A signal lamp sensing control method, device and electronic equipment

Abstract

Embodiments of the present application provide a signal lamp sensing control method and device and electronic equipment. In the embodiments, the release duration of a current release phase is determined according to the relationship between the vehicle queue length corresponding to the current sensing time detection time point of the current release phase and the set queue length threshold, which avoids the problem that the waiting release time of vehicles of other phases becomes longer due to the increase of the release duration as long as the vehicle data is detected within the sensing detection time at a road intersection with less vehicles, and improves the intersection passing efficiency. Further, the release duration of the current phase is determined according to the relationship between the vehicle queue length corresponding to the current release phase and the set queue length threshold, which avoids the situation that the vehicles behind each release lane of the current release phase must stop once as the maximum release duration is reached, ensures that the vehicles within the vehicle queue length pass the road intersection at a road intersection with dense vehicles, and reduces the number of vehicle stops within the vehicle queue length.

Description

Technical Field

[0001] This application relates to the field of transportation, and more particularly to a traffic light sensing control method, device, and electronic equipment. Background Technology

[0002] Inductive control refers to a control method that uses vehicle detectors installed in each lane of a target intersection to detect vehicle data (e.g., the queue length of vehicles in the currently permitted lane) and dynamically adds seconds to ensure that phase timing meets traffic demand. Currently, the commonly used inductive control method is as follows: within the current detection time (i.e., the preset time remaining until the end of the permitted lane), if a vehicle is detected, the traffic light controller increases the permitted lane duration by a unit extension (the dynamic increase in duration for each permitted lane). However, based on this method, when traffic volume is low, the permitted lane duration of the currently permitted phase can easily reach the maximum permitted lane duration (i.e., the maximum permitted time for the phase), causing other phases to wait longer for permission to proceed. Summary of the Invention

[0003] In view of this, embodiments of this application provide a traffic light sensing control method, device, and electronic device to achieve traffic light sensing control by using the vehicle queue length corresponding to the current release phase, thereby avoiding the problem of increasing the release time as long as passing vehicle data is detected within the sensing detection time, which would lead to longer waiting times for other phases.

[0004] According to a first aspect of the embodiments of this application, a traffic light sensing control method is provided, the method being applied to a traffic light controller, the method comprising:

[0005] The vehicle queue length corresponding to the current release phase at the current sensing and detection time point of the target intersection is obtained. The vehicle queue length corresponding to the current release phase at the current sensing and detection time point is determined based on the number of release lanes corresponding to the current release phase and the vehicle queue length on each release lane.

[0006] If the vehicle queue length corresponding to the current release phase at the current sensing and detection time point is less than the set minimum queue length threshold len1, then the current first release duration of the current release phase is maintained.

[0007] If the vehicle queue length corresponding to the current release phase at the current sensing and detection time point is greater than or equal to the pre-set first queue length threshold len x And less than the pre-set second queue length threshold len y, then adjust the first release duration based on x to obtain a second release duration, where the second release duration is greater than the first release duration; 1 ≤ x < y ≤ n; the first queue length threshold is greater than or equal to the minimum queue length threshold and less than the second queue length threshold, and the second queue length threshold is less than or equal to the set maximum queue length threshold len n ;

[0008] If the vehicle queue length corresponding to the current release phase at the current induction detection time point is greater than or equal to the maximum queue length threshold len n , then adjust the first release duration based on the vehicle queue lengths corresponding to other phases of the target intersection at the current induction detection time point to obtain a third release duration, where the third release duration is greater than or equal to the second release duration.

[0009] According to the second aspect of the embodiments of the present application, there is provided a signal lamp induction control device, which is applied to a signal lamp controller, and the device includes:

[0010] A first vehicle queue length obtaining module, configured to obtain the vehicle queue length corresponding to the current release phase of the target intersection at the current induction detection time point, where the vehicle queue length corresponding to the current release phase at the current induction detection time point is determined based on the number of release lanes corresponding to the current release phase and the vehicle queue lengths on each release lane;

[0011] A release duration maintaining module, configured to maintain the current first release duration of the current release phase if the vehicle queue length corresponding to the current release phase at the current induction detection time point is less than the set minimum queue length threshold len1;

