A bidirectional green initial coordination control method, device and equipment

Abstract

The application provides a bidirectional green initial coordination control method, device and equipment. The method comprises the following steps: generating a plurality of release mode sets, wherein the release mode set comprises a first release mode and a second release mode; determining an offset time amount based on an ideal time difference corresponding to the release mode set, and determining an allocation time amount based on the offset time amount; determining a target coordination mode based on the allocation time amount; determining a phase difference based on the target coordination mode; selecting a target release mode set based on a phase difference corresponding to each release mode set; determining the first release mode of the target release mode set as a target release mode of the first intersection, determining the second release mode of the target release mode set as a target release mode of the second intersection, and determining the phase difference corresponding to the target release mode set as a target phase difference between the first intersection and the second intersection. Through the technical scheme of the application, the green light start phase difference can be accurately set, and bidirectional green initial coordination control is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent transportation, in particular to a two-way green initial coordination control method, device and equipment. BACKGROUND

[0002] With the increasing number of vehicles, in order to protect the growing demand for traffic safety, traffic efficiency, etc., intersection main line coordinated signal control is widely used in various intersection main lines. For example, green initial coordination control as a kind of intersection main line coordinated signal control means can be applied to various intersection main lines. By implementing green initial coordination control on the intersection main line, the traffic flow in the main road direction can continuously pass through the intersection, so as to improve the traffic efficiency. Among them, the green initial coordination control refers to setting the green light start phase difference between intersections to reduce the number of stops, shorten the driving time, and make the overall road traffic benefit optimal. In order to realize the green initial coordination control, the user usually manually sets the green light start phase difference between intersections according to experience, but there are many reference factors for green initial coordination control, such as road length, traffic volume, average speed, vehicle start time, number of pedestrians and number of non-motor vehicles. When the user manually sets the green light start phase difference, it is difficult to accurately set the green light start phase difference, which leads to the failure to realize the green initial coordination control. SUMMARY

[0003] The present application provides a two-way green initial coordination control method, a first intersection supports M first release modes, and a second intersection supports N second release modes, the method comprising:

[0004] Generating a plurality of release mode sets based on the M first release modes and the N second release modes; for each release mode set, the release mode set includes a first release mode and a second release mode;

[0005] Determining the offset time amount corresponding to the release mode set based on the ideal time difference corresponding to the release mode set, and determining the allocation time amount based on the offset time amount;

[0006] Determining the target coordination mode corresponding to the release mode set based on the allocation time amount;

[0007] Determining the phase difference corresponding to the release mode set based on the target coordination mode;

[0008] Selecting a target release mode set based on the phase difference corresponding to each release mode set, determining the first release mode in the target release mode set as the target release mode of the first intersection, determining the second release mode in the target release mode set as the target release mode of the second intersection, and determining the phase difference corresponding to the target release mode set as the target phase difference between the first intersection and the second intersection.

[0009] The application provides a bidirectional green initial coordination control device, a first intersection supports M first release modes, and a second intersection supports N second release modes, the device comprises:

[0010] A generation module is configured to generate a plurality of release mode sets based on the M first release modes supported by the first intersection and the N second release modes supported by the second intersection, and each release mode set comprises a first release mode and a second release mode;

[0011] A determination module is configured to determine an offset time amount corresponding to each release mode set based on an ideal time difference corresponding to the release mode set, and determine an allocation time amount based on the offset time amount; and

[0012] A target coordination mode corresponding to each release mode set is determined based on the allocation time amount; and

[0013] A phase difference corresponding to each release mode set is determined based on the target coordination mode;

[0014] A processing module is configured to select a target release mode set based on a phase difference corresponding to each release mode set, determine a first release mode in the target release mode set as a target release mode of the first intersection, determine a second release mode in the target release mode set as a target release mode of the second intersection, and determine a phase difference corresponding to the target release mode set as a target phase difference between the first intersection and the second intersection.

[0015] The application provides an electronic device, comprising a processor and a machine readable storage medium, the machine readable storage medium stores machine executable instructions capable of being executed by the processor; the processor is configured to execute the machine executable instructions to implement the bidirectional green initial coordination control method of the above examples.

[0016] From the above technical solutions, in the embodiments of the present application, a trunk road bidirectional green initial coordination control method considering priority direction is proposed, which is applicable to trunk road intersection signal control, is conducive to guaranteeing the coordination effect of the priority direction while taking into account the coordination effect of the non-priority direction, reducing driving delay and parking times. The green light start phase difference can be accurately set, so as to realize bidirectional green initial coordination control, without the need for users to manually set the green light start phase difference between intersections according to experience, improving user experience. By using the offset time amount as the optimization basis of bidirectional green initial coordination control, the trunk road bidirectional green initial coordination and the priority direction coordination can be unified, and when the bidirectional coordination control is limited in the release mode, the control can be realized by coordinating the priority direction. The upstream intersection of the priority direction comes to the downstream intersection after the coordinated flow direction of the green light is lit, which is conducive to queue emptying and reducing the number of delays and parking times. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the description of the embodiments of the present application or the prior art will be briefly introduced. Obviously, the drawings in the following description are only some embodiments described in the present application, and other drawings can also be obtained by those skilled in the art according to these drawings of the embodiments of the present application.

[0018] Figure 1 is a flowchart of the bidirectional green initial coordination control method in an embodiment of the present application;

[0019] Figure 2A is a schematic diagram of the constraint condition of bidirectional coordination in an embodiment of the present application;

[0020] Figure 2B is a schematic diagram of the constraint condition of priority direction coordination in an embodiment of the present application;

[0021] Figure 3 is a system block diagram of the bidirectional green initial coordination control method in an embodiment of the present application;

[0022] Figure 4A is a schematic diagram of the ideal bidirectional coordination condition when the priority direction is the upstream direction;

[0023] Figure 4B is a schematic diagram of the ideal bidirectional coordination condition when the priority direction is the downstream direction;

[0024] Figure 4C is a schematic diagram of the offset time amount t bias is less than 0 and the priority direction is coordinated;

[0025] Figure 4Dis a schematic diagram of an upstream vehicle arriving at the downstream intersection during the green light early or middle stage of the coordinated phase;

[0026] Figure 4E is a schematic diagram of an upstream vehicle arriving at the downstream intersection during the green light end stage of the coordinated phase;

[0027] Figure 4F is a schematic diagram of an offset time amount t bias greater than 0 and coordinated in the priority direction;

[0028] Figure 4G is a schematic diagram of an offset time amount t bias greater than 0 and still coordinated in both directions;

[0029] Figure 5 is a schematic diagram of a two-way green initial coordination control device in an embodiment of the present application;

[0030] Figure 6 is a hardware structure diagram of an electronic device in an embodiment of the present application. DETAILED DESCRIPTION

[0031] The terminology used in the embodiments of the present application merely describes specific embodiments, and is not intended to limit the present application. The singular forms "a", "an" and "the" used in the present application and claims are intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to any or all possible combinations of one or more associated listed items.

[0032] It should be understood that although the terms first, second, third, etc. can be used in the embodiments of the present application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as the first information, without departing from the scope of the present application. In addition, depending on the context, the word "if" used can be interpreted as "when" or "in response to determining" or "in response to ascertaining".

[0033] The embodiments of the present application propose a two-way green initial coordination control method. The first intersection and the second intersection are any two adjacent intersections, and the two-way green initial coordination control is required for the first intersection and the second intersection. The first intersection supports M first release modes, and the second intersection supports N second release modes. M can be a positive integer, and N can be a positive integer. Referring to Figure 1 The two-way green initial coordination control method can include the following steps.

[0034] Step 101, generating a plurality of release mode sets based on M first release modes and N second release modes, the M first release modes and the N second release modes can constitute M*N release mode sets. For each release mode set, the release mode set includes a first release mode and a second release mode.

[0035] Step 102, for each release mode set, determining an offset time amount corresponding to the release mode set based on an ideal time difference corresponding to the release mode set, and determining an allocation time amount based on the offset time amount.

[0036] Step 103, determining a target coordination mode corresponding to the release mode set based on the allocation time amount.

[0037] Step 104, determining a phase difference corresponding to the release mode set based on the target coordination mode.

[0038] Step 105, selecting a target release mode set based on the phase difference corresponding to each release mode set, determining a first release mode in the target release mode set as a target release mode of the first intersection, determining a second release mode in the target release mode set as a target release mode of the second intersection, and determining a phase difference corresponding to the target release mode set as a target phase difference between the first intersection and the second intersection.

[0039] For example, determining an offset time amount corresponding to the release mode set based on an ideal time difference corresponding to the release mode set can include but is not limited to: determining the ideal time difference based on a distance from the first intersection to the second intersection, a distance from the second intersection to the first intersection, a travel speed from the first intersection to the second intersection, a travel speed from the second intersection to the first intersection, a public period, and a first actual time difference; determining a target integer value based on the second actual time difference and the ideal time difference, wherein a difference between a sum of the target integer value and the ideal time difference and the second actual time difference can be within a preset value interval, the preset value interval being determined based on the public period; and determining the offset time amount corresponding to the release mode set based on the second actual time difference, the ideal time difference, the target integer value, and the public period.

[0040] For example, if the priority direction is an uplink direction from the first intersection to the second intersection, the ideal time difference can be an ideal time difference from a green light start point of an uplink coordination phase to a green light start point of a downlink coordination phase of the first release mode, the first actual time difference can be an actual time difference from the green light start point of the uplink coordination phase to the green light start point of the downlink coordination phase of the second release mode, and the second actual time difference can be an actual time difference from the green light start point of the uplink coordination phase to the green light start point of the downlink coordination phase of the first release mode. Or,

[0041] If the priority direction is the downlink direction from the second intersection to the first intersection, the ideal time difference can be an ideal time difference from a green light start point of a downlink coordinated phase of the second release mode to a green light start point of an uplink coordinated phase, the first actual time difference can be an actual time difference from the green light start point of the downlink coordinated phase of the first release mode to the green light start point of the uplink coordinated phase, and the second actual time difference can be an actual time difference from the green light start point of the downlink coordinated phase of the second release mode to the green light start point of the uplink coordinated phase.

[0042] For example, determining the distribution time amount based on the offset time amount can include, but is not limited to, determining the distribution time amount based on the offset time amount, a green light duration of an uplink direction coordinated phase of the second release mode, and a green light duration of a downlink direction coordinated phase of the first release mode.

[0043] For example, determining the target coordinated mode corresponding to the release mode set based on the distribution time amount can include, but is not limited to, determining the target coordinated mode as a bidirectional coordinated mode if the distribution time amount is less than a green initial coordinated threshold, and determining the target coordinated mode as a priority direction coordinated mode if the distribution time amount is not less than the green initial coordinated threshold. The green initial coordinated threshold can be a preconfigured value, or when the priority direction is an uplink direction from the first intersection to the second intersection, the green initial coordinated threshold can be a value determined based on the green light duration of the uplink direction coordinated phase of the second release mode, or when the priority direction is a downlink direction from the second intersection to the first intersection, the green initial coordinated threshold can be a value determined based on the green light duration of the downlink direction coordinated phase of the first release mode.

