Trunk coordination control method and device, storage medium and electronic device

Abstract

The embodiment of the application provides a trunk coordination control method and device, a storage medium and an electronic device. The method comprises the following steps: obtaining a target trunk and an initial trunk scheme, then determining a first intersection and first intersection configuration information according to the initial trunk scheme, then determining a forward green wave bandwidth and a reverse green wave bandwidth between the first intersection and a second intersection according to first intersection attributes and second intersection attributes, and performing red wave optimization on the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk scheme. Through the application, the technical problem that the applicability of the trunk coordination control scheme is low in the related art, resulting in low efficiency of trunk coordination control can be solved.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the computer field, in particular, to a trunk line coordinated control method and device, a storage medium and an electronic device. BACKGROUND

[0002] At present, in order to alleviate traffic pressure and improve vehicle passing experience, the traffic control scheme of the intersection with heavy traffic pressure needs to be adjusted. In related technologies, when coordinating control of roads, only one-way control or only the configuration information of the intersection to be adjusted is considered, which makes the applicability of the adjusted traffic control scheme poor and difficult to cater to different trunk line specific circumstances.

[0003] For the technical problem of low applicability of trunk line coordinated control scheme in related technologies, resulting in low efficiency of trunk line coordinated control, no effective solution has been proposed so far. SUMMARY

[0004] Embodiments of the present application provide a trunk line coordinated control method and device, a storage medium and an electronic device to at least solve the technical problem of low applicability of trunk line coordinated control scheme in related technologies, resulting in low efficiency of trunk line coordinated control.

[0005] According to one embodiment of the present application, a trunk line coordinated control method is provided, comprising: obtaining a target trunk line and an initial trunk line scheme, wherein the target trunk line is a trunk line to be coordinated controlled, and the initial trunk line scheme is used for green wave optimization of the target trunk line;

[0006] determining a first intersection and first intersection configuration information according to the initial trunk line scheme, wherein the first intersection is an intersection in the target trunk line that is pre-determined to need red wave optimization, and the first intersection configuration information includes first intersection attribute determined after the first intersection performs green wave optimization and second intersection attribute determined after the second intersection performs green wave optimization, the first intersection attribute is used to represent attribute information of the first intersection determined after the first intersection performs green wave optimization, the second intersection attribute is used to represent attribute information of the second intersection determined after the second intersection performs green wave optimization, and the second intersection is an intersection adjacent to the first intersection;

[0007] determining forward green wave bandwidth and reverse green wave bandwidth between the first intersection and the second intersection according to the first intersection attribute and the second intersection attribute, and performing red wave optimization on the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, wherein the red wave optimization is used to adjust phase difference of each intersection after the first intersection, and the target trunk line scheme is a trunk line coordinated control scheme obtained after the initial trunk line scheme is modified.

[0008] According to another embodiment of the present application, a trunk coordination control device is provided, comprising: an acquisition module, configured to acquire a target trunk and an initial trunk scheme, wherein the target trunk is a trunk to be controlled coordinately, and the initial trunk scheme is used for green wave optimization of the target trunk;

[0009] a first determination module, configured to determine a first intersection and first intersection configuration information according to the initial trunk scheme, wherein the first intersection is an intersection in the target trunk which is determined to need red wave optimization in advance, and the first intersection configuration information comprises first intersection attributes determined after the first intersection is optimized by green wave and second intersection attributes determined after a second intersection is optimized by green wave, the first intersection attributes are used for representing attribute information of the first intersection after the first intersection is optimized by green wave, the second intersection attributes are used for representing attribute information of the second intersection after the second intersection is optimized by green wave, and the second intersection is an intersection adjacent to the first intersection;

[0010] a second determination module, configured to determine forward green wave bandwidth and reverse green wave bandwidth between the first intersection and the second intersection according to the first intersection attributes and the second intersection attributes, and to perform red wave optimization on the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth, so as to obtain a target trunk scheme, wherein the red wave optimization is used for adjusting phase difference of each intersection after the first intersection, and the target trunk scheme is a trunk coordination control scheme obtained after the initial trunk scheme is modified.

[0011] Optionally, the apparatus is further configured to: determine a first coordinated phase start relative time and a first coordinated phase end relative time of the first intersection according to the first intersection attribute, wherein the first coordinated phase start relative time represents a time delay of a cycle start time of the first intersection relative to a cycle start time of a first intersection of the target arterial, and the first coordinated phase end relative time represents a time delay of a cycle end time of the first intersection relative to the cycle start time of the first intersection of the target arterial, and the cycle represents a time length for each signal lamp of an intersection to display once in turn; determine a second coordinated phase start relative time and a second coordinated phase end relative time of the second intersection according to the second intersection attribute, wherein the second coordinated phase start relative time represents a time delay of a cycle start time of the second intersection relative to the cycle start time of the first intersection of the target arterial, and the second coordinated phase end relative time represents a time delay of a cycle end time of the second intersection relative to the cycle start time of the first intersection of the target arterial; and determine the forward green wave bandwidth and the reverse green wave bandwidth according to the first coordinated phase start relative time, the first coordinated phase end relative time, the second coordinated phase start relative time, and the second coordinated phase end relative time.

[0012] Optionally, the apparatus is further configured to: determine a distance between the first intersection and the second intersection and a green wave speed between the first intersection and the second intersection according to the first intersection configuration information; determine the first time, the second time, the third time, and the fourth time according to the first coordinated phase start relative time, the first coordinated phase end relative time, the distance, and the green wave speed, wherein the first time represents a relative time for a first vehicle passing through the first intersection to arrive at the second intersection after a coordinated phase of the first intersection starts, the second time represents a relative time for a last vehicle passing through the first intersection to arrive at the second intersection before a coordinated phase of the first intersection ends, the third time represents a relative time for a first vehicle passing through the second intersection to arrive at the first intersection after a coordinated phase of the second intersection starts, and the fourth time represents a relative time for a last vehicle passing through the second intersection to arrive at the first intersection before a coordinated phase of the second intersection ends; and determine the forward green wave bandwidth and the reverse green wave bandwidth according to the first time, the second time, the third time, the fourth time, the second coordinated phase start relative time, and the second coordinated phase end relative time.

[0013] Optionally, the apparatus is further configured to: add a phase difference to the second coordinated phase start relative time and the second coordinated phase end relative time in sequence respectively to obtain a plurality of target coordinated phase start relative times and a plurality of target coordinated phase end relative times, wherein the phase difference increases by a preset value each time until the phase difference is equal to a cycle of the second intersection, and the plurality of target coordinated phase start relative times and the plurality of target coordinated phase end relative times correspond to each other one by one; determine a plurality of green wave bandwidth pairs according to the first time, the second time, the third time, the fourth time, the plurality of second target coordinated phase start relative times, and the plurality of second target coordinated phase end relative times, wherein each green wave bandwidth pair includes a corresponding forward green wave bandwidth and a reverse green wave bandwidth; determine a target phase difference according to the plurality of green wave bandwidth pairs, and adjust the phase difference of each intersection after the first intersection according to the target phase difference.

[0014] Optionally, the apparatus is further configured to: in a case where the first intersection needs to be optimized for bidirectional red waves, determine a phase difference corresponding to a first red wave bandwidth with a minimum value as the target phase difference, wherein the first red wave bandwidth represents a sum of the corresponding forward green wave bandwidth and the reverse green wave bandwidth; in a case where the first red wave bandwidth with the minimum value includes a plurality of first red wave bandwidths, determine a phase difference corresponding to a difference between the first red wave bandwidths with the minimum value as the target phase difference, wherein the difference between the first red wave bandwidths represents an absolute value of a difference between the corresponding forward green wave bandwidth and the reverse green wave bandwidth.