[0012] A first release duration adjusting module, configured to, if the vehicle queue length corresponding to the current release phase at the current induction detection time point is greater than or equal to the set first queue length threshold len x and less than the set second queue length threshold len y , then adjust the first release duration based on x to obtain a second release duration, where the second release duration is greater than the first release duration; 1 ≤ x < y ≤ n; the first queue length threshold is greater than or equal to the minimum queue length threshold and less than the second queue length threshold, and the second queue length threshold is less than or equal to the set maximum queue length threshold len n ;

[0013] A second release duration adjusting module, configured to, if the vehicle queue length corresponding to the current release phase at the current induction detection time point is greater than or equal to the maximum queue length threshold len nThen, based on the vehicle queue length corresponding to the current sensing and detection time point of the other phases of the target intersection, the first release time is adjusted to obtain a third release time, wherein the third release time is greater than or equal to the second release time.

[0014] According to a third aspect of the embodiments of this application, an electronic device is provided, the electronic device comprising: a processor and a memory;

[0015] The memory is used to store machine-executable instructions;

[0016] The processor is configured to read and execute machine-executable instructions stored in the memory to implement the method as described in the first aspect.

[0017] The technical solutions provided in this application embodiment may include the following beneficial effects:

[0018] In this embodiment, the release duration of the current release phase is determined by the relationship between the vehicle queue length at the current sensing time point and a pre-set queue length threshold. Specifically, if the vehicle queue length is less than the minimum queue length threshold len1, the current first release duration of the current release phase is maintained; if the vehicle queue length is greater than or equal to the first queue length threshold len1, the release duration is maintained. x And the second queue length threshold len y Then, based on x, the first release time is adjusted to obtain the second release time. If the vehicle queue length is greater than or equal to the maximum queue length threshold len... n The first release time is adjusted based on the vehicle queue length of other phases at the current sensing and detection time point to obtain the third release time. This avoids the problem of increasing the release time for vehicles in other phases due to the detection of passing data within the sensing and detection time at intersections with fewer vehicles, thus improving the traffic efficiency of the intersection.

[0019] Furthermore, the release time for the current phase is determined based on the relationship between the vehicle queue length corresponding to the current release phase and the pre-set queue length threshold. This avoids the situation where the maximum release time is reached quickly, causing vehicles at the back of the queue in each release lane of the current release phase to have to stop once. This ensures that vehicles within the queue length can pass through the intersection in densely populated areas, reducing the number of times vehicles within the queue length need to stop. Attached Figure Description

[0020] Figure 1 This is a flowchart illustrating a traffic light sensing control method according to an embodiment of this application.

[0021] Figure 2 This is an example diagram illustrating the queue length threshold setting in an embodiment of this application.

[0022] Figure 3 This is a block diagram of a traffic light sensing control device shown in an embodiment of this application.

[0023] Figure 4 This is a block diagram illustrating an electronic device according to an embodiment of this application. Detailed Implementation

[0024] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0025] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0026] It should be understood that although the terms first, second, third, etc., may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0027] The embodiments described in this specification will now be described in detail.

[0028] See Figure 1 , Figure 1 This is a flowchart illustrating a method provided in an embodiment of this application. The method is applied to a traffic light controller, which controls the switching of traffic light phases.

[0029] like Figure 1 As shown, the process may include the following steps:

[0030] S110: Obtain the vehicle queue length corresponding to the current release phase of the target intersection at the current sensing detection time point.

[0031] For example, in this embodiment, the target intersection can be any intersection, such as a crossroads, a T-junction, etc., and this embodiment of the application is not specifically limited.

[0032] In this embodiment, a vehicle detector is deployed on each lane of the target intersection. This detector performs real-time detection of vehicles in its lane and, upon detecting the queue length of vehicles in the corresponding lane, sends the queue length to the traffic light controller. Here, the vehicle detector can be, for example, a radar-visual integrated machine; this embodiment is not specifically limited to this.

[0033] For example, in this embodiment, the sensing detection time is preset and is used to indicate how much time is left before the end of the current release phase. Here, the sensing detection time can be any time. For example, when the sensing detection time is 6s, it means that there are 6s left before the end of the current release phase.