[0044] In a possible implementation, if the target coordination mode is a bidirectional coordination mode, determining the phase difference corresponding to the set of release modes based on the target coordination mode can include, but is not limited to, if the priority direction is an uplink direction from the first intersection to the second intersection, determining the phase difference of the second release mode of the second intersection relative to the first release mode of the first intersection based on the distance from the first intersection to the second intersection, the travel speed from the first intersection to the second intersection, the allocated time amount, the time difference of the uplink direction coordinated phase green light start time of the second release mode relative to the first phase green light start time of the second release mode, the time difference of the uplink direction coordinated phase green light start time of the first release mode relative to the first phase green light start time of the first release mode, and the common cycle. Alternatively, if the priority direction is a downlink direction from the second intersection to the first intersection, determining the phase difference of the second release mode of the second intersection relative to the first release mode of the first intersection based on the distance from the second intersection to the first intersection, the travel speed from the second intersection to the first intersection, the allocated time amount, the time difference of the downlink direction coordinated phase green light start time of the second release mode relative to the first phase green light start time of the second release mode, the time difference of the downlink direction coordinated phase green light start time of the first release mode relative to the first phase green light start time of the first release mode, and the common cycle.

[0045] If the target coordination mode is a priority direction coordination mode, determining the phase difference corresponding to the set of release modes based on the target coordination mode can include, but is not limited to, if the priority direction is an uplink direction from the first intersection to the second intersection, determining the phase difference of the second release mode of the second intersection relative to the first release mode of the first intersection based on the distance from the first intersection to the second intersection, the travel speed from the first intersection to the second intersection, the time difference of the uplink direction coordinated phase green light start time of the second release mode relative to the first phase green light start time of the second release mode, the time difference of the uplink direction coordinated phase green light start time of the first release mode relative to the first phase green light start time of the first release mode, and the common cycle. Alternatively, if the priority direction is a downlink direction from the second intersection to the first intersection, determining the phase difference of the second release mode of the second intersection relative to the first release mode of the first intersection based on the distance from the second intersection to the first intersection, the travel speed from the second intersection to the first intersection, the time difference of the downlink direction coordinated phase green light start time of the second release mode relative to the first phase green light start time of the second release mode, the time difference of the downlink direction coordinated phase green light start time of the first release mode relative to the first phase green light start time of the first release mode, and the common cycle.

[0046] Exemplarily, the arterial uplink direction coordinated phase lane average flow rate can be determined based on the uplink direction coordinated phase lane average flow rate of the first intersection and the uplink direction coordinated phase lane average flow rate of the second intersection; the arterial downlink direction coordinated phase lane average flow rate can be determined based on the downlink direction coordinated phase lane average flow rate of the first intersection and the downlink direction coordinated phase lane average flow rate of the second intersection; if the arterial uplink direction coordinated phase lane average flow rate is greater than or equal to the arterial downlink direction coordinated phase lane average flow rate, the priority direction is determined to be the uplink direction from the first intersection to the second intersection; if the arterial uplink direction coordinated phase lane average flow rate is less than the arterial downlink direction coordinated phase lane average flow rate, the priority direction is determined to be the downlink direction from the second intersection to the first intersection.

[0047] Exemplarily, the target release mode set can be selected based on the phase difference corresponding to each release mode set, which can include but is not limited to: for each release mode set, determining a first green wave bandwidth time window corresponding to the uplink direction under the phase difference based on the phase difference corresponding to the release mode set, determining a second green wave bandwidth time window corresponding to the downlink direction under the phase difference based on the phase difference corresponding to the release mode set; determining a target green wave bandwidth time window corresponding to the release mode set based on the first green wave bandwidth time window, the weight coefficient corresponding to the first green wave bandwidth time window, the second green wave bandwidth time window and the weight coefficient corresponding to the second green wave bandwidth time window; determining the release mode set corresponding to the maximum target green wave bandwidth time window as the target release mode set based on the target green wave bandwidth time window corresponding to each release mode set.

[0048] As can be seen from the above technical solutions, in the embodiments of the present application, a kind of arterial two-way green initial coordination control method considering priority direction is proposed, which is suitable for arterial intersection signal control, and is beneficial to guarantee the coordination effect of priority direction while taking into account the coordination effect of non-priority direction, reduce driving delay and parking frequency. Green start phase difference can be accurately set, so as to realize two-way green initial coordination control, without the need for users to manually set the green start phase difference between intersections according to experience, improve user experience. By using offset time as the optimization basis of two-way green initial coordination control, arterial green initial two-way coordination and priority direction coordination can be unified. When two-way coordination control is limited in release mode, control can be realized by coordinating priority direction. Two-way coordination makes the upstream intersection of priority direction arrive at the downstream intersection after coordination flow direction green light, which is beneficial to queue emptying, reduces delay frequency and parking frequency.

[0049] The above technical solutions of the embodiments of the present application will be described below in combination with specific application scenarios.

[0050] Before introducing the technical solutions of the present application, technical terms related to the present application will be introduced first:

[0051] Trunk intersection: A plurality of signalized intersections for vehicles to continuously pass through can form a road section and intersection set, and these signalized intersections are referred to as trunk intersections, the trunk does not form a ring structure, and the trunk includes an uplink direction and a downlink direction, the uplink direction is a direction in which the intersection ordinal number in the trunk increases, and the downlink direction is a reverse direction of the uplink direction, that is, the downlink direction is a direction in which the intersection ordinal number in the trunk decreases.

[0052] Coordinated signal control: For each intersection in the trunk, the intersection can be controlled by adjusting parameters such as cycle, green split, and phase difference to form a coordinated control effect.

[0053] Release mode: For each intersection in the trunk, the phase and phase sequence combination mode of the ring-barrier-phase structure is satisfied during intersection control. For example, releasing the first direction first and then the second direction is one release mode, and releasing the second direction first and then the first direction is another release mode.

[0054] Priority direction: In the process of bidirectional coordination optimization, a direction with a higher priority can be used as a priority direction, and in the process of bidirectional coordination, the coordination effect of the priority direction needs to be prioritized.

[0055] Bidirectional green initial coordination: Bidirectional green initial coordination is a bidirectional coordination mode of trunk intersection signal control, which needs to control the green initial coordination of both directions, so that vehicles traveling in the upstream coordination phase can obtain a green wave effect when they arrive at the downstream intersection, and vehicles traveling in the downstream coordination phase can obtain a green wave effect when they arrive at the upstream intersection. In one possible implementation, the bidirectional green initial coordination satisfies the following conditions (constraints):

[0056] 1. The coordination reference point can be located at the start of the coordinated phase green light time at the upstream intersection of the coordination direction, that is, the coordination reference point can coordinate the vehicles at the start time of the green light (green initial coordination).

[0057] 2. After coordination, in the priority direction, the coordination line coordination end point is only allowed to arrive at the downstream intersection before t θw seconds before the green light time of the coordinated phase at the downstream intersection, t θw is a variable threshold, which means that in the priority direction, the maximum parking waiting time of the upstream coordination phase vehicle arriving at the downstream intersection during bidirectional coordination, which is configured according to experience, such as 10 seconds.

[0058] 3. After coordination, in the priority direction, the coordination line coordination end point is not allowed to arrive within t θf seconds before the end of the green light time of the coordinated phase at the downstream intersection. Or the coordination line coordination end point is not allowed to arrive within a green light time of p θf proportion after the green light time of the coordinated phase at the downstream intersection. t θfThe variable threshold means that in two-way coordination, the guaranteed bandwidth time of the upstream coordinated phase vehicle arriving at the downstream intersection in the priority direction is empirically configured, such as 10 seconds. θf The variable threshold means that in two-way coordination, the guaranteed bandwidth time of the upstream coordinated phase vehicle arriving at the downstream intersection in the priority direction is empirically configured, such as 10 seconds.

[0059] In two-way coordination, when the coordinated line coordination end arrives within the above time, the bandwidth after two-way coordination is very small (such as less than t θ or p θf * the green time length of the downstream intersection coordination phase), at which time two-way coordination is not performed.

[0060] Referring to Figure 2A , a schematic diagram of the constraint condition of two-way coordination is shown, which shows the above constraint condition, in Figure 2A , taking two-way coordination between intersection A and intersection B as an example, represents the green time length of the upstream coordination phase of intersection B, t θw , t θf and p θf The meanings of t θw , t θf and p θf are described above.

[0061] Priority direction coordination: Priority direction coordination is a one-way coordination mode of arterial intersection signal control, which needs to perform green initial coordination control on a priority direction, and the upstream head vehicle of the priority direction obtains green wave effect and passes through the downstream intersection without stopping. The priority direction coordination can meet the following conditions (constraints):

[0062] 1. The start point of the coordination line can be located at the start point of the green time of the upstream intersection coordination phase in the priority direction, that is, the vehicle coordinated at the start point of the priority direction green, and the end point of the coordination line can be located at the start point of the green time of the downstream coordination phase in the priority direction. 2. After coordination, the priority direction upstream intersection coordination phase vehicle is guaranteed to obtain green initial coordination effect when it travels to the downstream intersection, and the non-priority direction coordination effect is not constrained.

[0063] Referring to Figure 2B , a schematic diagram of the constraint condition of priority direction coordination is shown, which shows the above constraint condition, in Figure 2B , taking priority direction coordination between intersection A and intersection B as an example.

[0064] Two-by-two bandwidth: the two-by-two bandwidth of the intersection is used to represent the green time window between two adjacent intersections in the trunk, during which the vehicle starts from the upstream intersection of the two adjacent intersections to travel at a coordinated speed, and can pass through the two intersections continuously within a certain time window of the coordinated phase green light at the downstream intersection. This window is the two-by-two bandwidth between the coordinated control intersections.

[0065] Green initial coordination control as a means of intersection trunk coordination signal control can be applied to each intersection trunk. By implementing green initial coordination control on the intersection trunk, the vehicle flow in the main road direction can continuously pass through the intersection, thereby improving traffic efficiency. In order to implement green initial coordination control, the user usually manually sets the green light start phase difference between intersections according to experience, but when the user manually sets the green light start phase difference, the green light start phase difference cannot be accurately set, resulting in the failure to implement green initial coordination control.

[0066] In view of the above finding, the embodiment of the present application proposes a trunk two-way green initial coordination control method considering the priority direction, which can accurately set the green light start phase difference, thereby realizing two-way green initial coordination control, without the need for the user to manually set the green light start phase difference between intersections according to experience, thereby improving the user experience.

[0067] The embodiment of the present application proposes a two-way green initial coordination control method, which can perform two-way green initial coordination control on the intersection of the trunk, and can also consider the coordination effect of guaranteeing the priority direction while performing two-way green initial coordination control. Referring to Figure 3 , a system block diagram of the two-way green initial coordination control method is shown, and the following will be combined with Figure 3 , to describe in detail each process of the two-way green initial coordination control method.

[0068] First, the trunk scheme input. In the trunk scheme input process, an input parameter is received, which includes but is not limited to at least one of the following: the distance between intersections, the travel speed between intersections, the red and green light duration of the intersection, the release mode of the intersection, the queuing distance of the intersection, etc. The input parameter is not limited. The input parameter is preprocessed and verified, and the preprocessing and verification method is not limited. The processed input parameter is obtained and provided to the queuing superposition to distance module 100.