[0015] Optionally, the apparatus is further configured to: in a case where the first intersection needs to be optimized for unidirectional red waves, determine a phase difference corresponding to a second red wave bandwidth with a minimum value as the target phase difference, wherein the second red wave bandwidth represents the corresponding forward green wave bandwidth or the reverse green wave bandwidth; in a case where the second red wave bandwidth with the minimum value includes a plurality of second red wave bandwidths, determine a phase difference corresponding to a target green wave bandwidth with a maximum value as the target phase difference, wherein the target green wave bandwidth represents a green wave bandwidth that is different from the second red wave bandwidth among the corresponding forward green wave bandwidth and the reverse green wave bandwidth.

[0016] Optionally, the apparatus is further configured to: sequentially perform red wave optimization on an i-th intersection according to a preset direction from a first intersection of the target trunk to an (M-1)-th intersection of the target trunk by the following method, wherein the target trunk comprises M intersections, M is a positive integer greater than or equal to 2, and i is a positive integer less than M; querying a red wave control state of the i-th intersection, wherein the red wave control state is used to indicate whether the i-th intersection needs to be optimized; in a case where the red wave control state of the i-th intersection indicates that the i-th intersection needs to be optimized, determining an adjustment phase difference associated with the i-th intersection according to the forward green wave bandwidth and the reverse green wave bandwidth corresponding to the i-th intersection, and adjusting phases of an (i+1)-th intersection to the M-th intersection by using the adjustment phase difference, wherein the i-th intersection is regarded as the first intersection; and updating the initial trunk scheme to the target trunk scheme after the red wave optimization on the (M-1)-th intersection is completed.

[0017] According to still another embodiment of the present application, a computer readable storage medium is also provided, and the computer readable storage medium stores a computer program. When the computer program is executed, the steps in any of the above method embodiments are performed.

[0018] According to still another embodiment of the present application, an electronic device is also provided, and the electronic device comprises a memory and a processor. The memory stores a computer program, and the processor is configured to execute the computer program to perform the steps in any of the above method embodiments.

[0019] The present application obtains a target trunk and an initial trunk scheme, determines a first intersection and first intersection configuration information according to the initial trunk scheme, determines a forward green wave bandwidth and a reverse green wave bandwidth between the first intersection and a second intersection according to first intersection attributes and second intersection attributes, performs red wave optimization on the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth, and obtains a target trunk scheme. In this way, the present application solves the problem in the related art that the applicability of a trunk coordination control scheme is low, leading to low efficiency of trunk coordination control, and achieves the technical effects of improving the applicability of a scheme and improving the efficiency of trunk coordination control. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 FIG. 1 is a hardware structure block diagram of a mobile terminal of a trunk coordination control method according to an embodiment of the present application;

[0021] Figure 2 FIG. 2 is a flowchart of a trunk coordination control method according to an embodiment of the present application;

[0022] Figure 3 FIG. 3 is a flowchart of another trunk coordination control method according to an embodiment of the present application;

[0023] Figure 4 is a flow chart of another trunk coordination control method according to an embodiment of the present application;

[0024] Figure 5 is a structural block diagram of a trunk coordination control device according to an embodiment of the present application. DETAILED DESCRIPTION

[0025] Hereinafter, the embodiments of the present application will be described in detail with reference to the accompanying drawings and in conjunction with embodiments.

[0026] It should be noted that the terms "first", "second", and the like in the description and claims of the present application and the above-described accompanying drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence.

[0027] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal, or a similar computing device. Taking the case of running on a mobile terminal, Figure 1 is a hardware structural block diagram of a mobile terminal of a trunk coordination control method according to an embodiment of the present application. As Figure 1 indicated, the mobile terminal can include one or more (only one is shown in Figure 1 The processor 102 (the processor 102 can include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, wherein the above-mentioned mobile terminal can further include a transmission device 106 for communication function and an input / output device 108. Those skilled in the art can understand that Figure 1 The structure shown is only schematic, which does not limit the structure of the above-mentioned mobile terminal. For example, the mobile terminal can further include more or fewer components than those shown in Figure 1 or have a different configuration from that shown in Figure 1 .

[0028] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the trunk coordination control method in the embodiments of the present application, and the processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, implements the above-mentioned method. The memory 104 can include a high-speed random access memory, and can further include a non-volatile memory, such as one or more magnetic storage devices, flash memories, or other non-volatile solid-state memories. In some examples, the memory 104 can further include a memory remotely arranged with respect to the processor 102, which can be connected to the mobile terminal through a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0029] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0030] This embodiment provides a trunk line coordination control method. Figure 2 This is a flowchart of a trunk line coordination control method according to an embodiment of this application, such as... Figure 2 As shown, the process includes the following steps:

[0031] S202, Obtain the target trunk line and the initial trunk line scheme, wherein the target trunk line is the trunk line to be coordinated and controlled, and the initial trunk line scheme is used to optimize the target trunk line with green wave.

[0032] Optionally, in this embodiment, the target trunk line may include, but is not limited to, trunk line areas that require signal control scheme adjustments, such as those calculated in advance according to the recommendation algorithm or manually marked. The initial trunk line scheme may include, but is not limited to, the adjusted signal control schemes for each intersection obtained by inputting the signal control schemes of each intersection in the target trunk line into the Multibound (multi-binding) bidirectional green wave algorithm. Specifically, the adjusted signal control schemes for each intersection can be reflected in the periodic changes of the signal control schemes at each intersection within the target trunk line and the changes in the duration of each phase.

[0033] It should be noted that when using the Multibound bidirectional green wave algorithm to initially adjust the target trunk line to obtain the initial trunk line scheme, in addition to inputting the signal control scheme of each intersection within the target trunk line into the adjustment algorithm, the input content can include, but is not limited to, the forward and reverse weights of the target trunk line, the maximum filtering partition, the travel speed of each segment in the target trunk line, the segment length and the upstream queue clearing time of each intersection within the target trunk line, the control strategy of each intersection within the target trunk line, and the partitioning strategy of each intersection within the target trunk line.

[0034] S204, determine the first intersection and the first intersection configuration information according to the initial trunk scheme, wherein the first intersection is an intersection in the target trunk that needs to be optimized for red wave, and the first intersection configuration information includes first intersection attributes determined after the first intersection is optimized for green wave and second intersection attributes determined after the second intersection is optimized for green wave, the first intersection attributes are used to represent attribute information of the first intersection after the first intersection is optimized for green wave, and the second intersection attributes are used to represent attribute information of the second intersection after the second intersection is optimized for green wave, and the second intersection is an intersection adjacent to the first intersection;

[0035] Optionally, in the embodiment, the first intersection can include but is not limited to an intersection in the target trunk that needs to be optimized for red wave, and the first intersection can be one intersection in the target trunk that needs to be optimized for red wave, or can be multiple intersections in the target trunk that need to be optimized for red wave.

[0036] Optionally, in the embodiment, the second intersection is an intersection adjacent to the first intersection, and the second intersection can be an intersection that has been optimized for green wave and needs to be optimized for red wave, or can be an intersection that has been optimized for green wave and does not need to be optimized for red wave. It should be noted that the second intersection can be an intersection upstream of the first intersection in a preset direction, or can be an intersection downstream of the first intersection in the preset direction.

[0037] Optionally, in the embodiment, the first intersection configuration information can include but is not limited to a signal control scheme of the first intersection after being optimized for green wave, a ratio of phase lengths in the first intersection, a zoning strategy of the first intersection, etc., and the first intersection configuration information further includes attribute information of intersections adjacent to the first intersection after being optimized for green wave. It should be noted that the first intersection configuration information can further include attribute information of intersections other than the first intersection and the intersections adjacent to the first intersection after being optimized for green wave, wherein the first intersection configuration information includes a distance between the first intersection and the second intersection, a green wave speed from the first intersection to the second intersection, etc.

[0038] S206, determine the forward green wave bandwidth and the reverse green wave bandwidth between the first intersection and the second intersection according to the first intersection attributes and the second intersection attributes, and optimize the first intersection for red wave according to the forward green wave bandwidth and the reverse green wave bandwidth, to obtain a target trunk scheme, wherein the red wave optimization is used to adjust the phase difference of each intersection after the first intersection, and the target trunk scheme is a trunk coordination control scheme obtained by modifying the initial trunk scheme.

