] The system includes: an acquisition module 401 for acquiring intersection information of a first intersection (corresponding to a first traffic signal controller), the intersection information including intersection environment information and intersection traffic flow information; a receiving module 402 for receiving intersection information of a second intersection sent by at least one second traffic signal controller communicatively connected to the first traffic signal controller, the second intersection corresponding to a second traffic signal controller; and a processing module 403 for determining a traffic signal control scheme for the first intersection (if the first intersection is a Class I intersection, other traffic signal controllers are deployed in adjacent intersections of the Class I intersection, and these other traffic signal controllers are not communicatively connected to the first traffic signal controller); and for determining a traffic signal control scheme for the second intersection (if the second intersection is a Class I intersection, the system determines a traffic signal control scheme based on the intersection information of the second intersection). The system determines the traffic signal control scheme for the second intersection; when the first intersection and at least one second intersection form a group of second-class intersections, it determines the traffic signal control scheme for the first intersection and the traffic signal control scheme for at least one second intersection based on the intersection information of the first intersection and the intersection information of at least one second intersection, wherein at least one path between any two second-class intersections in the same group does not have other traffic signals deployed; when at least two second intersections form a group of second-class intersections, it determines the traffic signal control scheme for at least two second intersections based on the intersection information of at least two second intersections; the sending module 404 is used to send the traffic signal control scheme for the second intersection to the second traffic signal.

[0136] In one possible implementation, the processing module 403 is specifically used to: when the first intersection is a Class I intersection, predict the traffic flow of the first intersection in the next signal control cycle based on the intersection information of the first intersection in the current signal control cycle; determine the traffic signal control scheme for the first intersection in the next signal control cycle based on the predicted traffic flow of the first intersection in the next signal control cycle; when the second intersection is a Class I intersection, predict the traffic flow of the second intersection in the next signal control cycle based on the intersection information of the second intersection in the current signal control cycle; determine the traffic signal control scheme for the second intersection in the next signal control cycle based on the predicted traffic flow of the second intersection in the next signal control cycle.

[0137] In another possible implementation, the acquisition module 401 is further configured to acquire the actual traffic flow at the first intersection at the end of the target signal cycle; the target signal cycle includes the current signal control cycle and a preset number of signal control cycles preceding the current signal control cycle; the processing module 403 is specifically configured to: if the difference between the actual traffic flow at the first intersection at the end of each target signal cycle and the predicted traffic flow at the first intersection in the target signal cycle does not all exceed a preset threshold range, then determine the traffic signal control scheme for the first intersection in the next signal control cycle based on the predicted traffic flow at the first intersection in the next signal control cycle; the acquisition module 401 is further configured to acquire the actual traffic flow at the second intersection at the end of the target signal cycle; the target signal cycle includes the current signal control cycle and a preset number of signal control cycles preceding the current signal control cycle; the processing module 403 is specifically configured to: if the difference between the actual traffic flow at the second intersection at the end of each target signal cycle and the predicted traffic flow at the first intersection in the target signal cycle does not all exceed a preset threshold range, then determine the traffic signal control scheme for the second intersection in the next signal control cycle based on the predicted traffic flow at the second intersection in the next signal control cycle.

[0138] In another possible implementation, the processing module 403 is specifically used to: when the first intersection and at least one second intersection form a group of second-type intersections, determine the intersection congestion index of each of the first intersection and at least one second intersection in the next signal control cycle based on the intersection information of each of the first intersection and at least one second intersection in the current signal control cycle; determine the traffic signal control scheme of each of the first intersection and at least one second intersection in the next signal control cycle based on the intersection congestion index of each of the first intersection and at least one second intersection in the next signal control cycle; when at least two second intersections form a group of second-type intersections, determine the intersection congestion index of each of the at least two second intersections in the next signal control cycle based on the intersection information of each of the at least two second intersections in the current signal control cycle; and determine the traffic signal control scheme of each of the at least two second intersections in the next signal control cycle based on the intersection congestion index of each of the at least two second intersections in the next signal control cycle.