[0069] The queuing superposition to distance module 100 can be an optional parameter. If the queuing superposition to distance module 100 exists, the input parameter can be provided to the queuing superposition to distance module 100. If the queuing superposition to distance module 100 does not exist, the input parameter can be directly provided to the priority direction judgment module 200.

[0070] In a possible implementation, all the data (such as input parameters) involved in the embodiments are acquired and used with the consent and authorization of the relevant users.

[0071] Second, the queuing superimposed on the spacing module 100.

[0072] The queuing superimposed on the spacing module 100 is configured to superimpose the queuing distance on the spacing between intersections, so that the spacing between the upstream intersection and the downstream intersection becomes the spacing between the upstream intersection and the end of the queuing of the downstream vehicle. For example, if the spacing between the upstream intersection and the downstream intersection is 500 meters, but the queuing distance of the downstream intersection is 50 meters, the actual spacing between the upstream intersection and the downstream intersection is 450 meters.

[0073] The queuing superimposed on the spacing module 100 is configured to superimpose the queuing distance on the spacing between intersections, so that the spacing between the upstream intersection and the downstream intersection becomes the spacing between the upstream intersection and the end of the queuing of the downstream vehicle.

[0074] As can be seen from the above, the queuing superimposed on the spacing module 100 can correct the spacing between intersections to obtain the corrected input parameters, and provide the input parameters to the priority direction judgment module 200.

[0075] Third, the priority direction judgment module 200.

[0076] The priority direction judgment module 200 determines the priority direction (i.e., the direction of priority coordination) based on the average flow of the uplink direction coordinated phase lane and the average flow of the downlink direction coordinated phase lane of each intersection. Each trunk line can only coordinate one priority direction, which can be the uplink direction or the downlink direction.

[0077] For example, the average flow of the uplink direction coordinated phase lane of the trunk line can be determined based on the average flow of the uplink direction coordinated phase lane of multiple intersections. For example, the average flow of the uplink direction coordinated phase lane of the trunk line can be determined by formula (1). Of course, formula (1) is only an example, and is not limited in this regard.

[0078]

[0079] In formula (1), represents the average flow of the uplink direction coordinated phase lane of intersection i (veh / h / ln), which can be obtained from the input parameters. The value range of i is 1-n, that is, there are n intersections in total, and the average flow of the uplink direction coordinated phase lane of the n intersections includes the average flow of the uplink direction coordinated phase lane of the first intersection and the average flow of the uplink direction coordinated phase lane of the second intersection. uprepresents the arterial uplink coordinated phase lane average flow (veh / h / ln).

[0080] For example, the arterial downlink coordinated phase lane average flow can be determined based on the downlink coordinated phase lane average flows of multiple intersections. For example, the arterial downlink coordinated phase lane average flow can be determined by using formula (2), of course, formula (2) is only an example, and the present application is not limited thereto.

[0081]

[0082] In formula (2), represents the downlink coordinated phase lane average flow (veh / h / ln) of intersection i, which can be obtained from the input parameters. The value range of i is 1-n, that is, there are n intersections in total, and the downlink coordinated phase lane average flows of the n intersections include the downlink coordinated phase lane average flow of the first intersection and the downlink coordinated phase lane average flow of the second intersection.f down represents the arterial downlink coordinated phase lane average flow.

[0083] For example, if the arterial uplink coordinated phase lane average flow f up is greater than the arterial downlink coordinated phase lane average flow f down , it is determined that the priority direction of the two-way initial green coordination is the uplink direction, such as the uplink direction from the first intersection to the second intersection. If the arterial uplink coordinated phase lane average flow f up is less than the arterial downlink coordinated phase lane average flow f down , it is determined that the priority direction of the two-way initial green coordination is the downlink direction, such as the downlink direction from the second intersection to the first intersection. If the arterial uplink coordinated phase lane average flow f up is equal to the arterial downlink coordinated phase lane average flow f down , it is determined that the priority direction of the two-way initial green coordination is the uplink direction, or it is determined that the priority direction is the downlink direction.

[0084] Fourth, the two-way coordination condition judgment and calculation module 300.

[0085] Two adjacent intersections in the arterial can be selected, and the two intersections are denoted as the first intersection A and the second intersection B. The uplink direction is from the first intersection A to the second intersection B, and the downlink direction is from the second intersection B to the first intersection A. The first intersection A can support M first release modes, and M can be a positive integer, such as first release modes A1, A2, A3, etc. The second intersection B can support N second release modes, and N can be a positive integer, such as second release modes B1, B2, B3, etc.

[0086] Based on the M first release modes and the N second release modes, M*N release mode sets can be generated, each of which includes a first release mode and a second release mode. For example, release mode set 1 includes first release mode A1 and second release mode B1, release mode set 2 includes first release mode A1 and second release mode B2, release mode set 3 includes first release mode A1 and second release mode B3, release mode set 4 includes first release mode A2 and second release mode B1, release mode set 5 includes first release mode A5 and second release mode B5, and so on.

[0087] The two-way coordination condition judgment and calculation module 300 traverses all release mode sets of adjacent intersections for subsequent calculation. For the convenience of description, taking the adjacent intersections as the first intersection A and the second intersection B as an example, and taking the calculation process of a release mode set as an example, the first release mode of the release mode set is denoted as first release mode i, and the second release mode of the release mode set is denoted as second release mode j.

[0088] Exemplarily, the processing process of the two-way coordination condition judgment and calculation module 300 can include:

[0089] Step S301, for the release mode set, determining the offset time amount corresponding to the release mode set, for example, determining the offset time amount corresponding to the release mode set based on the ideal time difference corresponding to the release mode set, and the offset time amount is the basis for judging whether to perform two-way green initial coordination or priority direction coordination.

[0090] Exemplarily, in step S301, in order to determine the offset time amount, the following steps can be adopted:

[0091] Step S301-1, determining the ideal time difference corresponding to the release mode set, that is, the ideal time difference of the intersection. For example, based on the interval from the first intersection A to the second intersection B, the interval from the second intersection B to the first intersection A, the travel speed from the first intersection A to the second intersection B, the travel speed from the second intersection B to the first intersection A, the public cycle and the first actual time difference, the ideal time difference is determined.

[0092] In a possible implementation, if the priority direction is the uplink direction from the first intersection A to the second intersection B, the ideal time difference can be the ideal time difference from the uplink coordination phase green start point to the downlink coordination phase green start point of the first release mode i, and the first actual time difference can be the actual time difference from the uplink coordination phase green start point to the downlink coordination phase green start point of the second release mode j.

[0093] For example, the ideal time difference can be determined by the following formula (3), without limitation.

[0094]

[0095] In formula (3), if the priority direction is the uplink direction from the first intersection A to the second intersection B, the reference intersection is the first intersection A, represents the ideal time difference, which can be the ideal time difference from the uplink coordinated phase green start point to the downlink coordinated phase green start point of the first release mode i of the first intersection A, and represents the ideal condition for achieving bidirectional coordination under the given first intersection A to second intersection B distance, travel speed, and release mode conditions.

[0096] D AB represents the distance from the first intersection A to the second intersection B, and if there is a queue stacked into the distance module 100, the distance is the distance after the queue is stacked. BA represents the distance from the second intersection B to the first intersection A, and if there is a queue stacked into the distance module 100, the distance is the distance after the queue is stacked.

[0097] v AB represents the travel speed from the first intersection A to the second intersection B, which can be obtained from the input parameters, v BA represents the travel speed from the second intersection B to the first intersection A, which can be obtained from the input parameters.

[0098] δt Bj (U→D) represents the first actual time difference, and the first actual time difference can be the actual time difference from the uplink coordinated phase green start point to the downlink coordinated phase green start point of the second release mode j of the second intersection B, which can be positive when the uplink coordinated phase is released before the downlink coordinated phase.

[0099] C represents the common cycle, and m represents any integer, and if the interval distance between the first intersection A and the second intersection B is relatively far, the bidirectional green initial coordination can be reached before and after several integer cycles, and therefore, several integer cycles of bidirectional green initial coordination can be represented by mxC. represents the ideal time difference, i.e., the ideal time difference from the uplink coordinated phase green start point to the downlink coordinated phase green start point of the first release mode i of the first intersection A, which has multiple feasible values, and the feasible values are separated by m cycles.

[0100] Referring to Figure 4A Fig. 3 shows a schematic diagram of the ideal bidirectional coordination condition when the priority direction is the uplink direction, and shows the ideal time difference first actual time difference δt Bj (U→D), the distance D from the first intersection A to the second intersection B AB , the distance D from the second intersection B to the first intersection A BA , the travel speed v from the first intersection A to the second intersection B AB , the travel speed v from the second intersection B to the first intersection A BA .

[0101] In one possible implementation, if the priority direction is the downlink direction from the second intersection B to the first intersection A, the ideal time difference can be the ideal time difference from the downlink coordinated phase green start point to the uplink coordinated phase green start point of the second release mode j of the second intersection B, and the first actual time difference can be the actual time difference from the downlink coordinated phase green start point to the uplink coordinated phase green start point of the first release mode i of the first intersection A.

[0102] For example, the ideal time difference can be determined by the following formula (4), without limitation.

[0103]

[0104] In formula (4), if the priority direction is the downlink direction from the second intersection B to the first intersection A, the reference intersection is the second intersection B, represents the ideal time difference, which can be the ideal time difference from the downlink coordinated phase green start point to the uplink coordinated phase green start point of the second release mode j of the second intersection B, and the ideal time difference represents the ideal condition for achieving two-way coordination under the given distance, travel speed, and release mode conditions from the second intersection B to the first intersection A.

[0105] D AB for indicating the distance from the first intersection A to the second intersection B, D BA for indicating the distance from the second intersection B to the first intersection A, v AB for indicating the travel speed from the first intersection A to the second intersection B, v BA for indicating the travel speed from the second intersection B to the first intersection A.

[0106] δt Ai (D→U) represents the first actual time difference, and the first actual time difference can be the actual time difference from the downlink coordinated phase green start point to the uplink coordinated phase green start point of the first release mode i of the first intersection A, which can be positive when the downlink coordinated phase is released before the uplink coordinated phase.C represents the common period, and m represents an arbitrary integer, and m×C represents several integer periods. represents an ideal time difference, i.e. an ideal time difference from the start of the downlink coordination phase green light to the start of the uplink coordination phase green light of the second release mode j of the second intersection B, has multiple feasible values which are spaced by m periods.

[0107] Referring to Figure 4B shown is a schematic diagram of the ideal bi-directional coordination condition when the priority direction is the downlink direction, showing the ideal time difference the first actual time difference δt Ai the distance D from the first intersection A to the second intersection B AB , the distance D from the second intersection B to the first intersection A BA , the travel speed v from the first intersection A to the second intersection B AB , the travel speed v from the second intersection B to the first intersection A BA .

[0108] So far, step S301-1 is completed, and the ideal time difference corresponding to the release mode set is obtained.