[0039] Optionally, in the embodiment, the forward green wave bandwidth and the reverse green wave bandwidth between the first intersection and the second intersection can be understood as:

[0040] (1) In the case that the direction from the first intersection to the second intersection is set as the forward direction, the forward green wave bandwidth can be understood as the maximum time window that can pass the second intersection without stopping from the first intersection, and the reverse green wave bandwidth can be understood as the maximum time window that can pass the first intersection without stopping from the second intersection, wherein, when the direction from the first intersection to the second intersection is set as the forward direction, the second intersection is the first intersection downstream of the first intersection.

[0041] (2) In the case that the direction from the second intersection to the first intersection is set as the forward direction, the forward green wave bandwidth can be understood as the maximum time window that can pass the first intersection without stopping from the second intersection, and the reverse green wave bandwidth can be understood as the maximum time window that can pass the second intersection without stopping from the first intersection, wherein, when the direction from the second intersection to the first intersection is set as the forward direction, the second intersection is the first intersection upstream of the first intersection.

[0042] For example, in the case that the direction from the first intersection to the second intersection is set as the forward direction, if the maximum time window that can pass the second intersection without stopping from the first intersection is 8 seconds, the forward green wave bandwidth is 8 seconds, and if the maximum time window that can pass the first intersection without stopping from the second intersection is 10 seconds, the reverse green wave bandwidth is 10 seconds.

[0043] It should be noted that the red wave optimization is used to adjust the phase difference of each intersection downstream of the first intersection in the preset direction, for example, there are A, B, C and D four intersections on the target trunk, wherein, A is the first intersection, if the direction from A to D is set as the forward direction, then the direction from D to A is the reverse direction, and the red wave optimization is used to adjust the phase difference of the B, C and D three intersections.

[0044] The above is only an example, and the present application does not make any specific limitation.

[0045] It should be noted that the target trunk scheme can include but is not limited to being obtained by: inputting the signal control scheme of each intersection of the target trunk into the Multibound bidirectional green wave algorithm to obtain an initial trunk scheme, and then performing red wave optimization on the intersections in the initial trunk scheme that need to be red wave optimized to obtain the target trunk scheme.

[0046] By means of the embodiments of the present application, the target trunk line scheme is obtained by acquiring the target trunk line and the initial trunk line scheme, then determining the first intersection and the first intersection configuration information according to the initial trunk line scheme, determining the forward green wave bandwidth and the reverse green wave bandwidth between the first intersection and the second intersection according to the first intersection attribute and the second intersection attribute, and performing red wave optimization on the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth, so as to solve the problem of low applicability of the trunk line cooperative control scheme in the related art, leading to low efficiency of trunk line coordination control, and achieve the technical effects of improving the applicability of the scheme and improving the efficiency of trunk line coordination control.

[0047] As an optional embodiment, determining the forward green wave bandwidth and the reverse green wave bandwidth between the first intersection and the second intersection according to the first intersection attribute and the second intersection attribute comprises: determining the first coordination phase start relative time and the first coordination phase end relative time of the first intersection according to the first intersection attribute, wherein the first coordination phase start relative time represents the time delay of the intersection cycle start time of the first intersection relative to the intersection cycle start time of the first intersection of the target trunk line, and the first coordination phase end relative time represents the time delay of the intersection cycle end time of the first intersection relative to the intersection cycle start time of the first intersection of the target trunk line, and the intersection cycle represents the time length of the first intersection of the target trunk line; determining the second coordination phase start relative time and the second coordination phase end relative time of the second intersection according to the second intersection attribute, wherein the second coordination phase start relative time represents the time delay of the intersection cycle start time of the second intersection relative to the intersection cycle start time of the first intersection of the target trunk line, and the second coordination phase end relative time represents the time delay of the intersection cycle end time of the second intersection relative to the intersection cycle start time of the first intersection of the target trunk line; and determining the forward green wave bandwidth and the reverse green wave bandwidth according to the first coordination phase start relative time, the first coordination phase end relative time, the second coordination phase start relative time and the second coordination phase end relative time.

[0048] It should be noted that the above phase can include but is not limited to the signal display state of one or more traffic flows that obtain the right of way at the same time in a signal period, and one release signal state is one phase, and the above signal display state is the green light release state of the entire intersection. The above intersection cycle can be understood as the time required for all directions of traffic signal lights in an intersection to be released in turn, wherein the above release includes the release of people, motor vehicles and non-motor vehicles.

[0049] For example, in a standard intersection, the traffic signal light release sequence is: (1) the east-west direction releases left and right turn green lights, and the south-north direction is all red; (2) the east-west direction releases straight green light, and the south-north direction releases pedestrian light, and the motor light is still red; (3) the east-west direction is all red, and the south-north direction releases left and right turn green lights; (4) the east-west direction releases pedestrian green light, and the south-north direction releases straight green light. The time required for the above traffic signal light to release in turn is the intersection cycle of the standard intersection.

[0050] Optionally, in the embodiment, the first coordination phase start relative time can include but is not limited to the time that the intersection coordination phase start time of the first intersection is delayed relative to the intersection cycle start time of the first intersection in the preset direction of the target trunk, for example, if the time that the intersection coordination phase start time of the first intersection is delayed relative to the intersection cycle start time of the first intersection in the preset direction of the target trunk is 8 seconds, and the intersection cycle start time of the first intersection in the preset direction of the target trunk is 0:00, then the first coordination phase start relative time is 0:08.

[0051] Optionally, in the embodiment, the first coordination phase end relative time can include but is not limited to the time that the intersection coordination phase end time of the first intersection is delayed relative to the intersection cycle start time of the first intersection of the target trunk, for example, if the time that the intersection coordination phase end time of the first intersection is delayed relative to the intersection cycle start time of the first intersection of the target trunk is 6 seconds, and the intersection cycle start time of the first intersection of the target trunk is 0:10, then the first coordination phase end relative time is 0:16.

[0052] Optionally, in the embodiment, the second coordination phase start relative time can include but is not limited to the time that the intersection coordination phase start time of the second intersection is delayed relative to the intersection cycle start time of the first intersection in the preset direction of the target trunk.

[0053] Optionally, in the embodiment, the second coordination phase end relative time can include but is not limited to the time that the intersection coordination phase end time of the second intersection is delayed relative to the intersection cycle start time of the first intersection of the target trunk.

[0054] It should be noted that the first intersection attribute can be understood as attribute information of the first intersection determined after green wave optimization, and can include but is not limited to the signal control scheme of the first intersection after green wave optimization, the phase duration ratio of the intersection, the intersection cycle of the intersection, etc. The second intersection attribute can include but is not limited to attribute information of the second intersection determined after green wave optimization, and can include but is not limited to the signal control scheme of the second intersection after green wave optimization, the phase duration ratio of the intersection, the intersection cycle of the intersection, etc.

[0055] It should be noted that the forward and reverse in the present application can include but is not limited to the experience setting of the relevant technical personnel, and the forward and reverse are relative. If the direction from the first intersection to the second intersection is forward, then the direction from the second intersection to the first intersection is reverse.

[0056] As an optional embodiment, the first coordination phase start relative time, the first coordination phase end relative time, the second coordination phase start relative time, and the second coordination phase end relative time are used to determine the forward green wave bandwidth and the reverse green wave bandwidth, including: determining the distance between the first intersection and the second intersection and the green wave speed between the first intersection and the second intersection according to the first intersection configuration information; determining the first time, the second time, the third time, and the fourth time according to the first coordination phase start relative time, the first coordination phase end relative time, the distance, and the green wave speed, wherein the first time represents the relative time of the first vehicle passing through the first intersection to the second intersection after the coordination phase of the first intersection starts, the second time represents the relative time of the last vehicle passing through the first intersection to the second intersection before the coordination phase of the first intersection ends, the third time represents the relative time of the first vehicle passing through the second intersection to the first intersection after the coordination phase of the second intersection starts, and the fourth time represents the relative time of the last vehicle passing through the second intersection to the first intersection before the coordination phase of the second intersection ends; determining the forward green wave bandwidth and the reverse green wave bandwidth according to the first time, the second time, the third time, the fourth time, the second coordination phase start relative time, and the second coordination phase end relative time.