[0139] In another possible implementation, the processing module 403 is specifically used to: adjust the traffic signal control scheme of each of the first intersection and at least one second intersection in the next signal control cycle; determine the average intersection congestion index based on the intersection congestion index of each of the first intersection and at least one second intersection in the next signal control cycle after adjusting the traffic signal control scheme; determine the traffic signal control scheme corresponding to the first intersection as the traffic signal control scheme for the first intersection in the next signal control cycle when the average intersection congestion index is minimized, and determine the traffic signal control scheme corresponding to the second intersection as the traffic signal control scheme for the second intersection in the next signal control cycle; adjust the traffic signal control scheme of each of at least two second intersections in the next signal control cycle; determine the average intersection congestion index based on the intersection congestion index of each of the at least two second intersections in the next signal control cycle after adjusting the traffic signal control scheme; determine the traffic signal control scheme corresponding to the second intersection as the traffic signal control scheme for the second intersection in the next signal control cycle when the average intersection congestion index is minimized.

[0140] In another possible implementation, the processing module 403 is specifically used to: for any one of the first intersection and at least one second intersection, determine the number of lanes in each phase of the target intersection based on the intersection environment information of the target intersection; predict the intersection flow information for the next signal control cycle based on the intersection flow information of the current signal control cycle; determine the total waiting time of all vehicles in all lanes of each phase in the next signal control cycle based on the predicted intersection flow information of the next signal control cycle; determine the average waiting time of each lane in each phase in the next signal control cycle based on the total waiting time corresponding to each phase in the next signal control cycle and the number of lanes in each phase; and determine the maximum value of the average waiting time among the multiple phases of the target intersection as the target intersection's waiting time in the next signal control cycle. The intersection congestion index for each signal control cycle is calculated; for any one of at least two second intersections, the number of lanes in each phase of the second intersection is determined based on the intersection environment information; the intersection traffic flow information for the next signal control cycle is predicted based on the intersection traffic flow information of the current signal control cycle; the total waiting time for all vehicles in all lanes of each phase in the next signal control cycle is determined based on the predicted intersection traffic flow information; the average waiting time for each lane in each phase in the next signal control cycle is determined based on the total waiting time for each phase and the number of lanes in each phase; the maximum average waiting time among the multiple phases of the second intersection is determined as the intersection congestion index of the target intersection in the next signal control cycle.

[0141] In another possible implementation, the processing module 403 is specifically used to: when the first intersection is a Class I intersection, input the intersection information of the first intersection in the current signal control cycle into the first model to obtain the traffic signal control scheme of the first intersection in the next signal control cycle; wherein, the first model is used to determine the traffic signal control scheme of the first intersection in the next signal control cycle based on the intersection information of the first intersection in the current signal control cycle; when the second intersection is a Class I intersection, input the intersection information of the second intersection in the current signal control cycle into the first model to obtain the traffic signal control scheme of the second intersection in the next signal control cycle; wherein, the first model is also used to determine the traffic signal control scheme of the second intersection in the next signal control cycle based on the intersection information of the second intersection in the current signal control cycle.

[0142] In another possible implementation, the processing module 403 is further configured to: when the first intersection and at least one second intersection form a group of second-type intersections, input all the intersection information of the first intersection and at least one second intersection in the current signal control cycle into the second model to obtain the traffic signal control schemes for the first intersection and at least one second intersection in the next signal control cycle; wherein, the second model is configured to determine the traffic signal control schemes for the first intersection and at least one second intersection in the next signal control cycle based on the intersection information of the first intersection and at least one second intersection in the current signal control cycle; when at least two second intersections form a group of second-type intersections, input all the intersection information of the at least two second intersections in the current signal control cycle into the second model to obtain the traffic signal control schemes for the at least two second intersections in the next signal control cycle; wherein, the second model is further configured to determine the traffic signal control schemes for the at least two second intersections in the next signal control cycle based on the intersection information of the at least two second intersections in the current signal control cycle.

[0143] It should be noted that, Figure 8 The module division shown is illustrative and represents only one logical functional division; in actual implementation, other division methods are possible. For example, two or more functions can be integrated into a single processing module. These integrated modules can be implemented either in hardware or as software functional modules.

[0144] Another embodiment of this application also provides an electronic device, such as... Figure 9As shown, the electronic device 500 includes a memory 501 and a processor 502; the memory 501 and the processor 502 are coupled; the memory 501 is used to store computer program code, which includes computer instructions. When the processor 502 executes the computer instructions, the electronic device 500 performs the steps executed by the first signal in the method flow shown in the above method embodiment.

[0145] In actual implementation, the acquisition module 401, the receiving module 402, the processing module 403, and the sending module 404 can be composed of... Figure 9 The processor 502 shown calls the computer program code in memory 501 to implement this. The specific execution process can be found in the description of the traffic signal control method section above, and will not be repeated here.