[0034] Based on the above description, the current sensing detection time point refers to the time point from the end time of the current release phase to the sensing detection time. For example, if the end time of the current release phase is 9:10 and the sensing detection time is 6 seconds, then the current sensing detection time point is 9:09:54.

[0035] For example, in this embodiment, the vehicle queue length corresponding to the current release phase at the current sensing detection time is determined based on the number of release lanes corresponding to the current release phase and the vehicle queue length on each release lane. In this embodiment, the current release phase may correspond to only one release lane or multiple release lanes. Specifically, determining the vehicle queue length corresponding to the current release phase at the current sensing detection time based on the number of release lanes corresponding to the current release phase and the vehicle queue length on each release lane can be as follows: if the number of release lanes corresponding to the current release phase is greater than 1, then the average value of the vehicle queue length on each release lane is calculated, and the calculation result is used as the vehicle queue length corresponding to the current release phase at the current sensing detection time; otherwise, the vehicle queue length on the release lane is used as the vehicle queue length corresponding to the current release phase at the current sensing detection time.

[0036] Here, the queue length of vehicles in any given lane refers to the distance between the first and last vehicles in that lane.

[0037] S120: If the vehicle queue length corresponding to the current sensing detection time point of the current release phase is less than the set minimum queue length threshold len1, then the current first release duration of the current release phase is maintained.

[0038] For example, in this embodiment, before performing this step, a queue length threshold is pre-set in the traffic light controller. This queue length threshold can be set to n values, such as... Figure 2 len1~len n len1~len n The number increases sequentially, and n is greater than 1.

[0039] It should be noted that the specific value of the queue length threshold and the number of queue length thresholds can be set according to the actual situation, and the embodiments of this application are not specifically limited.

[0040] For example, when the maximum length that the vehicle detector can detect is 400 meters, n can be 8. Thus, the set thresholds for each queue length are: len1 = 50m, len2 = 100m, len3 = 150m, len4 = 200m, len5 = 250m, len6 = 300m, len7 = 350m, len8 = 400m.

[0041] It should be noted that the above-mentioned queue length thresholds len1 to len n The equal interval division is merely an example and is not intended to limit this application. The queue length threshold len1~len n It can also be divided into non-equal intervals, for example, len1=30m, len2=50m, len3=120m, len4=250m, len5=280m, len6=300m, len7=360m, len8=400m.

[0042] In this embodiment, in step S120, if the vehicle queue length corresponding to the current release phase at the current sensing and detection time point is less than the set minimum queue length threshold len1, it is considered that there are few vehicles in the release lane corresponding to the current release phase, and there is no need to extend the release time of the current release phase. The current first release time of the current release phase can be maintained.

[0043] S130: If the vehicle queue length corresponding to the current release phase at the current sensing and detection time point is greater than or equal to the pre-set first queue length threshold len x And less than the pre-set second queue length threshold len y Then, based on x, the first release time is adjusted to obtain the second release time.

[0044] For example, in this embodiment, based on the above description of the queue length threshold setting, len x This represents the x-th queue length threshold set after the thresholds have been sorted by size once, len. y This represents the set threshold for the y-th queue length.

[0045] In this embodiment, if the vehicle queue length corresponding to the current release phase at the current induction detection time point is greater than or equal to the set first queue length threshold len x and less than the set second queue length threshold len y , it means that the first release duration of the current release phase needs to be adjusted, that is, the first release duration needs to be extended, so the second release duration is greater than the first release duration. 1≤x<y≤n; the first queue length threshold is greater than or equal to the minimum queue length threshold and less than the second queue length threshold, and the second queue length threshold is less than or equal to the set maximum queue length threshold len n .

[0046] In this embodiment, in this step S130, if the vehicle queue length corresponding to the current release phase at the current induction detection time point is greater than or equal to the first queue length threshold len x and less than the second queue length threshold len y , the first release duration is adjusted based on x to obtain the second release duration.

[0047] In this embodiment, there are many ways to adjust the first release duration based on x to obtain the second release duration. For example, the first release duration is adjusted according to the following formula to obtain the second release duration:

[0048]

[0049] where g final represents the second release duration; g begin represents the first release duration; g unit represents the unit extension duration; g max1 represents the set first maximum release duration.