[0057] Optionally, in the present embodiment, the green wave speed between the first intersection and the second intersection can be understood as the average moving speed of the vehicle when the vehicle travels at a certain speed through the first intersection to the second intersection when the first intersection is green.

[0058] Optionally, in the present embodiment, the first time can include but is not limited to the relative time of the first vehicle passing through the first intersection to the second intersection after the coordination phase of the first intersection starts, wherein the direction from the first intersection to the second intersection is forward. The first time can include but is not limited to being calculated by the following formula:

[0059]

[0060] wherein, denotes the first time, denotes the first coordinated phase start relative time, denotes the distance between the first intersection and the second intersection, denotes the green wave speed between the first intersection and the second intersection, denotes the modulo operation, is the first intersection cycle.

[0061] Optionally, in the present embodiment, the second time can include but is not limited to the relative time at which the last vehicle passing before the termination of the coordinated phase of the first intersection is expected to arrive at the second intersection, wherein the direction from the first intersection to the second intersection is the positive direction. The second time can include but is not limited to being calculated by the following formula:

[0062]

[0063] wherein, denotes the second time, denotes the first coordinated phase end relative time, denotes the distance between the first intersection and the second intersection, denotes the green wave speed between the first intersection and the second intersection, denotes the modulo operation, is the first intersection cycle.

[0064] Optionally, in the present embodiment, the third time can include but is not limited to the relative time at which the first vehicle passing after the start of the coordinated phase of the second intersection is expected to arrive at the first intersection, wherein the direction from the second intersection to the first intersection is the reverse direction. The third time can include but is not limited to being calculated by the following formula:

[0065]

[0066] wherein, denotes the third time, denotes the reverse coordinated phase start relative time, denotes the distance between the second intersection and the first intersection, denotes the green wave speed between the second intersection and the first intersection, denotes the modulo operation, and c is the first intersection cycle

[0067] Optionally, in the present embodiment, the fourth time can include but is not limited to the relative time at which the last vehicle passing before the termination of the coordinated phase of the second intersection is expected to arrive at the first intersection, wherein the direction from the second intersection to the first intersection is the reverse direction. The fourth time can include but is not limited to being calculated by the following formula:

[0068]

[0069] wherein, denotes the fourth time point, denotes the reverse coordination phase end relative time, denotes the distance between the second intersection and the first intersection, denotes the green wave speed between the second intersection and the first intersection, denotes the remainder, and c is the first intersection period.

[0070] Optionally, in the embodiment, the determining the forward green wave bandwidth according to the first time point, the second time point, the third time point, the fourth time point, the second coordination phase start relative time and the second coordination phase end relative time can include but is not limited to determining by the following formula:

[0071]

[0072] wherein, denotes the forward green wave bandwidth from the first intersection to the second intersection, denotes the second time point, denotes the second coordination phase end relative time, denotes the first time point, denotes the second coordination phase start relative time.

[0073] Optionally, in the embodiment, the determining the reverse green wave bandwidth according to the first time point, the second time point, the third time point, the fourth time point, the second coordination phase start relative time and the second coordination phase end relative time can include but is not limited to determining by the following formula:

[0074]

[0075] wherein, denotes the reverse green wave bandwidth from the first intersection to the second intersection, denotes the fourth time point, denotes the second intersection reverse coordination phase end relative time, denotes the third time point, denotes the second intersection reverse coordination phase start relative time.

[0076] As an optional embodiment, the red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth comprises: adding a phase difference to the second coordinated phase start relative time and the second coordinated phase end relative time in turn respectively to obtain a plurality of target coordinated phase start relative times and a plurality of target coordinated phase end relative times, wherein the value of the phase difference increases by a preset value each time until the phase difference is equal to the intersection cycle of the second intersection, and the plurality of target coordinated phase start relative times and the plurality of target coordinated phase end relative times correspond to each other one by one; determining a plurality of green wave bandwidth pairs according to the first time, the second time, the third time, the fourth time, the plurality of second target coordinated phase start relative times and the plurality of second target coordinated phase end relative times, wherein each green wave bandwidth pair comprises a corresponding forward green wave bandwidth and a reverse green wave bandwidth; determining a target phase difference according to the plurality of green wave bandwidth pairs, and adjusting the phase difference of each intersection after the first intersection according to the target phase difference.

[0077] Optionally, in the embodiment, the phase difference can be understood as the number of seconds of the delay of the intersection cycle start time relative to the time when the first intersection cycle in the target trunk starts. It should be noted that the phase difference of each intersection can include but is not limited to being set by a person skilled in the related art according to prior experience, and can be adjusted according to actual needs.

[0078] Optionally, in the embodiment, the target coordinated phase start relative time can include but is not limited to being obtained by adding the phase difference to the second coordinated phase start relative time, and the target coordinated phase end relative time can include but is not limited to being obtained by adding the phase difference to the second coordinated phase end relative time, wherein each target coordinated phase start relative time corresponds to a target coordinated phase end relative time.

[0079] Optionally, in the embodiment, the preset value can include but is not limited to being set in advance by a person skilled in the related art, for example, the preset value can be set to 1 second, and if the intersection cycle is 3 seconds, the value of the phase difference increasing by the preset value each time can be understood as the value of the phase difference increasing by 1 second each time, and the value of the phase difference increasing by the preset value each time until the value of the phase difference is equal to 2 seconds.

[0080] It should be noted that adding the phase difference to the second coordinated phase start relative time and the second coordinated phase end relative time in turn respectively to obtain the plurality of target coordinated phase start relative times and the plurality of target coordinated phase end relative times can be understood as: adding the phase difference to the coordinated phase start relative time and the coordinated phase end relative time corresponding to the second intersection other than the first intersection in the target trunk in turn.

[0081] Optionally, in the embodiment, the above determining the plurality of green wave bandwidth pairs according to the first time, the second time, the third time, the fourth time, the plurality of second target coordination phase start relative times and the plurality of second target coordination phase end relative times can be understood as: adjusting the plurality of second coordination phase start relative times and the plurality of second coordination phase end relative times by adding phase differences to obtain a plurality of target coordination phase start relative times and a plurality of target coordination phase end relative times, and then adjusting the green wave bandwidth according to the first time, the second time, the third time, the fourth time, the plurality of second target coordination phase start relative times and the plurality of second target coordination phase end relative times to obtain a plurality of green wave bandwidth pairs, wherein one green wave bandwidth pair includes a forward green wave bandwidth and a reverse green wave bandwidth.

[0082] Optionally, in the embodiment, the above target phase difference can include but is not limited to being determined according to the sum of the forward green wave bandwidth and the reverse green wave bandwidth.

[0083] For example, a trunk line includes two intersections A and B, wherein A to C is the positive direction, A is the first intersection in the trunk line, B is the second intersection when A is the first intersection, and the preset value is 1 second and the intersection period is 2 seconds. Before adjustment, the first forward green wave bandwidth and the first reverse green wave bandwidth are calculated. After the first adjustment, the second coordination phase start relative time and the second coordination phase end relative time are increased by 1 second, and the second forward green wave bandwidth and the second reverse green wave bandwidth are calculated. After the second adjustment, the second coordination phase start relative time and the second coordination phase end relative time are increased by 2 seconds, and the third forward green wave bandwidth and the third reverse green wave bandwidth are calculated. The first green wave bandwidth pair includes the first forward green wave bandwidth and the first reverse green wave bandwidth, the second green wave bandwidth pair includes the second forward green wave bandwidth and the second reverse green wave bandwidth, and the third green wave bandwidth pair includes the third forward green wave bandwidth and the third reverse green wave bandwidth. If the sum of the second forward green wave bandwidth and the second reverse green wave bandwidth is the minimum, then 1 second is the target phase difference.