[0146] Another embodiment of this application provides a computer-readable storage medium storing computer instructions that, when executed on an electronic device, cause the electronic device to perform the steps executed by the first signal in the method flow shown in the above method embodiment.

[0147] Another embodiment of this application provides a chip system applied to an electronic device. The chip system includes one or more interface circuits and one or more processors. The interface circuits and processors are interconnected via lines. The interface circuits are used to receive signals from the electronic device's memory and send the signals to the processors, the signals including computer instructions stored in the memory. When the processor of the electronic device executes the computer instructions, the electronic device performs the steps executed by the first signal in the method flow shown in the above method embodiment.

[0148] In another embodiment of this application, a computer program product is also provided, which includes computer instructions that, when executed on an electronic device, cause the electronic device to perform the steps executed by the first signal in the method flow shown in the above method embodiment.

[0149] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented using software programs, implementation can be, in whole or in part, in the form of a computer program product. This computer program product includes one or more computer instructions. When these computer instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device containing one or more servers, data centers, etc., that can be integrated with the medium. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), etc.

[0150] The above description is merely a specific embodiment of this application. Any variations or substitutions conceived by those skilled in the art based on the specific embodiments provided in this application should be covered within the protection scope of this application.

Claims

1. A traffic signal control method, characterized in that, A first traffic signal is used in a plurality of traffic signal controllers, the plurality of traffic signal controllers including the first traffic signal controller and at least one second traffic signal controller communicatively connected to the first traffic signal controller; each traffic signal controller corresponds to one intersection and is used to acquire intersection information for the corresponding intersection, the intersection information including intersection environmental information and intersection traffic flow information; the method includes: Obtain the intersection information of the first intersection and receive the intersection information of the second intersection sent by the second traffic signal controller; the first intersection corresponds to the first traffic signal controller, and the second intersection corresponds to the second traffic signal controller; When the first intersection is a Class I intersection, a traffic signal control scheme for the first intersection is determined based on the intersection information of the first intersection. Other traffic signal controllers are deployed in the adjacent intersections of the Class I intersection, and the other traffic signal controllers are not connected to the first traffic signal controller. If the second intersection is a first type of intersection, the traffic signal control scheme for the second intersection is determined based on the intersection information of the second intersection; In the case where the first intersection and at least one second intersection form a group of second-type intersections, the traffic signal control scheme for the first intersection and the traffic signal control scheme for at least one second intersection are determined based on the intersection information of the first intersection and the intersection information of at least one second intersection. In the path between any two second-type intersections in the same group, at least one path does not have the other traffic signal deployed. When at least two second intersections form a group of second-type intersections, a traffic signal control scheme for at least two second intersections is determined based on the intersection information of at least two second intersections. The traffic signal control plan for the second intersection is sent to the second traffic signal controller.

2. The method according to claim 1, characterized in that, When the first intersection is a Class I intersection, determining the traffic signal control scheme for the first intersection based on the intersection information includes: If the first intersection is a Class I intersection, the traffic flow of the first intersection in the next signal control cycle is predicted based on the intersection information of the first intersection in the current signal control cycle. Based on the predicted traffic flow at the first intersection in the next signal control cycle, determine the traffic signal control scheme for the first intersection in the next signal control cycle. When the second intersection is a first-type intersection, determining the traffic signal control scheme for the second intersection based on the intersection information includes: If the second intersection is a first type of intersection, the traffic flow of the second intersection in the next signal control cycle is predicted based on the intersection information of the second intersection in the current signal control cycle. Based on the predicted traffic flow at the second intersection in the next signal control cycle, determine the traffic signal control scheme for the second intersection in the next signal control cycle.

3. The method according to claim 2, characterized in that, The step of determining the traffic signal control scheme for the first intersection in the next signal control cycle based on the predicted traffic flow at the first intersection in the next signal control cycle includes: Obtain the actual traffic flow at the first intersection at the end of the target signal cycle; the target signal cycle includes the current signal control cycle and a preset number of signal control cycles preceding the current signal control cycle; If the difference between the actual traffic flow at the first intersection at the end of each target signal cycle and the predicted traffic flow at the first intersection in the target signal cycle does not exceed the preset threshold range, then the traffic signal control scheme for the first intersection in the next signal control cycle is determined based on the predicted traffic flow at the first intersection in the next signal control cycle. The step of determining the traffic signal control scheme for the second intersection in the next signal control cycle based on the predicted traffic flow at the second intersection includes: Obtain the actual traffic flow at the second intersection at the end of the target signal cycle; the target signal cycle includes the current signal control cycle and a preset number of signal control cycles preceding the current signal control cycle; If the difference between the actual traffic flow at the second intersection at the end of each target signal cycle and the predicted traffic flow at the first intersection in the target signal cycle does not exceed a preset threshold range, then the traffic signal control scheme for the second intersection in the next signal control cycle is determined based on the predicted traffic flow at the second intersection in the next signal control cycle.