[0109] Step S301-2, determine the offset time amount t bias .

[0110] For example, for the release mode of the intersection, the time from uplink to downlink is not constrained by the model, therefore, the ideal time difference corresponding to the release mode set of the intersection and the second actual time difference δt Ai (U→D) are different, the ideal time difference corresponding to the release mode set of the intersection and the second actual time difference δt Bj (D→U) are different, so that the actual situation deviates from the ideal situation, for this purpose, the offset time amount t bias can also be determined to measure how much the ideal time difference deviates from the actual time difference.

[0111] , the second actual time difference δt Ai (U→D) represents the second actual time difference when the priority direction is the uplink direction from the first intersection A to the second intersection B, the second actual time difference δt Bj (D→U) represents the second actual time difference when the priority direction is the downlink direction from the second intersection B to the first intersection A.

[0112] In one possible implementation, if the priority direction is the uplink direction from the first intersection A to the second intersection B, the second actual time difference δt Ai(U→D) is the actual time difference from the green start of the uplink coordination phase to the green start of the downlink coordination phase of the first release mode i of the first intersection A.

[0113] First, based on the second actual time difference δt Ai (U→D) and the ideal time difference , a target integer value m is determined, and the sum of the target integer value m common periods C and the ideal time difference is equal to the second actual time difference δt Ai (U→D) is located in a preset value interval, and the preset value interval is determined based on the common period. For example, This represents an ideal case, and coordination can be completed with several integer multiple periods from the ideal case, so the target integer value m can be obtained to make (-C, 0] is a preset value interval, which is configured according to experience. In summary, the target integer value m can be determined based on the second actual time difference and the ideal time difference.

[0114] Then, after obtaining the target integer value m, the second actual time difference δt Ai (U→D), the ideal time difference , the target integer value m and the common period C are used to determine the offset time amount t bias of the release mode set. For example, the offset time amount t bias may be determined by using the following formula (5):

[0115]

[0116] In formula (5), if the calculated offset time amount t , the offset time amount t bias may be added or subtracted by several integer multiple common periods to be located in the range of (-C, 0].

[0117] In one possible implementation, if the priority direction is the downlink direction from the second intersection B to the first intersection A, the second actual time difference δt Bj (D→U) is the actual time difference from the green start of the downlink coordination phase to the green start of the uplink coordination phase of the second release mode j of the second intersection B.

[0118] First, based on the second actual time difference δt Bj (D→U) and the ideal time difference , a target integer value m is determined, and the sum of the target integer value m common periods C and the ideal time difference is equal to the second actual time difference t BjThe difference between (D→U) is in a preset value interval, which is determined based on the common cycle. For example, This represents an ideal case, and the coordination can be completed with several integer multiples of the difference from the ideal case. Therefore, the target integer value m can be obtained, such that (-C, 0) is a preset value interval, which is configured based on experience. In summary, the target integer value m is determined based on the second actual time difference and the ideal time difference.

[0119] Then, after obtaining the target integer value m, the release mode set corresponding to the offset time amount t Ai (U→D), the ideal time difference The target integer value m and the common cycle C are used to determine the offset time amount t bias . For example, the offset time amount t bias can be determined using the following formula (6):

[0120]

[0121] In formula (6), if the calculated offset time amount t is greater than 0, the offset time amount t bias can be added by several integer multiples of the common cycle C to make it within the range of (-C, 0].

[0122] At this point, step S301 is completed, and the offset time amount t bias corresponding to the release mode set is obtained.

[0123] Step S302: Determine the target coordination mode corresponding to the release mode set based on the offset time amount. The target coordination mode can be a bidirectional coordination mode or a priority direction coordination mode.

[0124] For example, after obtaining the offset time amount t bias , the offset time amount t bias is within the range of (-C, 0], and whether bidirectional green initial coordination can be performed can be determined according to the offset time amount t bias . If yes, the target coordination mode is determined to be a bidirectional coordination mode, and if no, the target coordination mode is determined to be a priority direction coordination mode.

[0125] In one possible implementation, if the priority direction is the uplink direction from the first intersection A to the second intersection B, the target coordination mode can be determined using the following allocation method:

[0126] Allocation method 1: If the offset time amount t biasA value less than or equal to 0 indicates that, after two-way coordination, vehicles approaching from the upstream coordinated phase may pass through the downstream coordinated phase's green light time. See [link / reference needed]. Figure 4C As shown, this represents the offset time t. bias A diagram showing a value less than 0 and a coordinated priority direction, in which case the allocation time t' can be used. bias To determine whether the two-way coordination constraint is met, for example, we can first consider the offset time t. bias Determine the allocation time t' bias Then, based on the allocation time t' bias Determine whether the two-way coordination constraints are met.

[0127] For example, based on the offset time amount t bias Determine the allocation time t' bias At that time, it can be based on the offset time amount t bias The green light duration of the upbound coordinated phase in the second release mode j and the green light duration of the downbound coordinated phase in the first release mode i are used to determine the allocated time t'. bias For example, the allocation time t' can be determined using the following formula (7). bias Of course, formula (7) is just an example and is not a limitation.

[0128]

[0129] in, This indicates the duration of the green light in the upbound coordinated phase of the second traffic mode j at intersection B. This indicates the duration of the down-direction coordinated phase green light for the first release mode i at intersection A.

[0130] For example, the amount of time allocated t' bias The phase difference to be allocated to the downstream intersection of the priority direction (if the priority direction is uphill, then it is allocated to the second intersection B; otherwise, if the priority direction is downhill, then it is allocated to the first intersection A), and the allocation time t'. bias When a vehicle from the upstream intersection, used to determine priority direction, arrives at the downstream intersection, the green light for the coordinated phase at the downstream intersection has already expired.

[0131] For example, if the allocated time t' bias If the value is less than the initial coordination threshold, then the target coordination mode is determined to be a two-way coordination mode; if the allocated time t' biasIf the green light threshold is not less than the initial green light coordination threshold, then the target coordination mode is determined to be the priority direction coordination mode. This initial green light coordination threshold can be a pre-configured value, or, when the priority direction is the uphill direction from the first intersection A to the second intersection B, the initial green light coordination threshold can be a value determined based on the green light duration of the uphill direction coordination phase in the second release mode j.

[0132] For example, the initial green coordination threshold can be... p represents the green light duration of the upstream coordinated phase in the second traffic mode j at intersection B. θf The variable threshold refers to the proportion of the guaranteed bandwidth for vehicles arriving at the downstream intersection in the priority direction during bidirectional coordination, relative to the green light duration. In other words, this initial green light coordination threshold can be a value determined based on the green light duration of the upstream coordinated phase under the second release mode j. Based on this, if the allocated time t' bias Less than Then, vehicles arriving from upstream in both directions will arrive at the downstream intersection before or in the middle of the coordinated phase green light. At this point, coordination is possible in both directions, which helps clear queues in both directions. Furthermore, the coordination time for upstream vehicles is relatively long, satisfying the conditions for two-way coordination. Therefore, allocation method 1 meets the constraints of two-way coordination, and the target coordination mode is determined to be the two-way coordination mode. If the allocation time t' bias Greater than or equal to If the upstream vehicles in both directions arrive at the end of the green light of the coordinated phase at the downstream intersection, although both directions are coordinated, the green light duration available for the upstream vehicles to pass is short, which does not meet the coordination constraint conditions of the initial green light of both directions. Therefore, allocation method 1 does not meet the constraint of coordination of both directions. Thus, the target coordination mode is determined to be the priority direction coordination mode.

[0133] For example, the initial green coordination threshold can be... t represents the green light duration of the upstream coordinated phase in the second traffic mode j at intersection B. θf This is a variable threshold, representing the guaranteed bandwidth time for vehicles arriving at the downstream intersection in the priority direction during bidirectional coordination, based on the upstream coordinated phase. In other words, this initial green light coordination threshold is the green light duration for the upstream coordinated phase based on the second release mode j. A definite numerical value. Based on this, if the allocated time t' bias Less than Then the target coordination mode is determined to be a two-way coordination mode. If the allocated time t' bias Greater than or equal to Then the target coordination mode is determined as the priority direction coordination mode.

[0134] For example, the initial green coordination threshold can be... and That is, the green initial coordination threshold value can be a value determined based on the uplink direction coordination phase green light duration of the second release mode j. Based on this, if the allocation time amount t' bias is less than and the allocation time amount t' bias is less than , then the bidirectional upstream vehicles will arrive at the front or middle of the downstream intersection coordination phase green light, at which time both directions can be coordinated, which is beneficial to empty the bidirectional queue, and the upstream vehicle green light coordination duration is relatively long, satisfying the third condition of bidirectional coordination, see Figure 4D , which is a schematic diagram of upstream vehicles arriving at the front or middle of the downstream intersection coordination phase green light, from Figure 4D It can be seen that in this case, the allocation mode 1 meets the constraints of bidirectional coordination, so the target coordination mode can be determined as the bidirectional coordination mode.

[0135] If the allocation time amount t' bias is greater than or equal to , or the allocation time amount t' bias is greater than or equal to , then the bidirectional upstream vehicles will arrive at the end of the downstream intersection coordination phase green light, at which time although both directions are coordinated, the green light duration available for upstream vehicle passage is relatively short, see Figure 4E , which is a schematic diagram of upstream vehicles arriving at the end of the downstream intersection coordination phase green light after bidirectional coordination, from Figure 4E It can be seen that in this case, the third condition of bidirectional green initial coordination is not met, at which time the allocation mode 1 does not meet the constraints of bidirectional coordination, so the target coordination mode is determined as the priority direction coordination mode.

[0136] Allocation mode 2: add an integer common cycle to the modified offset time amount t bias to obtain the modified offset time amount t bias , that is, t bias = t bias + C. Obviously, since the modified offset time amount t bias is located in the range of (-C, 0], therefore, the modified offset time amount t bias is located in the range of (0, C]. In this case, it is indicated that the end point of at least one direction coordination line of the bidirectional is located outside the coordination direction downstream intersection coordination phase green light time after coordination, see Figure 4F , which is a schematic diagram of the offset time amount t bias being greater than 0 and coordinating the priority direction, where the allocation time amount t' bias is greater than t θw . In this case, if bidirectional coordination is performed, the upstream intersection to the downstream intersection of the bidirectional will encounter a red light, at which time, the allocation time amount t'bias Make a judgment, and the allocation time t' bias The phase difference will be assigned to the priority direction to determine the waiting time for vehicles arriving at the upstream intersection in the priority direction.

[0137] For example, based on the offset time amount t bias Determine the allocation time t' bias At that time, it can be based on the offset time amount t bias The green light duration of the upbound coordinated phase in the second release mode j and the green light duration of the downbound coordinated phase in the first release mode i are used to determine the allocated time t'. bias See formula (7).

[0138] For example, if the allocated time t' bias If the value is less than or equal to the initial coordination threshold, the target coordination mode is determined to be a two-way coordination mode; if the allocated time t' bias If the value is greater than the initial green light coordination threshold, the target coordination mode is determined to be the priority direction coordination mode. This initial green light coordination threshold can be a pre-configured value, or, when the priority direction is the uphill direction from the first intersection A to the second intersection B, the initial green light coordination threshold can be a value determined based on the uphill direction coordination phase green light duration of the second release mode j.