[0084] As an optional embodiment, the target phase difference is determined according to the plurality of green wave bandwidth pairs, and the phase difference of each intersection after the first intersection is adjusted according to the target phase difference, including: in the case that the first intersection needs to be bidirectional red wave optimized, the phase difference corresponding to the first red wave bandwidth with the minimum value is determined as the target phase difference, wherein the first red wave bandwidth represents the sum of the corresponding forward green wave bandwidth and reverse green wave bandwidth; in the case that the first red wave bandwidth with the minimum value includes a plurality of cases, the phase difference corresponding to the difference of the first red wave bandwidth with the minimum value is determined as the target phase difference, wherein the difference of the first red wave bandwidth represents the absolute value of the difference between the corresponding forward green wave bandwidth and reverse green wave bandwidth.

[0085] Optionally, in the embodiment, the bidirectional red wave optimization can include, but is not limited to, red wave optimization for both the forward and reverse directions of the intersection. Whether the intersection needs bidirectional red wave optimization can include, but is not limited to, being set in advance.

[0086] It should be noted that in the case of not passing the connection establishment request message check, the following operations can be included but are not limited to:

[0087] Optionally, in the embodiment, the first red wave bandwidth with the minimum value can be understood as follows: when the sum of the forward green wave bandwidth and the reverse green wave bandwidth in the green wave bandwidth pair is the minimum, the first red wave bandwidth is obtained by adding the forward green wave bandwidth and the reverse green wave bandwidth.

[0088] It should be noted that if the first red wave bandwidth includes multiple, in other words, the sum of the forward green wave bandwidth and the reverse green wave bandwidth in multiple green wave bandwidth pairs is equal and the minimum, the green wave bandwidth pairs are subtracted, and the phase difference corresponding to the green wave bandwidth pair with the minimum difference is determined as the target phase difference.

[0089] For example, the first green wave bandwidth pair is 1 and 9, the second green wave bandwidth pair is 3 and 7, the second green wave bandwidth pair is 6 and 6, the sum of the first green wave bandwidth pair is equal to the sum of the second green wave bandwidth pair and the minimum, and the absolute value of the difference between the second green wave bandwidth pair is 4 < the difference between the first green wave bandwidth pair is 8, then the phase difference corresponding to the second green wave bandwidth pair is the target phase difference.

[0090] As an optional embodiment, the target phase difference is determined according to the multiple green wave bandwidth pairs, and the phase difference of each intersection after the first intersection is adjusted according to the target phase difference, including: in the case that the first intersection needs unidirectional red wave optimization, the phase difference corresponding to the second red wave bandwidth with the minimum value is determined as the target phase difference, wherein the second red wave bandwidth represents the corresponding forward green wave bandwidth or reverse green wave bandwidth; in the case that the second red wave bandwidth with the minimum value includes multiple, the phase difference corresponding to the target green wave bandwidth with the maximum value is determined as the target phase difference, wherein the target green wave bandwidth represents the green wave bandwidth different from the second red wave bandwidth in the corresponding forward green wave bandwidth or reverse green wave bandwidth.

[0091] Optionally, in the embodiment, whether the first intersection and the second intersection need bidirectional red wave optimization or unidirectional red wave optimization can include, but is not limited to, being set in advance.

[0092] Optionally, in the embodiment, the second red wave bandwidth representing the corresponding forward green wave bandwidth or reverse green wave bandwidth can be understood as follows: only when the red wave optimization is performed in the forward direction of the intersection, the second red wave bandwidth is equal to the forward green wave bandwidth; only when the red wave optimization is performed in the reverse direction of the intersection, the second red wave bandwidth is equal to the reverse green wave bandwidth.

[0093] Optionally, in the embodiment, the phase difference corresponding to the second red wave bandwidth with the minimum value is determined as the target phase difference when the second red wave bandwidth has the minimum value. When the multiple red wave bandwidths are equal and minimum, for example, the red wave bandwidths corresponding to the phase difference 1 and the phase difference 2 are minimum and equal, the green wave bandwidth A corresponding to the phase difference 1 and the green wave bandwidth B corresponding to the phase difference 2 are calculated, the green wave bandwidth A and the green wave bandwidth B are compared, and if the green wave bandwidth A is greater than the green wave bandwidth B, the green wave bandwidth A is determined as the target green wave bandwidth, and the phase difference 1 is determined as the target phase difference.

[0094] Optionally, in the embodiment, the target green wave bandwidth represents the green wave bandwidth different from the second red wave bandwidth in the corresponding forward green wave bandwidth or reverse green wave bandwidth. It can be understood that: only when the red wave optimization is performed in the forward direction of the intersection, the second red wave bandwidth and the reverse green wave bandwidth are equal; only when the red wave optimization is performed in the reverse direction of the intersection, the second red wave bandwidth and the forward green wave bandwidth are equal.

[0095] Through the embodiments of the present application, the red wave optimization strategy (single red wave optimization or bidirectional red wave optimization) of the first intersection is determined, the target phase difference corresponding to the first intersection is selected, and then the phase difference of the second intersection is adjusted according to the target phase difference, so that the red wave bandwidth and the green wave bandwidth of the second intersection are further adjusted, and thus the target trunk line scheme is determined. With the green wave bandwidth and the red wave bandwidth between the first intersection and the second intersection as the target, the technical effect that the target trunk line strategy optimization effect is more intuitive, the scheme applicability and the efficiency of the trunk line coordination control are improved is achieved.

[0096] As an optional embodiment, the red wave optimization is performed on the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, including: traversing from a first intersection of a target trunk line to an M-1th intersection of the target trunk line in a preset direction according to the following method, and sequentially performing red wave optimization on an ith intersection, where the target trunk line includes M intersections, M is a positive integer greater than or equal to 2, and i is a positive integer less than M: querying a red wave control state of the ith intersection, where the red wave control state is used to indicate whether the ith intersection needs to be optimized; in the case that the red wave control state of the ith intersection indicates that the red wave optimization is needed, determining an adjustment phase difference associated with the ith intersection according to a forward green wave bandwidth and a reverse green wave bandwidth corresponding to the ith intersection, and adjusting phases of the ith+1th intersection to the Mth intersection by using the adjustment phase difference, where the ith intersection is regarded as the first intersection; after the red wave optimization on the M-1th intersection is completed, updating an initial trunk line scheme to the target trunk line scheme.

[0097] It should be noted that the target trunk line includes M intersections, where M is greater than or equal to 2, and the preset direction is a set direction. If the trunk line is set from south to north as a forward direction, then from north to south is a reverse direction. The traversal from the first intersection of the target trunk line to the M-1th intersection of the target trunk line can be understood as the first intersection of the target trunk line from south to north (or from north to south) to the second last intersection.

[0098] Optionally, in the embodiment, the red wave control state can include, but is not limited to, whether the intersection is in a red wave control state or not in a red wave control state, that is, whether the intersection needs to be optimized for a red wave.

[0099] Optionally, in the embodiment, the adjustment phase difference associated with the ith intersection can include, but is not limited to, a target adjustment phase difference corresponding to the ith intersection. The adjustment phase difference can be used to adjust the phase of the i+1th intersection to the Mth intersection. The ith intersection can be regarded as the first intersection.

[0100] It should be noted that in the case where the red wave control state of the ith intersection indicates that red wave optimization is not needed, the red wave control state of the i+1th intersection is queried.

[0101] Exemplarily, Figure 3 is a flowchart of another trunk line coordination control method according to an embodiment of the present application, and the steps are as follows:

[0102] S1, initializing the intersection number i=1, where i is a positive integer;

[0103] S2, determining whether the ith intersection is in a red wave control state. If the determination result is "yes", S3 is executed, and if the determination result is "no", S4 is executed.

[0104] S3, determining the adjustment phase difference associated with the ith intersection according to the forward green wave bandwidth and the reverse green wave bandwidth corresponding to the ith intersection, and adjusting the phase of the i+1th intersection to the Mth intersection using the adjustment phase difference.

[0105] S4, determining whether i is less than or equal to M-1. If the determination result is "yes", S5 is executed, and if the determination result is "no", S6 is executed.