[0050] For another example, for the above set n queue length thresholds, n - 1 queue length ranges can be obtained, that is, len1~len2, len2~len3,..., len n-1 ~len n , and a corresponding release extension duration is configured in advance for each queue length range. Based on the queue length range in which the vehicle queue length corresponding to the current release phase at the current induction detection time point is located, the target release extension duration is found from the corresponding relationship between the set queue length range and the release extension duration, and the second release duration of the current phase is determined according to the sum of the found target release extension duration and the first release duration of the current release phase. The embodiments of the present application do not specifically limit this.

[0051] S140: If the vehicle queue length corresponding to the current release phase at the current sensing and detection time point is greater than or equal to the maximum queue length threshold len n Then, based on the vehicle queue length corresponding to the current sensing detection time point of other phases at the target intersection, the first release time is adjusted to obtain the third release time, which is greater than or equal to the second release time.

[0052] For example, in this embodiment, in step S140, if the vehicle queue length corresponding to the current release phase at the current sensing and detection time point is greater than or equal to the maximum queue length threshold len n Then, the vehicle queue length of other phases at the target intersection at the current sensing detection time point is obtained. Here, the method for determining the vehicle queue length of other phases at the current sensing detection time point is the same as the method for determining the vehicle queue length of the current release phase at the current sensing detection time point, and will not be repeated here.

[0053] In this embodiment, after obtaining the vehicle queue lengths of other phases at the current sensing and detection time, the first release time is adjusted based on the vehicle queue lengths of other phases at the current sensing and detection time to obtain the third release time. Here, there are many methods to adjust the first release time based on the vehicle queue lengths of other phases at the current sensing and detection time to obtain the third release time. For example, the vehicle queue length of the current release phase is compared with the vehicle queue lengths of other phases. If the vehicle queue length of the current release phase is greater than or equal to the vehicle queue lengths of other phases, then the third release time is the pre-set second maximum release time. If the vehicle queue length of the current release phase is less than the vehicle queue length of one of the other phases, then the third release time is the pre-set first maximum release time. Here, the second maximum release time is greater than the first maximum release time.

[0054] Of course, there are other ways to adjust the first release time based on the vehicle queue length of other phases at the current sensing and detection time to obtain the third release time. Examples are given below, and will not be elaborated here.

[0055] This concludes the process. Figure 1 The process is shown below.

[0056] pass Figure 1 As shown in the flowchart, in this embodiment, the release duration of the current release phase is determined by the relationship between the vehicle queue length corresponding to the current sensing time point of the current release phase and the pre-set queue length threshold. That is, if the vehicle queue length is less than the minimum queue length threshold len1, the current first release duration of the current release phase is maintained; if the vehicle queue length is greater than or equal to the first queue length threshold len1, the release duration is maintained. x And the second queue length threshold leny Then, based on x, the first release time is adjusted to obtain the second release time. If the vehicle queue length is greater than or equal to the maximum queue length threshold len... n The first release time is adjusted based on the vehicle queue length of other phases at the current sensing and detection time point to obtain the third release time. This avoids the problem of increasing the release time for vehicles in other phases due to the detection of passing data within the sensing and detection time at intersections with fewer vehicles, thus improving the traffic efficiency of the intersection.

[0057] Furthermore, the release time for the current phase is determined based on the relationship between the vehicle queue length corresponding to the current release phase and the pre-set queue length threshold. This avoids the situation where the maximum release time is reached quickly, causing vehicles at the back of the queue in each release lane of the current release phase to have to stop once. This ensures that vehicles within the queue length can pass through the intersection in densely populated areas, reducing the number of times vehicles within the queue length need to stop.

[0058] The method for determining the second release duration is described below. Specifically, this traffic light sensing control method also includes:

[0059] Step a: Obtain the vehicle queue length corresponding to each unit time point in the target time period for the current release phase.

[0060] For example, in this embodiment, the target time period is the period from the start time of the current release phase to the current sensing and detection time. In this embodiment, the vehicle detector detects the vehicle queue length of its corresponding lane in real time; therefore, it obtains the vehicle queue length corresponding to each unit time point of the current release phase within the target time period.