[0139] For example, the initial coordination threshold for greening can be t. θw , t θw The threshold is variable and can be a pre-configured value, such as 10 seconds. Based on this, if the allocated time t' bias Less than or equal to t θw In the priority direction, the maximum stopping wait time t after an upstream coordinated phase vehicle arrives at the downstream intersection is... θw Although the green light start point was not coordinated at this time, the short and acceptable waiting time for priority direction vehicles to stop at the green light indicates that allocation method 2 complies with the constraints of two-way coordination. See [link / reference] Figure 4G As shown, this is the offset time amount t. bias A schematic diagram illustrating bidirectional coordination even when the value is greater than 0, and the allocated time t' bias Less than or equal to t θw The target coordination mode was determined to be a two-way coordination mode.

[0140] If the allocated time t' bias Greater than t θw During bidirectional green initial coordination, in the priority direction after allocating offset time, the waiting time for upstream vehicles is relatively long, exceeding t. θw The timeout does not satisfy constraint 2 of the two-way green initial coordination, indicating that allocation method 2 does not comply with the two-way coordination constraint. See [link / reference]. Figure 4F As shown, this represents the offset time t.bias The schematic diagram of greater than 0 and coordination priority direction determines the target coordination mode as the priority direction coordination mode.

[0141] If the allocation mode 1 and the allocation mode 2 both satisfy the two-way green initial coordination constraint condition, the two-way bandwidth of the allocation mode of the allocation time amount is compared, and the larger one is taken as the optimal mode to complete the allocation. If only one of the allocation mode 1 and the allocation mode 2 satisfies the two-way green initial coordination constraint condition, the offset time amount allocation mode of the satisfied constraint condition is selected to complete the allocation. If neither of the allocation mode 1 and the allocation mode 2 satisfies the two-way green initial coordination constraint condition, the priority direction coordination is performed, and the green light starting point is coordinated in the priority direction.

[0142] In a possible implementation, if the priority direction is the downlink direction from the second intersection B to the first intersection A, the following allocation mode can be used to determine the target coordination mode:

[0143] Allocation mode 3: if the offset time amount t bias is less than or equal to 0, the allocation time amount t bias is first determined based on the offset time amount t bias , and then the allocation time amount t bias is determined based on the allocation time amount t bias . bias When the allocation time amount t bias is determined based on the offset time amount t bias , the uplink direction coordination phase green light duration of the second release mode j and the downlink direction coordination phase green light duration of the first release mode i, the allocation time amount t bias may be determined. For example, the allocation time amount t bias may be determined by using the following formula (8), and of course, the formula (8) is only an example, and the present application is not limited thereto.

[0144]

[0145] wherein, represents the uplink direction coordination phase green light duration of the second release mode j of the second intersection B, represents the downlink direction coordination phase green light duration of the first release mode i of the first intersection A.

[0146] For example, if the allocation time amount t bias is less than the green initial coordination threshold value, the target coordination mode is determined as the two-way coordination mode; if the allocation time amount t biasIf the green light threshold is not less than the initial green light coordination threshold, then the target coordination mode is determined to be the priority direction coordination mode. This initial green light coordination threshold can be a pre-configured value, or, when the priority direction is the downhill direction from the second intersection B to the first intersection A, the initial green light coordination threshold can be a value determined based on the downhill direction coordination phase green light duration of the first release mode i.

[0147] For example, the green initial coordination threshold can be p represents the green light duration of the down-direction coordinated phase in the first traffic release mode i at intersection A. θf The threshold is variable. Based on this, if the allocated time t' bias Less than The target coordination mode is determined to be a two-way coordination mode. If the allocated time is t' bias Greater than or equal to The target coordination mode is determined as the priority direction coordination mode.

[0148] For example, the initial green coordination threshold can be... t represents the green light duration of the down-direction coordinated phase in the first traffic release mode i at intersection A. θf The threshold is variable. Based on this, if the allocated time t′ bias Less than Then the target coordination mode is determined to be a two-way coordination mode. If the allocated time t' bias Greater than or equal to Then the target coordination mode is determined as the priority direction coordination mode.

[0149] For example, the initial green coordination threshold can be... and If the allocated time t′ bias Less than And the allocated time t' bias Less than The target coordination mode is determined to be a two-way coordination mode. If the allocated time is t' bias Greater than or equal to Alternatively, allocate time t' bias Greater than or equal to The target coordination mode is determined as the priority direction coordination mode.

[0150] Allocation method 4: Adjust the offset time amount t before correction bias Adding an integer common period yields the corrected offset time t. bias , i.e. t bias =t bias +C, corrected offset time amount t biasis in the range of (0, C]. The offset time amount t bias , the uplink direction coordinated phase green light duration of the second release mode j, and the downlink direction coordinated phase green light duration of the first release mode i, to determine the allocation time amount t bias .

[0151] For example, if the allocation time amount t bias is less than or equal to the green initial coordination threshold, it is determined that the target coordination mode is the bidirectional coordination mode; if the allocation time amount t bias is greater than the green initial coordination threshold, it is determined that the target coordination mode is the priority direction coordination mode. The green initial coordination threshold can be a preconfigured value, or when the priority direction is the downlink direction from the second intersection B to the first intersection A, the green initial coordination threshold can be a value determined based on the downlink direction coordinated phase green light duration of the first release mode i.

[0152] For example, the green initial coordination threshold can be t θw , t θw is a preconfigured value, and if the allocation time amount t bias is less than or equal to t θw , it indicates that the allocation condition 4 meets the constraint of bidirectional coordination, and it is determined that the target coordination mode is the bidirectional coordination mode. If the allocation time amount t bias is greater than t θw , it indicates that the allocation condition 4 does not meet the constraint of bidirectional coordination, and it is determined that the target coordination mode is the priority direction coordination mode. For example, the allocation manner 3 can refer to the allocation manner 1, and the allocation manner 4 can refer to the allocation manner 2, which will not be described here.

[0153] At this point, step 302 is completed, and the target coordination mode corresponding to the release mode set is determined.

[0154] Step S303, determining the phase difference corresponding to the release mode set based on the target coordination mode.

[0155] For example, the phase difference can also be referred to as the relative phase difference The phase difference refers to the time amount by which the green light on of the first phase of the release mode of the next intersection lags behind the green light on of the first phase of the release mode of the current intersection. For example, the first release mode i of the first intersection A and the second release mode j of the second intersection B are taken as examples, that is, the time amount by which the green light on of the first phase of the second release mode j lags behind the green light on of the first phase of the first release mode i, or the time amount by which the green light on of the first phase of the first release mode i lags behind the green light on of the first phase of the second release mode j.

[0156] In case 1, if the target coordination mode is the bidirectional coordination mode, and if the priority direction is the uplink direction from the first intersection A to the second intersection B, the phase difference of the second release mode j of the second intersection B with respect to the first release mode i of the first intersection A can be determined based on the distance from the first intersection A to the second intersection B, the travel speed from the first intersection A to the second intersection B, the allocated time amount, the time difference of the green light start time of the uplink coordination phase of the second release mode j with respect to the first phase green light start time of the second release mode j, the time difference of the green light start time of the uplink coordination phase of the first release mode i with respect to the first phase green light start time of the first release mode i, and the common cycle. For example, the phase difference can be determined by using the following formula (9), which is only an example.

[0157]

[0158] If the target coordination mode is the bidirectional coordination mode, and if the priority direction is the downlink direction from the second intersection B to the first intersection A, the phase difference of the second release mode j of the second intersection B with respect to the first release mode i of the first intersection A can be determined based on the distance from the second intersection B to the first intersection A, the travel speed from the second intersection B to the first intersection A, the allocated time amount, the time difference of the green light start time of the downlink coordination phase of the second release mode j with respect to the first phase green light start time of the second release mode j, the time difference of the green light start time of the downlink coordination phase of the first release mode i with respect to the first phase green light start time of the first release mode i, and the common cycle. For example, the phase difference can be determined by using the following formula (10), which is only an example.

[0159]

[0160] In the formula (9) and the formula (10), D AB represents the distance from the first intersection A to the second intersection B, D BA represents the distance from the second intersection B to the first intersection A, v AB represents the travel speed from the first intersection A to the second intersection B, v BA represents the travel speed from the second intersection B to the first intersection A, t' bias represents the allocated time amount, represents the time difference of the green light start time of the uplink coordination phase of the second release mode j of the second intersection B with respect to the first phase green light start time of the second release mode j (taking a positive value), represents the time difference of the green light start time of the uplink coordination phase of the first release mode i of the first intersection A with respect to the first phase green light start time of the first release mode i (taking a positive value), and C represents the common cycle. represents a time difference (taking a positive value) of a green light start time of a downlink direction coordinated phase of the second release mode j of the second intersection B relative to a first phase green light start time of the second release mode j, represents a time difference of a green light start time of a downlink direction coordinated phase of the first release mode i of the first intersection A relative to a first phase green light start time of the first release mode i, represents a phase difference of the second release mode j of the second intersection B relative to the first release mode i of the first intersection A.

[0161] For example, the phase difference can be agreed as taking a positive value or 0, when the solved phase difference is negative, then a public cycle C is added to it in a loop until the phase difference is a positive value or 0.

[0162] Case 2, if the target coordination mode is a priority direction coordination mode, if the priority direction is the uplink direction from the first intersection A to the second intersection B, then the phase difference of the second release mode j of the second intersection B relative to the first release mode i of the first intersection A can be determined based on the distance from the first intersection A to the second intersection B, the travel speed from the first intersection A to the second intersection B, the time difference of the uplink direction coordinated phase green light start time of the second release mode j relative to the first phase green light start time of the second release mode j, the time difference of the uplink direction coordinated phase green light start time of the first release mode i relative to the first phase green light start time of the first release mode i, and the public cycle. For example, the phase difference can be determined by using the following formula (11), of course, formula (11) is only an example.

[0163]

[0164] If the target coordination mode is a priority direction coordination mode, if the priority direction is the downlink direction from the second intersection B to the first intersection A, then the phase difference of the second release mode j of the second intersection B relative to the first release mode i of the first intersection A can be determined based on the distance from the second intersection B to the first intersection A, the travel speed from the second intersection B to the first intersection A, the time difference of the downlink direction coordinated phase green light start time of the second release mode j relative to the first phase green light start time of the second release mode j, the time difference of the downlink direction coordinated phase green light start time of the first release mode i relative to the first phase green light start time of the first release mode i, and the public cycle. For example, the phase difference can be determined by using the following formula (12), of course, formula (12) is only an example.

[0165]

[0166] The meanings of the related parameters in the formulas (11) and (12) of the case 2 can be seen from the formulas (9) and (10) of the case 1, which will not be repeated here.

[0167] So far, the phase difference corresponding to each release mode set is obtained through the step S303.

[0168] In the step S304, a target release mode set is selected based on the phase difference corresponding to each release mode set.