[0106] S5, i=i+1; return to execute S2;

[0107] S6, outputting a target trunk line scheme.

[0108] According to the embodiment of the present application, the red wave control state of the i-th intersection is queried, and when the red wave control state of the i-th intersection indicates that red wave optimization needs to be performed, the adjustment phase difference associated with the i-th intersection is determined according to the forward green wave bandwidth and the reverse green wave bandwidth corresponding to the i-th intersection, and the phase of the i+1-th intersection to the M-1-th intersection is adjusted by using the adjustment phase difference. After the red wave optimization of the M-1-th intersection is completed, the initial trunk scheme is updated to the target trunk scheme. The target trunk is traversed from the first intersection to the M-1-th intersection in a preset direction, and the i-th intersection is sequentially optimized. The problem of low applicability of trunk coordination control caused by the relatively unified trunk coordination control scheme in the related art is solved. The embodiment of the present application separately sets different intersection control strategies, can establish multiple sub-regions in a coordinated trunk, and realizes red wave control or green wave control for each sub-region, thereby realizing the coordination control optimization of the target trunk region, and achieving the technical effects of improving the applicability of the scheme and the efficiency of trunk coordination control.

[0109] The present application will be described in detail below in combination with specific embodiments:

[0110] The present application mainly includes the following steps:

[0111] S1, determining a trunk region to be optimized, and performing a MULTIBOUND bidirectional green wave algorithm on the trunk;

[0112] S2, obtaining an intersection list to be optimized, and configuration information of intersections in the trunk as follows:

[0113]

[0114] S3, calculating the green wave bandwidth. In the green wave optimization algorithm of the trunk, the green wave bandwidth between two intersections refers to the maximum time window in which a vehicle can pass through the downstream intersection without stopping after starting from the upstream intersection. Therefore, assuming that a vehicle fleet travels in the forward direction at the green wave speed of the section between the two intersections, the relative time when the first vehicle passing through the upstream intersection arrives at the downstream intersection is the start time of the coordinated phase of the upstream intersection + the travel time of the section, that is:

[0115]

[0116] wherein, represents the relative start time of the forward coordinated phase of the intersection; represents the distance from the intersection to the next intersection; represents the green wave speed from the intersection to the next intersection; is the cycle of the intersection, represents the remainder.

[0117] The relative time of the last vehicle passing through the upstream intersection coordination phase to arrive at the downstream intersection should be the end time of the upstream intersection coordination phase + the travel time of the link, i.e.,

[0118]

[0119] where, the end relative time of the forward coordination phase of the intersection; the distance from the intersection to the next intersection of the intersection; the green wave speed from the intersection to the next intersection of the intersection; the cycle of the intersection, denotes the remainder.

[0120] (Here the current intersection cycle is to ensure that both cycles in the double cycle can participate in the bandwidth calculation.)

[0121] The time window in which the vehicle can pass through the downstream intersection without stopping, i.e., the intersection of the time window when the upstream vehicle queue travels to the downstream intersection and the downstream coordination phase, i.e., the forward green wave bandwidth between the two intersections is:

[0122]

[0123] where, denotes the end relative time of the forward coordination phase of the downstream intersection, denotes the start relative time of the forward coordination phase of the downstream intersection.

[0124] Similarly, the reverse green wave bandwidth is:

[0125]

[0126] where, denotes the end relative time of the reverse coordination phase of the downstream intersection, denotes the start relative time of the reverse coordination phase of the downstream intersection.

[0127]

[0128]

[0129] where, denotes the relative time of the first vehicle passing through the downstream intersection coordination phase to arrive at the upstream intersection after the intersection coordination phase is turned on, denotes the start relative time of the reverse coordination phase of the intersection, denotes the distance from the downstream intersection to the upstream intersection, denotes the green wave speed from the downstream intersection to the upstream intersection, denotes the cycle of the intersection, denotes the remainder, The relative time of a vehicle that is the last one to pass through the downstream intersection before the end of the coordinated phase to arrive at the upstream intersection, The relative time of the end of the reverse coordinated phase at the intersection.

[0130] 4. Optimize individual intersections based on different scenarios:

[0131] 1) Two-way red wave optimization

[0132] Under the two-way red wave strategy, the red wave bandwidth between one intersection and the next downstream intersection is:

[0133]

[0134] The difference in red wave bandwidth between the two intersections is:

[0135]

[0136] Adjust the phase difference from 0 to, add to the phase difference of the downstream intersection, so that the start time of the coordinated phase of the downstream intersection becomes:

[0137]

[0138] The end time of the coordinated phase becomes:

[0139]

[0140] The forward green wave bandwidth between the two intersections is:

[0141]

[0142] Similarly, the reverse green wave bandwidth is:

[0143]

[0144] Find the adjustment phase difference that minimizes the red wave bandwidth between the two intersections When multiple adjustment phase differences result in the same red wave bandwidth , take the difference in red wave bandwidth The smallest adjustment phase difference.

[0145] 2) One-way red wave optimization

[0146] Under the one-way red wave strategy, the red wave bandwidth between one intersection and the next downstream intersection is:

[0147]

[0148] The green wave bandwidth between the two intersections is:

[0149] ​

[0150] Similarly traverse the adjustment phase difference from 0 to , respectively, calculate , , and , find the adjustment phase difference that makes the red wave bandwidth between two intersections minimum, when the red wave bandwidth calculated by multiple adjustment phase differences is the same, take the adjustment phase difference that makes the green wave bandwidth maximum.

[0151] 5, the overall flow of the algorithm (as shown in Figure 4 )

[0152] 1) from the first intersection of the trunk to the second last intersection of the trunk, respectively, calculate each intersection;

[0153] 2) judge the intersection red wave logic, find the optimal adjustment phase difference according to the two-way red wave / one-way red wave logic;

[0154] 3) add the adjustment phase difference to the phase difference of all subsequent intersections of the current calculation intersection;

[0155] 4) calculate the next intersection until the traversal is completed;

[0156] 5) return the correction result of the trunk scheme.

[0157] The above is only an exemplary embodiment, and the present application does not make any specific limitation.

[0158] Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be realized by means of software and the necessary general hardware platform, of course, it can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes a plurality of instructions for making a terminal device (which can be a mobile phone, computer, server, or network device, etc.) execute the methods of various embodiments of the present application.

[0159] In the present embodiment, a trunk coordination control device is also provided, which is used to realize the above embodiments and preferred embodiments, which have been described and will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, hardware, or a combination of software and hardware is also possible and is contemplated.

[0160] Figure 5 is a structural block diagram of a trunk coordination control device according to an embodiment of the present application, as shown in the figure, the device comprises: Figure 5

[0161] An acquisition module 502 is configured to acquire a target trunk and an initial trunk scheme, wherein the target trunk is a trunk to be coordinated and controlled, and the initial trunk scheme is used for green wave optimization of the target trunk.

[0162] A first determination module 504 is configured to determine a first intersection and first intersection configuration information according to the initial trunk scheme, wherein the first intersection is an intersection in the target trunk that needs to be red wave optimized, and the first intersection configuration information comprises first intersection attributes determined after the first intersection is green wave optimized and second intersection attributes determined after a second intersection is green wave optimized, the first intersection attributes are used to represent attribute information of the first intersection after the first intersection is green wave optimized, the second intersection attributes are used to represent attribute information of the second intersection after the second intersection is green wave optimized, and the second intersection is an intersection adjacent to the first intersection.

[0163] A second determination module 506 is configured to determine a forward green wave bandwidth and a reverse green wave bandwidth between the first intersection and the second intersection according to the first intersection attributes and the second intersection attributes, to perform red wave optimization on the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth, and to obtain a target trunk scheme, wherein the red wave optimization is used to adjust phase differences of intersections after the first intersection, and the target trunk scheme is a trunk coordination control scheme obtained after the initial trunk scheme is modified. The device is further configured to: acquire a first system time and a second system time when a target system starts to provide a target service; generate a target key according to a time length between the first system time and the second system time; or generate the target key according to the first system time; or generate the target key according to the first system time and a preset parameter.