4. The method according to any one of claims 1-3, characterized in that, In the case where the first intersection and at least one second intersection form a group of second-type intersections, determining the traffic signal control scheme for the first intersection and the traffic signal control scheme for at least one second intersection based on the intersection information of the first intersection and the intersection information of at least one second intersection includes: In the case where the first intersection and at least one second intersection form a group of second-type intersections, the intersection congestion index of each of the first intersection and at least one second intersection in the next signal control cycle is determined based on the intersection information of each of the first intersection and at least one second intersection in the current signal control cycle. Based on the intersection congestion index of each of the first intersection and at least one of the second intersections in the next signal control cycle, determine the traffic signal control scheme for each of the first intersection and at least one of the second intersections in the next signal control cycle; In the case where at least two second intersections form a group of second-type intersections, determining a traffic signal control scheme for at least two second intersections based on the intersection information of at least two second intersections includes: When at least two second intersections form a group of second-type intersections, the intersection congestion index of each of the at least two second intersections in the next signal control cycle is determined based on the intersection information of each of the at least two second intersections in the current signal control cycle. Based on the intersection congestion index of each of the at least two second intersections in the next signal control cycle, determine the traffic signal control scheme for each of the at least two second intersections in the next signal control cycle.

5. The method according to claim 4, characterized in that, The step of determining a traffic signal control scheme for each of the first intersection and at least one of the second intersections in the next signal control cycle, based on the intersection congestion index of each of the first intersection and at least one of the second intersections in the next signal control cycle, includes: Adjust the traffic signal control scheme for each of the first intersection and at least one of the second intersections in the next signal control cycle; The average intersection congestion index is determined based on the intersection congestion index of each of the first intersection and at least one second intersection in the next signal control cycle after the traffic signal control scheme is adjusted. When the average intersection congestion index is minimized, the traffic signal control scheme corresponding to the first intersection is determined as the traffic signal control scheme for the first intersection in the next signal control cycle, and the traffic signal control scheme corresponding to the second intersection is determined as the traffic signal control scheme for the second intersection in the next signal control cycle. The step of determining a traffic signal control scheme for each of the at least two second intersections in the next signal control cycle, based on the intersection congestion index of each of the at least two second intersections in the next signal control cycle, includes: Adjust the traffic signal control scheme for each of the at least two second intersections in the next signal control cycle; The average intersection congestion index is determined based on the intersection congestion index of each of the at least two second intersections in the next signal control cycle after the traffic signal control scheme is adjusted. When the average intersection congestion index is minimized, the traffic signal control scheme corresponding to the second intersection is determined as the traffic signal control scheme for the second intersection in the next signal control cycle.

6. The method according to claim 5, characterized in that, The step of determining the intersection congestion index for each of the first intersection and at least one second intersection in the next signal control cycle, based on the intersection information of each of the first intersection and at least one second intersection in the current signal control cycle, includes: For any one of the first intersection and at least one of the second intersections, the number of lanes in each phase of the target intersection is determined based on the intersection environment information of the target intersection; Based on the intersection traffic flow information of the current signal control cycle, predict the intersection traffic flow information for the next signal control cycle; Based on the intersection traffic information predicted for the next signal control cycle, determine the total stopping wait time for all vehicles in all lanes in each phase of the next signal control cycle. Based on the total waiting time for each phase in the next signal control cycle and the number of lanes in each phase, determine the average waiting time for each lane in each phase in the next signal control cycle. The maximum average waiting time among multiple phases of the target intersection is determined as the intersection congestion index of the target intersection in the next signal control cycle. The step of determining the intersection congestion index for each of the at least two second intersections in the next signal control cycle based on the intersection information of each intersection in the current signal control cycle includes: For any one of the at least two second intersections, the number of lanes in each phase of the second intersection is determined based on the intersection environment information of the second intersection; Based on the intersection traffic flow information of the current signal control cycle, predict the intersection traffic flow information for the next signal control cycle; Based on the intersection traffic information predicted for the next signal control cycle, determine the total stopping wait time for all vehicles in all lanes in each phase of the next signal control cycle. Based on the total waiting time for each phase in the next signal control cycle and the number of lanes in each phase, determine the average waiting time for each lane in each phase in the next signal control cycle. The maximum average waiting time among the multiple phases of the second intersection is determined as the intersection congestion index of the target intersection in the next signal control cycle.