[0061] Step b: Based on the vehicle queue length at each unit time point in the target time period for the current release phase, determine the queue length growth rate for the current release phase.

[0062] For example, in this embodiment, determining the queue length growth rate of the current release phase based on the vehicle queue length at each unit time point within the target time period can specifically be as follows:

[0063] The fitting function obtained by fitting the vehicle queue length at each unit time point (here, the function fitting method is a conventional fitting method, which will not be described in detail here) is then differentiated with respect to time to obtain the queue length growth rate of the current release phase.

[0064] In this embodiment, the specific method for obtaining the queue length growth rate of the current release phase by taking the derivative of the fitted function with respect to time is as follows:

[0065]

[0066] Where, λ now This represents the queue length growth rate for the current release phase. This indicates that the derivative is taken with respect to time.

[0067] In step S130 above, the first release time is adjusted based on x to obtain the second release time, including:

[0068] The first release time is adjusted based on x and the queue length growth rate of the current release phase to obtain the second release time.

[0069] For example, in this embodiment, the first release time is adjusted based on x and the queue length growth rate of the current release phase to obtain the second release time. Specifically, the adjustment can be made according to the following formula:

[0070]

[0071] Among them, g final Indicates the second release duration; g begin Indicates the first clearance duration; g unit Indicates the unit of extension duration; λ n0w This represents the queue length growth rate for the current release phase; g rnax1 This indicates the pre-set maximum release time.

[0072] For example, when len1≤len now When len2 < len2, the extended release time is (1 + λ) n0w )g unit When len2≤len now When len < 3, the release extension time is (2 + λ) now )g unit ...and so on, len n-1 ≤len now <len n If so, the release time extension is (n-1+λ) now )g unit Here, len now This refers to the vehicle queue length corresponding to the current release phase at the current sensing detection time.

[0073] This application embodiment achieves a queue reaching a specific threshold len. x When considering the growth trend of vehicle queue length during this period, compared to simply using `len` statically... x Adding seconds would be more reasonable.

[0074] As an optional implementation of this application, in step S140 above, adjusting the first release time based on the vehicle queue length corresponding to the other phases of the target intersection at the current sensing detection time point to obtain the third release time includes:

[0075] First, the passage weights of other phases are determined based on the vehicle queue lengths of other phases at the current sensing and detection time point and the queue length growth rate of other phases. The passage weights of the current release phase are determined based on the vehicle queue lengths of the current release phase at the current sensing and detection time point and the queue length growth rate of the current release phase. The passage weights of any phase are used to characterize the right of passage for that phase.

[0076] For example, in this embodiment, the method for determining the queue length growth rate of other phases is the same as the method for determining the queue length growth rate of the current phase, and will not be repeated here.

[0077] In this embodiment, the passage weight is determined according to the following formula:

[0078] X = len + λchenkTime

[0079] Where X represents the passage weight; len represents the vehicle queue length; λ represents the queue length growth rate; and chenkTime represents the sensor detection time.

[0080] Therefore, the passage weights for other phases are calculated using the following formula:

[0081] X other =len other +λ other checkTime other

[0082] The passage weight for the current phase is calculated using the following formula:

[0083] X now =len now +λ now checkTime now

[0084] Among them, X other Represents the passage weights for other phases; len other Indicates the queue length of vehicles in other phases; λ other Indicates the growth rate of queue length in other phases; checkTime other This indicates the sensing and detection time for other phases, which are also pre-configured; X now The len indicates the passage weight of the current release phase. nowλ represents the queue length of vehicles corresponding to the current release phase. now Indicates the queue length growth rate for the current release phase; checkTime now This indicates the sensing and detection time for the current release phase.

[0085] It should be noted that the sensing and detection times configured for each phase can be the same or different, and this application embodiment does not specifically limit this.

[0086] Secondly, if the passage weight of the current release phase is greater than or equal to the passage weight of other phases, the pre-set second maximum release time is used as the third release time, and the second maximum release time is greater than the first maximum release time; if the passage weight of the current release phase is less than the passage weight of one of the other phases, the pre-set first maximum release time is determined as the third release time.