[0169] For example, for each release mode set, such as the release mode set 1 (A1B1), the release mode set 2 (A1B2), the release mode set 3 (A2B1), the release mode set 4 (A2B2), etc., the phase difference corresponding to the release mode set can be obtained through the steps S304-S303, and on this basis, the target release mode set can be selected from all the release mode sets based on the phase difference corresponding to each release mode set. For example, the target release mode set can be selected through the following steps:

[0170] In the step S304-1, for each release mode set, the first green wave bandwidth time window corresponding to the phase difference in the uplink direction is determined based on the phase difference corresponding to the release mode set.

[0171] In the step S304-2, for each release mode set, the second green wave bandwidth time window corresponding to the phase difference in the downlink direction is determined based on the phase difference corresponding to the release mode set.

[0172] In the step S304-3, for each release mode set, the target green wave bandwidth time window corresponding to the release mode set is determined based on the first green wave bandwidth time window, the weight coefficient corresponding to the first green wave bandwidth time window, the second green wave bandwidth time window, and the weight coefficient corresponding to the second green wave bandwidth time window.

[0173] For example, taking the release mode set including the first release mode i of the first intersection A and the second release mode j of the second intersection B as an example, the target green wave bandwidth time window corresponding to the release mode set can be determined through the following formula (13), and of course, the formula (13) is only an example, which is not limited.

[0174] B AiBj = ω AB b AiBj + ω BA b BjAi Formula (13)

[0175] In the formula (13), B AiBjThis is used to represent the target green wave bandwidth time window corresponding to the first release mode i and the second release mode j. The target green wave bandwidth time window can also be called the weighted pairwise bandwidth of the first release mode i and the second release mode j, which serves as the selection criterion for the target release mode set.

[0176] b AiBj This indicates the first green wave bandwidth time window, which is the uplink direction within this phase difference. The corresponding first green wave bandwidth time window, i.e., in the uplink direction, is the first traffic release mode i at the first intersection A and the second traffic release mode j at the second intersection B within this phase difference. The bandwidth of each pair of elements below, the first green wave bandwidth time window b AiBj Based on this phase difference Confirmed, and there are no restrictions on the method of confirmation.

[0177] ω AB The weighting coefficient corresponding to the first green wave bandwidth time window is the weight of each pair of bandwidths in the upbound direction (from the first intersection A to the second intersection B). It can be determined based on the proportion of the directional lane traffic to the two-way lane traffic, or it can be determined based on the actual needs on site. There are no restrictions on this weighting coefficient.

[0178] b BjAi This indicates the second green wave bandwidth time window, which is the downlink direction within this phase difference. The corresponding second green wave bandwidth time window, i.e., in the downlink direction, is the phase difference between the first release mode i at intersection A and the second release mode j at intersection B. The bandwidth of the two pairs of green waves, the second green wave bandwidth time window b BjAi Based on this phase difference Confirmed, and there are no restrictions on the method of confirmation.

[0179] ω BA The weighting coefficient corresponding to the second green wave bandwidth time window is the weight of each pair of bandwidths in the downlink direction (from the second intersection B to the first intersection A). It can be determined based on the proportion of the directional lane traffic to the two-way lane traffic, or it can be determined based on the actual needs on site. There are no restrictions on this weighting coefficient.

[0180] Step S304-4: Based on the target green wave bandwidth time window corresponding to each release mode set, determine the release mode set corresponding to the largest target green wave bandwidth time window as the target release mode set.

[0181] Based on steps S304-1, S304-2 and S304-3, the target green wave bandwidth time window corresponding to each release mode set can be obtained, that is, the pairwise bandwidth under all release mode sets, then the release mode set corresponding to the maximum pairwise bandwidth (that is, the maximum target green wave bandwidth time window) can be determined as the target release mode set. After obtaining the target release mode set, the first release mode in the target release mode set can be determined as the target release mode of the first intersection A (that is, the first intersection A adopts the target release mode for release), the second release mode in the target release mode set can be determined as the target release mode of the second intersection B (that is, the second intersection B adopts the target release mode for release), and the phase difference corresponding to the target release mode set can be determined as the target phase difference between the first intersection A and the second intersection B, that is, the target phase difference can be used to set the phase difference between the first intersection A and the second intersection B, and the setting mode of the phase difference is not limited.

[0182] Fifth, the trunk optimal release mode combination solving module 400.

[0183] First, determine the optimal release mode of each intersection of the trunk.

[0184] After applying the bidirectional coordination condition judgment and calculation module 300 to all release mode sets (such as A1B1, B2C3,...) of all adjacent intersections (such as adjacent intersection AB, adjacent intersection BC, adjacent intersection CD,...) in the trunk, the weighted pairwise bandwidth (that is, the target green wave bandwidth time window) of all release mode sets can be obtained. The overall goal of trunk coordination is to select the optimal release mode set to maximize the sum of the pairwise bandwidth of the trunk. The above overall goal of trunk coordination can be described as formula (14) as follows:

[0185] maxB = max(B AiBj + B BjCk + … + B (N-2)x(N-1)y + B (N-1)yNz ) Formula (14)

[0186] In formula (14), B AiBj , B BjCk ,..., B (N-2)x(N-1)y , B (N-1)yNz are used to represent the weighted pairwise bandwidth of the release modes i, j,..., y, z selected by intersections A, B,..., N-1, N respectively under the phase difference (that is, the relative phase difference) For convenience of description, the optimal release mode set corresponding to the optimal solution is denoted by i * , j * ,..., y * , z *express.

[0187] Since the weighted pairwise bandwidth of adjacent intersections is only related to that intersection and not to other intersections within the trunk line, once the traffic flow pattern of adjacent intersections is determined, the weighted pairwise bandwidth of the different traffic flow pattern sets of other intersections is independent of the traffic flow patterns of those two intersections (no aftereffect). In other words, the original problem of finding maximum B can be transformed into first finding the optimal traffic flow pattern set for the first N-1 intersections within the trunk line, maximizing the sum of the pairwise bandwidths of the first N-1 intersections. Based on this, the optimal traffic flow pattern corresponding to intersection N-1 is y. * Use release mode y * By combining the various passage modes z1, z2, ... of intersection N, the weighted pairwise bandwidth is calculated, and then the weighted pairwise bandwidth B is selected. (N-1)yNz Maximum set of release patterns As the optimal solution, the optimal passage mode for intersection N is thus obtained as z. * Based on the above analysis, the original problem max B has the property that solving subproblems has the same form as solving the original problem. Therefore, a continuous recurrence relation can be derived, and dynamic programming can be used to solve it. The recurrence relation for this problem can be expressed as follows:

[0188]

[0189] For example, the initial condition of the above recursive formula is Based on this initial condition, the passage mode i that maximizes the weighted pairwise bandwidth of intersections A and B can be uniquely determined. * j * Based on this, the optimal passage mode k for intersections C, D, ..., N-1, N can be sequentially calculated using dynamic programming recursion. * l * ... y * z * .

[0190] The second step is to convert the relative phase difference at each intersection of the main line into an absolute phase difference.

[0191] For example, the relative phase difference of the optimal release modes of adjacent intersections within the main road can also be used. Transform into the optimal release mode i for intersection A * absolute phase difference based on For example, the following conversion method can be used:

[0192]

[0193]

[0194]

[0195] …

[0196]

[0197] At this point, the optimal release mode of each intersection in the trunk, the absolute phase difference corresponding to the optimal release mode, and the two-way bandwidth are determined, and the trunk two-way green initial coordination solving is completed, and the processing procedure is ended.

[0198] As can be seen from the above technical solutions, in the embodiments of the present application, a trunk two-way green initial coordination control method considering priority direction is proposed, which is a trunk two-way coordination algorithm considering guaranteeing the coordination effect of the priority direction, and is suitable for trunk intersection signal control, and is conducive to guaranteeing the coordination effect of the priority direction while taking into account the coordination effect of the non-priority direction, reducing driving delay and parking times. It can accurately set the green light start phase difference, realize two-way green initial coordination control, and does not need users to manually set the green light start phase difference between intersections according to experience, improving user experience. By using the offset time as the optimization basis for two-way green initial coordination control, the trunk green initial two-way coordination and the priority direction coordination are unified, and when the two-way coordination control is limited in release mode, the control is realized by coordinating the priority direction. The upstream intersection of the priority direction comes to the downstream intersection after the coordinated flow of the green light is turned on, which is conducive to queue emptying and the first vehicle obtaining the green wave coordination effect, reducing the number of delays and parking times. On the basis of being suitable for conventional scenes, the applicability of high branch inflow scenes and short intersection distance scenes is improved, expanding the application range of trunk coordination signal control algorithm. Support one or more release modes used by each intersection, freely combine phase and lane correspondence, and also applicable in the case of pedestrian and motor vehicle special phase constraints.

[0199] Based on the same application concept as the above method, the embodiments of the present application propose a two-way green initial coordination control device, the first intersection supports M first release modes, and the second intersection supports N second release modes, as shown in Figure 5 The device can include:

[0200] The generation module 51 is configured to generate a plurality of release mode sets based on the M first release modes supported by the first intersection and the N second release modes supported by the second intersection; for each release mode set, the release mode set includes a first release mode and a second release mode;

[0201] The determination module 52 is configured to determine an offset time amount corresponding to the release mode set based on an ideal time difference corresponding to the release mode set, and determine an allocation time amount based on the offset time amount; and

[0202] determining a target coordination mode corresponding to the set of release modes based on the allocated time amount; and

[0203] determining a phase difference corresponding to the set of release modes based on the target coordination mode;

[0204] The processing module 53 is configured to select a target set of release modes based on the phase difference corresponding to each set of release modes, determine a first release mode in the target set of release modes as the target release mode of the first intersection, determine a second release mode in the target set of release modes as the target release mode of the second intersection, and determine the phase difference corresponding to the target set of release modes as the target phase difference between the first intersection and the second intersection.

[0205] For example, when the determining module 52 determines the offset time amount corresponding to the set of release modes based on the ideal time difference corresponding to the set of release modes, it is specifically configured to: determine the ideal time difference based on the distance from the first intersection to the second intersection, the distance from the second intersection to the first intersection, the travel speed from the first intersection to the second intersection, the travel speed from the second intersection to the first intersection, a public cycle, and a first actual time difference; determine a target integer value based on a second actual time difference and the ideal time difference; the difference between the sum of the target integer value, the public cycle, and the ideal time difference, and the second actual time difference is within a preset numerical interval, which is determined based on the public cycle; and determine the offset time amount corresponding to the set of release modes based on the second actual time difference, the ideal time difference, the target integer value, and the public cycle.

[0206] For example, if the priority direction is the uplink direction from the first intersection to the second intersection, the ideal time difference is the ideal time difference from the uplink coordination phase green light start point to the downlink coordination phase green light start point of the first release mode, the first actual time difference is the actual time difference from the uplink coordination phase green light start point to the downlink coordination phase green light start point of the second release mode, and the second actual time difference is the actual time difference from the uplink coordination phase green light start point to the downlink coordination phase green light start point of the first release mode; or, if the priority direction is the downlink direction from the second intersection to the first intersection, the ideal time difference is the ideal time difference from the downlink coordination phase green light start point to the uplink coordination phase green light start point of the second release mode, the first actual time difference is the actual time difference from the downlink coordination phase green light start point to the uplink coordination phase green light start point of the first release mode, and the second actual time difference is the actual time difference from the downlink coordination phase green light start point to the uplink coordination phase green light start point of the second release mode.