7. The method according to claim 1, characterized in that, When the first intersection is a Class I intersection, determining the traffic signal control scheme for the first intersection based on the intersection information includes: When the first intersection is a Class I intersection, the intersection information of the first intersection in the current signal control cycle is input into the first model to obtain the traffic signal control scheme of the first intersection in the next signal control cycle; wherein, the first model is used to determine the traffic signal control scheme of the first intersection in the next signal control cycle based on the intersection information of the first intersection in the current signal control cycle. When the second intersection is a first-type intersection, determining the traffic signal control scheme for the second intersection based on the intersection information includes: When the second intersection is a first type of intersection, the intersection information of the second intersection in the current signal control cycle is input into the first model to obtain the traffic signal control scheme of the second intersection in the next signal control cycle; wherein, the first model is also used to determine the traffic signal control scheme of the second intersection in the next signal control cycle based on the intersection information of the second intersection in the current signal control cycle.

8. The method according to claim 1 or 7, characterized in that, In the case where the first intersection and at least one second intersection form a group of second-type intersections, determining the traffic signal control scheme for the first intersection and the traffic signal control scheme for at least one second intersection based on the intersection information of the first intersection and the intersection information of at least one second intersection includes: When the first intersection and at least one second intersection form a group of second-type intersections, the intersection information of the first intersection and at least one second intersection in the current signal control cycle is input into the second model to obtain the traffic signal control schemes of the first intersection and at least one second intersection in the next signal control cycle; wherein, the second model is used to determine the traffic signal control schemes of the first intersection and at least one second intersection in the next signal control cycle based on the intersection information of the first intersection and at least one second intersection in the current signal control cycle; In the case where at least two second intersections form a group of second-type intersections, determining a traffic signal control scheme for at least two second intersections based on the intersection information of at least two second intersections includes: When at least two second intersections form a group of second-type intersections, the intersection information of each of the at least two second intersections in the current signal control cycle is input into the second model to obtain the traffic signal control scheme of each of the at least two second intersections in the next signal control cycle; wherein, the second model is also used to determine the traffic signal control scheme of each of the at least two second intersections in the next signal control cycle based on the intersection information of each of the at least two second intersections in the current signal control cycle.

9. A first signal, characterized in that, include: The acquisition module is used to acquire the intersection information of the first intersection, which corresponds to the first traffic signal controller. The intersection information includes intersection environment information and intersection traffic flow information. The receiving module is used to receive intersection information of a second intersection sent by at least one second signal that is communicatively connected to the first signal, wherein the second intersection corresponds to the second signal. The processing module is used for: When the first intersection is a Class I intersection, a traffic signal control scheme for the first intersection is determined based on the intersection information of the first intersection. Other traffic signal controllers are deployed in the adjacent intersections of the Class I intersection, and the other traffic signal controllers are not connected to the first traffic signal controller. If the second intersection is a first type of intersection, the traffic signal control scheme for the second intersection is determined based on the intersection information of the second intersection; In the case where the first intersection and at least one second intersection form a group of second-type intersections, the traffic signal control scheme for the first intersection and the traffic signal control scheme for at least one second intersection are determined based on the intersection information of the first intersection and the intersection information of at least one second intersection. In the path between any two second-type intersections in the same group, at least one path does not have the other traffic signal deployed. When at least two second intersections form a group of second-type intersections, a traffic signal control scheme for at least two second intersections is determined based on the intersection information of at least two second intersections. The sending module is used to send the traffic signal control scheme of the second intersection to the second signal controller.

10. An electronic device, characterized in that, include: One or more processors; One or more memory units; The one or more memories are used to store computer program code, which includes computer instructions. When the one or more processors execute the computer instructions, the electronic device performs the traffic signal control method according to any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions that, when executed on a computer, cause the computer to perform the traffic signal control method according to any one of claims 1 to 8.

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