[0164] ​The device is further configured to: determine a first coordinated phase start relative time and a first coordinated phase end relative time of the first intersection according to the first intersection attribute, wherein the first coordinated phase start relative time represents a time delay of a cycle start time of the first intersection relative to a cycle start time of a first intersection of the target arterial road, and the first coordinated phase end relative time represents a time delay of a cycle end time of the first intersection relative to the cycle start time of the first intersection of the target arterial road, and the cycle represents a time length for each signal lamp of the intersection to display once in turn; determine a second coordinated phase start relative time and a second coordinated phase end relative time of the second intersection according to the second intersection attribute, wherein the second coordinated phase start relative time represents a time delay of a cycle start time of the second intersection relative to the cycle start time of the first intersection of the target arterial road, and the second coordinated phase end relative time represents a time delay of a cycle end time of the second intersection relative to the cycle start time of the first intersection of the target arterial road; and determine the forward green wave bandwidth and the reverse green wave bandwidth according to the first coordinated phase start relative time, the first coordinated phase end relative time, the second coordinated phase start relative time, and the second coordinated phase end relative time.

[0165] The device is further configured to: determine a distance between the first intersection and the second intersection and a green wave speed between the first intersection and the second intersection according to the first intersection configuration information; determine the first time, the second time, the third time, and the fourth time according to the first coordinated phase start relative time, the first coordinated phase end relative time, the distance, and the green wave speed, wherein the first time represents a relative time for a first vehicle passing through the first intersection to arrive at the second intersection after a coordinated phase of the first intersection starts, the second time represents a relative time for a last vehicle passing through the first intersection to arrive at the second intersection before a coordinated phase of the first intersection ends, the third time represents a relative time for a first vehicle passing through the second intersection to arrive at the first intersection after a coordinated phase of the second intersection starts, and the fourth time represents a relative time for a last vehicle passing through the second intersection to arrive at the first intersection before a coordinated phase of the second intersection ends; and determine the forward green wave bandwidth and the reverse green wave bandwidth according to the first time, the second time, the third time, the fourth time, the second coordinated phase start relative time, and the second coordinated phase end relative time.

[0166] The device is further configured to: add a phase difference to the second coordinated phase start relative time and the second coordinated phase end relative time in sequence respectively to obtain a plurality of target coordinated phase start relative times and a plurality of target coordinated phase end relative times, wherein the phase difference increases by a preset value each time until the phase difference is equal to a cycle of the second intersection, and the plurality of target coordinated phase start relative times and the plurality of target coordinated phase end relative times correspond to each other one by one; determine a plurality of green wave bandwidth pairs according to the first time, the second time, the third time, the fourth time, the plurality of second target coordinated phase start relative times, and the plurality of second target coordinated phase end relative times, wherein each green wave bandwidth pair includes a corresponding forward green wave bandwidth and a reverse green wave bandwidth; determine a target phase difference according to the plurality of green wave bandwidth pairs, and adjust the phase difference of each intersection after the first intersection according to the target phase difference.

[0167] The device is further configured to: in a case where the first intersection needs to be optimized for bidirectional red waves, determine a phase difference corresponding to a first red wave bandwidth with a minimum value as the target phase difference, wherein the first red wave bandwidth represents a sum of the corresponding forward green wave bandwidth and the reverse green wave bandwidth; in a case where the first red wave bandwidth with the minimum value includes a plurality of first red wave bandwidths, determine a phase difference corresponding to a difference between the first red wave bandwidths with the minimum value as the target phase difference, wherein the difference between the first red wave bandwidths represents an absolute value of a difference between the corresponding forward green wave bandwidth and the reverse green wave bandwidth.

[0168] The device is further configured to: in a case where the first intersection needs to be optimized for unidirectional red waves, determine a phase difference corresponding to a second red wave bandwidth with a minimum value as the target phase difference, wherein the second red wave bandwidth represents the corresponding forward green wave bandwidth or the reverse green wave bandwidth; in a case where the second red wave bandwidth with the minimum value includes a plurality of second red wave bandwidths, determine a phase difference corresponding to a target green wave bandwidth with a maximum value as the target phase difference, wherein the target green wave bandwidth represents a green wave bandwidth that is different from the second red wave bandwidth among the corresponding forward green wave bandwidth and the reverse green wave bandwidth.

[0169] The device is further configured to: traverse from a first intersection of the target arterial road to an (M-1)th intersection of the target arterial road in a preset direction according to a red wave optimization method, and sequentially perform red wave optimization on an ith intersection, where the target arterial road comprises M intersections, M is a positive integer greater than or equal to 2, and i is a positive integer less than M; query a red wave control state of the ith intersection, where the red wave control state is used to indicate whether the ith intersection needs to be optimized; in a case where the red wave control state of the ith intersection indicates that the ith intersection needs to be optimized, determine an adjustment phase difference associated with the ith intersection according to the forward green wave bandwidth and the reverse green wave bandwidth corresponding to the ith intersection, and adjust phases of an (i+1)th intersection to the Mth intersection by using the adjustment phase difference, where the ith intersection is regarded as the first intersection; and update the initial arterial road scheme to the target arterial road scheme after the red wave optimization on the (M-1)th intersection is completed.

[0170] According to another embodiment of the present application, a computer readable storage medium is also provided, and the computer readable storage medium stores a computer program. The computer program is configured to execute the steps in any of the method embodiments when running.

[0171] It should be noted that the above modules can be implemented by software or hardware. For the latter, the following implementation manners can be used, but are not limited thereto: all the modules are located in the same processor; or the modules are located in different processors in any combination.

[0172] Embodiments of the present application also provide a computer readable storage medium, which stores a computer program. The computer program is configured to execute the steps in any of the method embodiments when running.

[0173] In an example embodiment, the computer readable storage medium can include, but is not limited to, a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store computer programs.

[0174] Embodiments of the present application also provide an electronic device, which comprises a memory storing a computer program and a processor configured to execute the computer program to perform the steps in any of the method embodiments.

[0175] In an example embodiment, the electronic device can further comprise a transmission device connected to the processor and an input / output device connected to the processor.

[0176] The specific examples in the present embodiment can refer to the examples described in the above embodiments and exemplary embodiments, which will not be repeated here.

[0177] Obviously, those skilled in the art should understand that the modules or steps of the present application described above can be realized by general computing devices, which can be centralized on a single computing device or distributed on a network composed of multiple computing devices, which can be realized by program codes executable by the computing devices, so that they can be stored in storage devices and executed by the computing devices, and in some cases, the steps shown or described can be executed in different order, or they can be respectively manufactured into individual integrated circuit modules, or multiple modules or steps among them can be manufactured into a single integrated circuit module to realize. Thus, the present application is not limited to any specific combination of hardware and software.

[0178] The above is only the preferred embodiment of the present application and is not intended to limit the present application. Those skilled in the art can make various modifications and changes to the present application. Any modification, equivalent replacement, improvement, etc. within the principles of the present application shall be included in the protection scope of the present application.