[0207] For example, the determining module 52, when determining the distribution time amount based on the offset time amount, is specifically configured to: determine the distribution time amount based on the offset time amount, the uplink direction coordinated phase green light duration of the second release mode, and the downlink direction coordinated phase green light duration of the first release mode.

[0208] For example, the determining module 52, when determining the target coordinated mode corresponding to the release mode set based on the distribution time amount, is specifically configured to: if the distribution time amount is less than a green initial coordinated threshold, determine the target coordinated mode as a bidirectional coordinated mode; if the distribution time amount is not less than the green initial coordinated threshold, determine the target coordinated mode as a priority direction coordinated mode; wherein the green initial coordinated threshold is a preconfigured value; or, when the priority direction is an uplink direction from the first intersection to the second intersection, the green initial coordinated threshold is a value determined based on the uplink direction coordinated phase green light duration of the second release mode; or, when the priority direction is a downlink direction from the second intersection to the first intersection, the green initial coordinated threshold is a value determined based on the downlink direction coordinated phase green light duration of the first release mode.

[0209] For example, when the target coordinated mode is the bidirectional coordinated mode, the determining module 52, when determining the phase difference corresponding to the release mode set based on the target coordinated mode, is specifically configured to: if the priority direction is the uplink direction from the first intersection to the second intersection, determine the phase difference of the second release mode of the second intersection relative to the first release mode of the first intersection based on the interval from the first intersection to the second intersection, the travel speed from the first intersection to the second intersection, the distribution time amount, the time difference of the uplink direction coordinated phase green light start time of the second release mode relative to the first phase green light start time of the second release mode, the time difference of the uplink direction coordinated phase green light start time of the first release mode relative to the first phase green light start time of the first release mode, and the common cycle; or, if the priority direction is the downlink direction from the second intersection to the first intersection, determine the phase difference of the second release mode of the second intersection relative to the first release mode of the first intersection based on the interval from the second intersection to the first intersection, the travel speed from the second intersection to the first intersection, the distribution time amount, the time difference of the downlink direction coordinated phase green light start time of the second release mode relative to the first phase green light start time of the second release mode, the time difference of the downlink direction coordinated phase green light start time of the first release mode relative to the first phase green light start time of the first release mode, and the common cycle.

[0210] For example, if the target coordination mode is the priority direction coordination mode, the determining module 52 is specifically configured to determine the phase difference corresponding to the release mode set based on the target coordination mode as follows: if the priority direction is the uplink direction from the first intersection to the second intersection, determine the phase difference between the second release mode of the second intersection and the first release mode of the first intersection based on the distance between the first intersection and the second intersection, the travel speed between the first intersection and the second intersection, the time difference between the green light start time of the uplink coordination phase of the second release mode and the first phase green light start time of the second release mode, the time difference between the green light start time of the uplink coordination phase of the first release mode and the first phase green light start time of the first release mode, and the common cycle; or, if the priority direction is the downlink direction from the second intersection to the first intersection, determine the phase difference between the second release mode of the second intersection and the first release mode of the first intersection based on the distance between the second intersection and the first intersection, the travel speed between the second intersection and the first intersection, the time difference between the green light start time of the downlink coordination phase of the second release mode and the first phase green light start time of the second release mode, the time difference between the green light start time of the downlink coordination phase of the first release mode and the first phase green light start time of the first release mode, and the common cycle.

[0211] For example, the determining module 52 is further configured to determine the uplink coordination phase lane average flow on the trunk based on the uplink coordination phase lane average flow of the first intersection and the uplink coordination phase lane average flow of the second intersection, determine the downlink coordination phase lane average flow on the trunk based on the downlink coordination phase lane average flow of the first intersection and the downlink coordination phase lane average flow of the second intersection, determine that the priority direction is the uplink direction from the first intersection to the second intersection if the uplink coordination phase lane average flow on the trunk is greater than or equal to the downlink coordination phase lane average flow on the trunk, and determine that the priority direction is the downlink direction from the second intersection to the first intersection if the uplink coordination phase lane average flow on the trunk is less than the downlink coordination phase lane average flow on the trunk.

[0212] For example, the processing module 53 is specifically configured to: for each release mode set, determine a first green wave bandwidth time window corresponding to the phase difference in the uplink direction, and determine a second green wave bandwidth time window corresponding to the phase difference in the downlink direction; determine a target green wave bandwidth time window corresponding to the release mode set based on the first green wave bandwidth time window, a weight coefficient corresponding to the first green wave bandwidth time window, the second green wave bandwidth time window, and a weight coefficient corresponding to the second green wave bandwidth time window; and determine the release mode set corresponding to the maximum target green wave bandwidth time window as the target release mode set.

[0213] Based on the same application concept as the above method, an electronic device is provided in the embodiments of the present application, as shown in Figure 6 The electronic device includes a processor 61 and a machine readable storage medium 62, and the machine readable storage medium 62 stores machine executable instructions executable by the processor 61; and the processor 61 is configured to execute the machine executable instructions to implement the two-way green initial coordination control method disclosed in the above examples of the present application.

[0214] Based on the same application concept as the above method, the embodiments of the present application further provide a machine readable storage medium, and the machine readable storage medium stores a plurality of computer instructions, and the computer instructions are executable by a processor to implement the two-way green initial coordination control method disclosed in the above examples of the present application.

[0215] The machine readable storage medium can be any electronic, magnetic, optical, or other physical storage device, and can contain or store information such as executable instructions, data, and the like. For example, the machine readable storage medium can be a RAM (Random Access Memory), a volatile memory, a non-volatile memory, a flash memory, a storage drive (such as a hard disk drive), a solid state drive, any type of storage disk (such as an optical disk, a DVD, etc.), or similar storage medium, or a combination thereof.

[0216] The system, device, module or unit illustrated in the above embodiments can be implemented by a computer entity or a product with certain functions. A typical implementation device is a computer, and the specific form of the computer can be a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email transceiver device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0217] For the sake of description, the above-described apparatus is described with various units in function to describe the embodiment. Of course, the units can be implemented by one or more software and / or hardware for the embodiment of the present application.

[0218] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take a form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. In addition, the embodiments of the present application can take a form of a computer program product implemented on one or more computer-usable storage media (including but not limited to a disk memory, a CD-ROM, an optical memory, etc.) including computer-usable program codes.

[0219] The present application is described with reference to flowcharts and / or block diagrams of the method, device (system), and computer program product according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing apparatus to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing apparatus generate a means for implementing the functions specified in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 an apparatus that performs the functions specified in one or more flows and / or blocks.

[0220] In addition, these computer program instructions can also be stored in a computer-readable memory that can direct the computer or other programmable data processing apparatus to work in a specific manner, so that the instructions stored in the computer-readable memory produce a product including instruction apparatus, which implements the functions specified in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 an apparatus that performs the functions specified in one or more flows and / or blocks.

[0221] These computer program instructions can also be loaded into a computer or other programmable data processing apparatus, so that a series of operation steps are performed on the computer or other programmable data processing apparatus to produce a computer-implemented process, so that the instructions executed on the computer or other programmable data processing apparatus provide a means for implementing the functions specified in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 an apparatus that performs the functions specified in one or more flows and / or blocks.

[0222] The above merely provides an example of the present application, but is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application should be included in the scope of claims of the present application.

Claims

1. A bidirectional green initial coordination control method, characterized by, The first intersection supports M first release modes, and the second intersection supports N second release modes, and the method comprises: generating a plurality of release mode sets based on the M first release modes and the N second release modes; for each release mode set, the release mode set comprises a first release mode and a second release mode; determining an offset time amount corresponding to the release mode set based on an ideal time difference corresponding to the release mode set, and determining an allocation time amount based on the offset time amount; determining a target coordination mode corresponding to the release mode set based on the allocation time amount; determining a phase difference corresponding to the release mode set based on the target coordination mode; selecting a target release mode set based on the phase difference corresponding to each release mode set, determining a first release mode in the target release mode set as a target release mode of the first intersection, determining a second release mode in the target release mode set as a target release mode of the second intersection, and determining a target phase difference between the first intersection and the second intersection based on the phase difference corresponding to the target release mode set.

2. The method of claim 1, wherein, The method further comprises: determining the ideal time difference based on a distance from the first intersection to the second intersection, a distance from the second intersection to the first intersection, a travel speed from the first intersection to the second intersection, a travel speed from the second intersection to the first intersection, a common cycle, and a first actual time difference; determining a target integer value based on a second actual time difference and the ideal time difference; a difference between a sum of the target integer value and the ideal time difference and the second actual time difference is within a preset value interval, and the preset value interval is determined based on the common cycle; determining the offset time amount corresponding to the release mode set based on the second actual time difference, the ideal time difference, the target integer value, and the common cycle; wherein, if a priority direction is an uplink direction from the first intersection to the second intersection, the first actual time difference is an actual time difference from a green light start point of an uplink coordination phase to a green light start point of a downlink coordination phase of the second release mode, and the second actual time difference is an actual time difference from a green light start point of an uplink coordination phase to a green light start point of a downlink coordination phase of the first release mode; or, if the priority direction is a downlink direction from the second intersection to the first intersection, the first actual time difference is an actual time difference from a green light start point of a downlink coordination phase to a green light start point of an uplink coordination phase of the first release mode, and the second actual time difference is an actual time difference from a green light start point of a downlink coordination phase to a green light start point of an uplink coordination phase of the second release mode.

3. The method of claim 2, wherein: if the priority direction is the uplink direction from the first intersection to the second intersection, the ideal time difference is an ideal time difference from a green light start point of the uplink coordination phase to a green light start point of the downlink coordination phase of the first release mode; or ​ If the priority direction is a downlink direction from the second intersection to the first intersection, the ideal time difference is an ideal time difference from a green light start point of a downlink coordinated phase of the second release mode to a green light start point of an uplink coordinated phase.

4. The method of claim 1, wherein, determining the distribution time based on the offset time comprises: determining the distribution time based on the offset time, a green light duration of an uplink direction coordinated phase of the second release mode, and a green light duration of a downlink direction coordinated phase of the first release mode.

5. The method of claim 1, wherein, determining the target coordinated mode corresponding to the release mode set based on the distribution time comprises: if the distribution time is less than a green initial coordinated threshold, determining that the target coordinated mode is a bidirectional coordinated mode; and if the distribution time is not less than the green initial coordinated threshold, determining that the target coordinated mode is a priority direction coordinated mode. The green initial coordinated threshold is a preconfigured value; or when the priority direction is an uplink direction from the first intersection to the second intersection, the green initial coordinated threshold is a value determined based on a green light duration of an uplink direction coordinated phase of the second release mode; or when the priority direction is a downlink direction from the second intersection to the first intersection, the green initial coordinated threshold is a value determined based on a green light duration of a downlink direction coordinated phase of the first release mode.