[0087] For example, in this embodiment, if the passage weight of the current release phase is greater than or equal to the passage weight of other phases, it indicates that the vehicles in the current release lane corresponding to the current release phase have a greater right of passage, and the pre-set second maximum release time is used as the third release time; if the passage weight of the current release phase is less than the passage weight of one of the other phases, it indicates that the vehicles in the lanes corresponding to the other phases have a greater right of passage, and in order to prevent the vehicles in the lanes corresponding to the other phases from waiting for too long, the pre-set first maximum release time is determined as the third release time.

[0088] The present application will now be described using a specific embodiment:

[0089] Configure the current release phase as follows:

[0090] g max1 =40s, g max2 =50s, g unit =3s, g begin =20s, checkTime=6s

[0091] The queue length thresholds are: len1 = 50m, len2 = 100m, len3 = 150m, len4 = 200m, len5 = 250m, len6 = 300m, len7 = 350m, and len8 = 400m.

[0092] When len1 > len now When the queue length of vehicles corresponding to the current release phase is less than 50m, the current first release duration of the current release phase is maintained.

[0093] When len1≤len now <len nWhen the queue length corresponding to the current release phase is between 50m and 400m, if len at this time now =160, λ=0.6, then the release extension time for the current release phase is: (3+0.6)*3=10.8, rounded down to 11, then g final =31; if len = 31 at this time now =210, λ=0.4, then the release extension time for the current release phase is: (4+0.4)*3=13.2, rounded to 14, then g final =34, until when g final When >40, g final =g max1 =40.

[0094] When len now ≥len n When comparing X other and X now If X other ≤X now Then g final =g max2 =50. If X other >X now Then g final =g max1 =40.

[0095] Corresponding to the embodiments of the aforementioned methods, embodiments of the present application also provide embodiments of the apparatus and the terminal to which it is applied.

[0096] like Figure 3 As shown, Figure 3 This is a block diagram illustrating a traffic light sensor control device according to an embodiment of this application. The traffic light sensor control device is applied to a traffic light controller and includes:

[0097] The first vehicle queue length acquisition module is used to obtain the vehicle queue length corresponding to the current release phase of the target intersection at the current sensing detection time point. The vehicle queue length corresponding to the current release phase at the current sensing detection time point is determined based on the number of release lanes corresponding to the current release phase and the vehicle queue length on each release lane.

[0098] The release duration maintenance module is used to maintain the current first release duration of the current release phase if the vehicle queue length corresponding to the current sensing detection time point of the current release phase is less than the preset minimum queue length threshold len1.

[0099] The first release duration adjustment module is used to adjust the vehicle queue length if the current release phase at the current sensing and detection time point is greater than or equal to a pre-set first queue length threshold len. xAnd less than the pre-set second queue length threshold len y Then, based on x, the first release time is adjusted to obtain the second release time, which is greater than the first release time; 1 ≤ x < y ≤ n; the first queue length threshold is greater than or equal to the minimum queue length threshold and less than the second queue length threshold, and the second queue length threshold is less than or equal to the set maximum queue length threshold len. n ;

[0100] The second release duration adjustment module is used to adjust the vehicle queue length at the current sensing and detection time point if the current release phase's vehicle queue length is greater than or equal to the maximum queue length threshold len. n Then, based on the vehicle queue length corresponding to the current sensing detection time point of other phases at the target intersection, the first release time is adjusted to obtain the third release time, which is greater than or equal to the second release time.

[0101] As an optional implementation of this application, the vehicle queue length acquisition module is specifically used for:

[0102] If the number of release lanes corresponding to the current release phase is greater than 1, the average value of the vehicle queue length on each release lane is calculated, and the calculation result is used as the vehicle queue length corresponding to the current release phase at the current sensing and detection time point. Otherwise, the vehicle queue length on the release lane is used as the vehicle queue length corresponding to the current release phase at the current sensing and detection time point.

[0103] As an optional implementation of this application, the above-mentioned traffic light sensing control device further includes:

[0104] The second vehicle queue length acquisition module is used to obtain the vehicle queue length corresponding to each unit time point of the current release phase in the target time period. The target time period is the time period from the start time of the release of the current release phase to the current sensing detection time point.