Claims

1. A trunk coordination control method characterized by comprising: The method comprises the following steps: acquiring a target trunk and an initial trunk scheme, wherein the target trunk is a trunk to be controlled coordinately, and the initial trunk scheme is used for green wave optimization of the target trunk; determining a first intersection and first intersection configuration information according to the initial trunk scheme, wherein the first intersection is an intersection in the target trunk which needs to be optimized in red wave, the first intersection configuration information comprises first intersection attributes determined after the first intersection is optimized in green wave and second intersection attributes determined after a second intersection is optimized in green wave, the first intersection attributes are used for representing attribute information of the first intersection after the first intersection is optimized in green wave, the second intersection attributes are used for representing attribute information of the second intersection after the second intersection is optimized in green wave, and the second intersection is an intersection adjacent to the first intersection; determining forward green wave bandwidth and reverse green wave bandwidth between the first intersection and the second intersection according to the first intersection attributes and the second intersection attributes, and optimizing the first intersection in red wave according to the forward green wave bandwidth and the reverse green wave bandwidth, to obtain a target trunk scheme, wherein the red wave optimization is used for adjusting phase difference of each intersection after the first intersection, and the target trunk scheme is a trunk coordination control scheme obtained after the initial trunk scheme is modified; the method further comprises the following steps: determining first coordination phase start relative time and first coordination phase end relative time of the first intersection according to the first intersection attributes, wherein the first coordination phase start relative time represents time delayed by a cycle start time of the first intersection relative to a cycle start time of a first intersection of the target trunk, the first coordination phase end relative time represents time delayed by a cycle end time of the first intersection relative to the cycle start time of the first intersection of the target trunk, and the cycle represents time length of each signal light of an intersection being displayed once; determining second coordination phase start relative time and second coordination phase end relative time of the second intersection according to the second intersection attributes, wherein the second coordination phase start relative time represents time delayed by a cycle start time of the second intersection relative to the cycle start time of the first intersection of the target trunk, and the second coordination phase end relative time represents time delayed by a cycle end time of the second intersection relative to the cycle start time of the first intersection of the target trunk; and determining the forward green wave bandwidth and the reverse green wave bandwidth according to the first coordination phase start relative time, the first coordination phase end relative time, the second coordination phase start relative time and the second coordination phase end relative time; the step of optimizing the first intersection in red wave according to the forward green wave bandwidth and the reverse green wave bandwidth comprises the following steps: adding a phase difference to the second coordinated phase start relative time and the second coordinated phase end relative time in sequence respectively to obtain a plurality of second target coordinated phase start relative times and a plurality of second target coordinated phase end relative times, wherein the phase difference increases by a preset value each time until the phase difference is equal to a cycle of the second intersection, and the plurality of target coordinated phase start relative times and the plurality of target coordinated phase end relative times correspond to each other one by one; determining a plurality of green wave bandwidth pairs according to the first time, the second time, the third time, the fourth time, the plurality of second target coordinated phase start relative times and the plurality of second target coordinated phase end relative times, wherein each green wave bandwidth pair includes a corresponding forward green wave bandwidth and a reverse green wave bandwidth, the first time represents a relative time at which a first vehicle passing through the first intersection arrives at the second intersection after the coordinated phase of the first intersection starts, the second time represents a relative time at which a last vehicle passing through the first intersection arrives at the second intersection before the coordinated phase of the first intersection ends, the third time represents a relative time at which a first vehicle passing through the second intersection arrives at the first intersection after the coordinated phase of the second intersection starts, and the fourth time represents a relative time at which a last vehicle passing through the second intersection arrives at the first intersection before the coordinated phase of the second intersection ends; in a case where the first intersection needs to be optimized in a bidirectional red wave, determining a phase difference corresponding to a first red wave bandwidth with the smallest value as the target phase difference, wherein the first red wave bandwidth represents a sum of the corresponding forward green wave bandwidth and the reverse green wave bandwidth; in a case where the first red wave bandwidth with the smallest value includes a plurality of values, determining a phase difference corresponding to a difference between the first red wave bandwidths with the smallest value as the target phase difference, wherein the difference between the first red wave bandwidths represents an absolute value of a difference between the corresponding forward green wave bandwidth and the reverse green wave bandwidth.

2. The method of claim 1, wherein, The determining of the forward green wave bandwidth and the reverse green wave bandwidth according to the first coordinated phase start relative time, the first coordinated phase end relative time, the second coordinated phase start relative time and the second coordinated phase end relative time includes: determining a distance between the first intersection and the second intersection and a green wave speed between the first intersection and the second intersection according to first intersection configuration information; determining the first time, the second time, the third time and the fourth time according to the first coordinated phase start relative time, the first coordinated phase end relative time, the distance and the green wave speed; determining the forward green wave bandwidth and the reverse green wave bandwidth according to the first time, the second time, the third time, the fourth time, the second coordinated phase start relative time and the second coordinated phase end relative time.

3. The method of claim 1, wherein, The determining of the target phase difference according to the plurality of green wave bandwidth pairs and the adjusting of the phase difference of each intersection after the first intersection according to the target phase difference include: In a case where one-way red wave optimization needs to be performed at the first intersection, a phase difference corresponding to a second red wave bandwidth with a minimum value is determined as the target phase difference, where the second red wave bandwidth represents a corresponding forward green wave bandwidth or reverse green wave bandwidth; In a case where the second red wave bandwidth with the minimum value includes multiple values, a phase difference corresponding to a target green wave bandwidth with a maximum value is determined as the target phase difference, where the target green wave bandwidth represents a green wave bandwidth different from the second red wave bandwidth in the corresponding forward green wave bandwidth or reverse green wave bandwidth.

4. The method according to any one of claims 1 to 3, characterized in that, The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising:

5. A trunk coordination control device characterized by comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme, comprising: The red wave optimization of the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth to obtain a target trunk line scheme The device is also used for: determining a first coordinated phase start relative time and a first coordinated phase end relative time of the first intersection according to the first intersection attribute, wherein the first coordinated phase start relative time represents a time delay of an intersection cycle start time of the first intersection relative to an intersection cycle start time of a first intersection of the target trunk, and the first coordinated phase end relative time represents a time delay of an intersection cycle end time of the first intersection relative to the intersection cycle start time of the first intersection of the target trunk, and the intersection cycle represents a time length of a cycle of each signal light of an intersection; determining a second coordinated phase start relative time and a second coordinated phase end relative time of the second intersection according to the second intersection attribute, wherein the second coordinated phase start relative time represents a time delay of an intersection cycle start time of the second intersection relative to the intersection cycle start time of the first intersection of the target trunk, and the second coordinated phase end relative time represents a time delay of an intersection cycle end time of the second intersection relative to the intersection cycle start time of the first intersection of the target trunk; determining the forward green wave bandwidth and the reverse green wave bandwidth according to the first coordinated phase start relative time, the first coordinated phase end relative time, the second coordinated phase start relative time and the second coordinated phase end relative time; The device is used for performing red wave optimization on the first intersection according to the forward green wave bandwidth and the reverse green wave bandwidth in the following manner: adding a phase difference to the second coordinated phase start relative time and the second coordinated phase end relative time in sequence respectively to obtain a plurality of second target coordinated phase start relative times and a plurality of second target coordinated phase end relative times, wherein the phase difference is increased by a preset value each time until the phase difference is equal to an intersection cycle of the second intersection, and the plurality of target coordinated phase start relative times and the plurality of target coordinated phase end relative times correspond to each other in a one-to-one manner; determining a plurality of green wave bandwidth pairs according to a first time, a second time, a third time, a fourth time, the plurality of second target coordinated phase start relative times and the plurality of second target coordinated phase end relative times, wherein each green wave bandwidth pair includes a corresponding forward green wave bandwidth and a reverse green wave bandwidth, the first time represents a relative time at which a first vehicle passing through after a coordinated phase start of the first intersection arrives at the second intersection, the second time represents a relative time at which a last vehicle passing through before a coordinated phase end of the first intersection arrives at the second intersection, the third time represents a relative time at which a first vehicle passing through after a coordinated phase start of the second intersection arrives at the first intersection, and the fourth time represents a relative time at which a last vehicle passing through before a coordinated phase end of the second intersection arrives at the first intersection; In the case that bidirectional red wave optimization is needed at the first intersection, a phase difference corresponding to a first red wave bandwidth with the minimum value is determined as the target phase difference, wherein the first red wave bandwidth represents a sum of a corresponding forward green wave bandwidth and a reverse green wave bandwidth; In the case that the first red wave bandwidth with the minimum value includes multiple values, a phase difference corresponding to a difference between the first red wave bandwidths with the minimum value is determined as the target phase difference, wherein the difference between the first red wave bandwidths represents an absolute value of a difference between the corresponding forward green wave bandwidth and the reverse green wave bandwidth.

6. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, wherein the computer program is executed by the processor to implement the steps of the method in any one of claims 1 to 4. 7.An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein, The processor executes the computer program to implement the steps of the method in any one of claims 1 to 4.

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