6. The method of claim 5, wherein, If the target coordinated mode is a bidirectional coordinated mode, determining the phase difference corresponding to the release mode set based on the target coordinated mode comprises: If the priority direction is an uplink direction from the first intersection to the second intersection, determining the phase difference of the second release mode of the second intersection relative to the first release mode of the first intersection based on a distance from the first intersection to the second intersection, a travel speed from the first intersection to the second intersection, the distribution time, a time difference between a green light start time of an uplink direction coordinated phase of the second release mode and a first phase green light start time of the second release mode, a time difference between a green light start time of an uplink direction coordinated phase of the first release mode and a first phase green light start time of the first release mode, and a common cycle. If the priority direction is a downlink direction from the second intersection to the first intersection, determining the phase difference of the second release mode of the second intersection relative to the first release mode of the first intersection based on a distance from the second intersection to the first intersection, a travel speed from the second intersection to the first intersection, the distribution time, a time difference between a green light start time of a downlink direction coordinated phase of the second release mode and a first phase green light start time of the second release mode, a time difference between a green light start time of a downlink direction coordinated phase of the first release mode and a first phase green light start time of the first release mode, and a common cycle.

7. The method of claim 5, wherein, If the target coordinated mode is a priority direction coordinated mode, determining the phase difference corresponding to the release mode set based on the target coordinated mode comprises: if the priority direction is an uplink direction from the first intersection to the second intersection, determining a phase difference of the second release mode of the second intersection relative to the first release mode of the first intersection based on a distance from the first intersection to the second intersection, a travel speed from the first intersection to the second intersection, a time difference of a green light start time of an uplink coordination phase of the second release mode relative to a first phase green light start time of the second release mode, a time difference of a green light start time of an uplink coordination phase of the first release mode relative to a first phase green light start time of the first release mode, and a common cycle; if the priority direction is a downlink direction from the second intersection to the first intersection, determining a phase difference of the second release mode of the second intersection relative to the first release mode of the first intersection based on a distance from the second intersection to the first intersection, a travel speed from the second intersection to the first intersection, a time difference of a green light start time of a downlink coordination phase of the second release mode relative to a first phase green light start time of the second release mode, a time difference of a green light start time of a downlink coordination phase of the first release mode relative to a first phase green light start time of the first release mode, and a common cycle.

8. The method of any one of claims 3, 5-7, wherein, The method further comprises: determining an arterial uplink coordination phase lane average flow based on an uplink coordination phase lane average flow of the first intersection and an uplink coordination phase lane average flow of the second intersection; determining an arterial downlink coordination phase lane average flow based on a downlink coordination phase lane average flow of the first intersection and a downlink coordination phase lane average flow of the second intersection; if the arterial uplink coordination phase lane average flow is greater than or equal to the arterial downlink coordination phase lane average flow, determining that the priority direction is an uplink direction from the first intersection to the second intersection; if the arterial uplink coordination phase lane average flow is less than the arterial downlink coordination phase lane average flow, determining that the priority direction is a downlink direction from the second intersection to the first intersection.

9. The method of claim 1, wherein: the selecting the target release mode set based on the phase difference corresponding to each release mode set comprises: for each release mode set, determining a first green wave bandwidth time window corresponding to the phase difference in the uplink direction based on the phase difference corresponding to the release mode set, and determining a second green wave bandwidth time window corresponding to the phase difference in the downlink direction based on the phase difference corresponding to the release mode set; determining a target green wave bandwidth time window corresponding to the release mode set based on the first green wave bandwidth time window, a weight coefficient corresponding to the first green wave bandwidth time window, the second green wave bandwidth time window, and a weight coefficient corresponding to the second green wave bandwidth time window; determining the target release mode set corresponding to the maximum target green wave bandwidth time window.

10. A bidirectional green initial coordination control device, characterized by, the first intersection supports M first release modes, and the second intersection supports N second release modes, and the device comprises: The generating module is configured to generate a plurality of release mode sets based on the M first release modes supported by the first intersection and the N second release modes supported by the second intersection; for each release mode set, the release mode set comprises a first release mode and a second release mode; The determining module is configured to determine an offset time amount corresponding to the release mode set based on an ideal time difference corresponding to the release mode set, and determine an allocation time amount based on the offset time amount; and determine a target coordination mode corresponding to the release mode set based on the allocation time amount; and determine a phase difference corresponding to the release mode set based on the target coordination mode; The processing module is configured to select a target release mode set based on the phase difference corresponding to each release mode set, determine a target release mode in the target release mode set as a target release mode of the first intersection, and determine a second release mode in the target release mode set as a target release mode of the second intersection, and determine a target phase difference between the first intersection and the second intersection based on the phase difference corresponding to the target release mode set.

11. The apparatus of claim 10, Its characteristics are, Wherein, When the determining module determines the offset time amount corresponding to the release mode set based on the ideal time difference corresponding to the release mode set, it is specifically configured to determine the ideal time difference based on the distance from the first intersection to the second intersection, the distance from the second intersection to the first intersection, the travel speed from the first intersection to the second intersection, the travel speed from the second intersection to the first intersection, the public period and the first actual time difference; determine a target integer value based on the second actual time difference and the ideal time difference; The difference between the sum of the target integer value and the ideal time difference and the second actual time difference is located in a preset value interval, and the preset value interval is determined based on the public period; determine the offset time amount corresponding to the release mode set based on the second actual time difference, the ideal time difference, the target integer value and the public period; If the priority direction is an uplink direction from the first intersection to the second intersection, the ideal time difference is an ideal time difference from a green light start point of an uplink coordinated phase of the first release mode to a green light start point of a downlink coordinated phase, the first actual time difference is an actual time difference from the green light start point of the uplink coordinated phase of the second release mode to the green light start point of the downlink coordinated phase, and the second actual time difference is an actual time difference from the green light start point of the uplink coordinated phase of the first release mode to the green light start point of the downlink coordinated phase; or if the priority direction is a downlink direction from the second intersection to the first intersection, the ideal time difference is an ideal time difference from a green light start point of a downlink coordinated phase of the second release mode to a green light start point of an uplink coordinated phase, the first actual time difference is an actual time difference from a green light start point of a downlink coordinated phase of the first release mode to a green light start point of an uplink coordinated phase, and the second actual time difference is an actual time difference from the green light start point of the downlink coordinated phase of the second release mode to the green light start point of the uplink coordinated phase; The determination module is specifically configured to determine the distribution time amount based on the offset time amount, a green light duration of an uplink direction coordinated phase of the second release mode, and a green light duration of a downlink direction coordinated phase of the first release mode. The determination module is specifically configured to determine the target coordinated mode corresponding to the release mode set based on the distribution time amount, and specifically configured to: if the distribution time amount is less than a green initial coordinated threshold, determine that the target coordinated mode is a bidirectional coordinated mode; or if the distribution time amount is not less than the green initial coordinated threshold, determine that the target coordinated mode is a priority direction coordinated mode; wherein the green initial coordinated threshold is a preconfigured value; or, when the priority direction is an uplink direction from the first intersection to the second intersection, the green initial coordinated threshold is a value determined based on the green light duration of the uplink direction coordinated phase of the second release mode; or, when the priority direction is a downlink direction from the second intersection to the first intersection, the green initial coordinated threshold is a value determined based on the green light duration of the downlink direction coordinated phase of the first release mode. If the target coordination mode is the bidirectional coordination mode, the determining module determines the phase difference corresponding to the release mode set based on the target coordination mode in the following manner. If the priority direction is the uplink direction from the first intersection to the second intersection, the phase difference between the second release mode of the second intersection and the first release mode of the first intersection is determined based on the distance between the first intersection and the second intersection, the travel speed between the first intersection and the second intersection, the allocated time amount, the time difference between the green light start time of the uplink coordination phase of the second release mode and the first phase green light start time of the second release mode, the time difference between the green light start time of the uplink coordination phase of the first release mode and the first phase green light start time of the first release mode, and the common cycle. If the priority direction is the downlink direction from the second intersection to the first intersection, the phase difference between the second release mode of the second intersection and the first release mode of the first intersection is determined based on the distance between the second intersection and the first intersection, the travel speed between the second intersection and the first intersection, the time difference between the green light start time of the downlink coordination phase of the second release mode and the first phase green light start time of the second release mode, the time difference between the green light start time of the downlink coordination phase of the first release mode and the first phase green light start time of the first release mode, and the common cycle. If the target coordination mode is the priority direction coordination mode, the determining module determines the phase difference corresponding to the release mode set based on the target coordination mode in the following manner. If the priority direction is the uplink direction from the first intersection to the second intersection, the phase difference between the second release mode of the second intersection and the first release mode of the first intersection is determined based on the distance between the first intersection and the second intersection, the travel speed between the first intersection and the second intersection, the time difference between the green light start time of the uplink coordination phase of the second release mode and the first phase green light start time of the second release mode, the time difference between the green light start time of the uplink coordination phase of the first release mode and the first phase green light start time of the first release mode, and the common cycle. If the priority direction is the downlink direction from the second intersection to the first intersection, the phase difference between the second release mode of the second intersection and the first release mode of the first intersection is determined based on the distance between the second intersection and the first intersection, the travel speed between the second intersection and the first intersection, the time difference between the green light start time of the downlink coordination phase of the second release mode and the first phase green light start time of the second release mode, the time difference between the green light start time of the downlink coordination phase of the first release mode and the first phase green light start time of the first release mode, and the common cycle. The determination module is further configured to determine the average lane flow of the uplink direction of the trunk road based on the average lane flow of the uplink direction of the coordinated phase of the first intersection and the average lane flow of the uplink direction of the coordinated phase of the second intersection, determine the average lane flow of the downlink direction of the trunk road based on the average lane flow of the downlink direction of the coordinated phase of the first intersection and the average lane flow of the downlink direction of the coordinated phase of the second intersection, determine the priority direction as the uplink direction from the first intersection to the second intersection if the average lane flow of the uplink direction of the trunk road is greater than or equal to the average lane flow of the downlink direction of the trunk road, and determine the priority direction as the downlink direction from the second intersection to the first intersection if the average lane flow of the uplink direction of the trunk road is less than the average lane flow of the downlink direction of the trunk road. The processing module is configured to, when selecting the target release mode set based on the phase difference corresponding to each release mode set, determine, for each release mode set, a first green wave bandwidth time window corresponding to the phase difference in the uplink direction based on the phase difference corresponding to the release mode set, and determine a second green wave bandwidth time window corresponding to the phase difference in the downlink direction based on the phase difference corresponding to the release mode set; determine a target green wave bandwidth time window corresponding to the release mode set based on the first green wave bandwidth time window, a weight coefficient corresponding to the first green wave bandwidth time window, the second green wave bandwidth time window, and a weight coefficient corresponding to the second green wave bandwidth time window; and determine the release mode set corresponding to the maximum target green wave bandwidth time window as the target release mode set based on the target green wave bandwidth time window corresponding to each release mode set.

12. An electronic device, comprising: The processor and the machine readable storage medium storing machine executable instructions executable by the processor are included. The processor is configured to execute the machine executable instructions to implement the method in any of claims 1-9. ​

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