[0105] The queue length growth rate determination module is used to determine the queue length growth rate of the current release phase based on the vehicle queue length at each unit time point in the target time period for the current release phase.

[0106] The first clearance duration adjustment module is specifically used for:

[0107] The first release time is adjusted based on x and the queue length growth rate of the current release phase to obtain the second release time.

[0108] As an optional implementation of this application, the first release time is adjusted according to the following formula to obtain the second release time:

[0109]

[0110] Among them, g final Indicates the second release duration; g begin Indicates the first clearance duration; g unit Indicates the unit of extension duration; λ now This represents the queue length growth rate for the current release phase; g max1 This indicates the pre-set maximum release time.

[0111] As an optional implementation of this application, the second release time adjustment module is specifically used for:

[0112] The passage weights of other phases are determined based on the vehicle queue lengths of other phases at the current sensing and detection time point and the queue length growth rate of other phases. The passage weights of the current release phase are determined based on the vehicle queue lengths of the current release phase at the current sensing and detection time point and the queue length growth rate of the current release phase. The passage weights of any phase are used to characterize the right of passage for that phase.

[0113] If the passage weight of the current release phase is greater than or equal to the passage weight of other phases, then the pre-set second maximum release time will be used as the third release time, and the second maximum release time will be greater than the first maximum release time.

[0114] If the passage weight of the current release phase is less than the passage weight of one of the other phases, then the pre-set first maximum release duration will be determined as the third release duration.

[0115] As an optional implementation of this application, the passage weight is determined according to the following formula:

[0116] X = len + λchenkTime

[0117] Where X represents the passage weight; len represents the vehicle queue length; λ represents the queue length growth rate; and chenkTime represents the current sensing detection time.

[0118] This concludes the process. Figure 3 Description of the device shown.

[0119] The specific implementation process of the functions and roles of each unit in the above device can be found in the implementation process of the corresponding steps in the above method, and will not be repeated here.

[0120] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of the solution in this specification according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0121] Correspondingly, embodiments of this application also provide Figure 3 The hardware structure diagram of the device shown is as follows: Figure 4 As shown, the electronic device can be a device implementing the above-described method. Figure 4 As shown, the hardware architecture includes a processor and memory.

[0122] The memory is used to store machine-executable instructions;

[0123] The processor is used to read and execute machine-executable instructions stored in the memory to implement the corresponding traffic light sensing control method embodiment shown above.

[0124] As one embodiment, the memory can be any electronic, magnetic, optical, or other physical storage device that can contain or store information such as executable instructions, data, etc. For example, the memory can be volatile memory, non-volatile memory, or similar storage media. Specifically, the memory can be RAM (Random Access Memory), flash memory, storage drives (such as hard disk drives), solid-state drives, any type of storage disk (such as optical discs, DVDs, etc.), or similar storage media, or combinations thereof.

[0125] This concludes the process. Figure 4 Description of the electronic device shown.

[0126] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

[0127] Other embodiments of this specification will readily occur to those skilled in the art upon consideration of the specification and practice of the invention claimed herein. This specification is intended to cover any variations, uses, or adaptations that follow the general principles of this specification and include common knowledge or customary techniques in the art not claimed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this specification are indicated by the following claims.

[0128] It should be understood that this specification is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this specification is limited only by the appended claims.

[0129] The above description is merely a preferred embodiment of this specification and is not intended to limit this specification. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of protection of this specification.

Claims

1. A signal light sensing control method, characterized in that, The method is applied to a traffic light controller, and the method includes: The vehicle queue length corresponding to the current release phase at the current sensing and detection time point of the target intersection is obtained. The vehicle queue length corresponding to the current release phase at the current sensing and detection time point is determined based on the number of release lanes corresponding to the current release phase and the vehicle queue length on each release lane. If the vehicle queue length corresponding to the current release phase at the current sensing detection time point is less than the preset minimum queue length threshold. Then the current first release duration of the current release phase is maintained; If the vehicle queue length corresponding to the current release phase at the current sensing and detection time point is greater than or equal to a pre-set first queue length threshold. And less than the pre-set second queue length threshold Then, based on x and the queue length growth rate of the current release phase, the first release time is adjusted to obtain the second release time, which is longer than the first release time. The first queue length threshold is greater than or equal to the minimum queue length threshold and less than the second queue length threshold, wherein the second queue length threshold is less than or equal to the set maximum queue length threshold. The queue length growth rate is determined based on the vehicle queue length at each unit time point of the current release phase within the target time period; the target time period is the time period from the start time of the current release phase to the current sensing detection time point. This represents the x-th queue length threshold after the n queue length thresholds have been sorted in ascending order of size. This represents the set threshold for the y-th queue length; If the vehicle queue length corresponding to the current release phase at the current sensing and detection time point is greater than or equal to the maximum queue length threshold. Then, based on the vehicle queue length corresponding to the current sensing and detection time point of the other phases of the target intersection, the first release time is adjusted to obtain a third release time, wherein the third release time is greater than or equal to the second release time.

2. The method according to claim 1, characterized in that, The vehicle queue length corresponding to the current release phase at the current sensing detection time point is determined through the following steps: If the number of release lanes corresponding to the current release phase is greater than 1, the average value of the vehicle queue length on each release lane is calculated, and the calculation result is used as the vehicle queue length corresponding to the current release phase at the current sensing and detection time point. Otherwise, the vehicle queue length on the release lane is used as the vehicle queue length corresponding to the current release phase at the current sensing and detection time point.

3. The method according to claim 1, characterized in that, The second release time is obtained by adjusting the first release time according to the following formula: ； in, Indicates the second release time; Indicates the first clearance duration; Indicates the duration of the extension; This indicates the queue length growth rate for the current release phase; This indicates the pre-set maximum release time.

4. The method according to claim 1, characterized in that, The third release time is obtained by adjusting the first release time based on the vehicle queue length corresponding to the current sensing and detection time point of other phases of the target intersection, including: The passage weight of the other phases is determined based on the vehicle queue length of the other phases at the current sensing and detection time point and the obtained queue length growth rate of the other phases. The passage weight of the current release phase is determined based on the vehicle queue length of the current release phase at the current sensing and detection time point and the queue length growth rate of the current release phase. The passage weight of any phase is used to characterize the right of passage of that phase. If the passage weight of the current release phase is greater than or equal to the passage weight of other phases, then the pre-set second maximum release time is used as the third release time, and the second maximum release time is greater than the first maximum release time. If the passage weight of the current release phase is less than the passage weight of one of the other phases, then the pre-set first maximum release duration is determined as the third release duration.

5. The method according to claim 4, characterized in that, The passage weight is determined according to the following formula: ； in, Indicates the passage weight; Indicates the length of the vehicle queue; This indicates the growth rate of queue length; Indicates the sensing and detection time.

6. A traffic light sensing control device, characterized in that, The device is used in a traffic light controller, and the device includes: The first vehicle queue length acquisition module is used to obtain the vehicle queue length corresponding to the current release phase of the target intersection at the current sensing and detection time point. The vehicle queue length corresponding to the current release phase at the current sensing and detection time point is determined based on the number of release lanes corresponding to the current release phase and the vehicle queue length on each release lane. The release duration maintenance module is used to maintain the vehicle queue length at the current sensing and detection time point of the current release phase if the queue length is less than a pre-set minimum queue length threshold. Then the current first release duration of the current release phase is maintained; The first release duration adjustment module is used to adjust the vehicle queue length at the current sensing and detection time point of the current release phase if the vehicle queue length is greater than or equal to a pre-set first queue length threshold. And less than the pre-set second queue length threshold Then, based on x and the queue length growth rate of the current release phase, the first release time is adjusted to obtain the second release time, which is longer than the first release time. The first queue length threshold is greater than or equal to the minimum queue length threshold and less than the second queue length threshold, wherein the second queue length threshold is less than or equal to the set maximum queue length threshold. The queue length growth rate is determined based on the vehicle queue length at each unit time point of the current release phase within the target time period; the target time period is the time period from the start time of the current release phase to the current sensing detection time point. This represents the x-th queue length threshold after the n queue length thresholds have been sorted in ascending order of size. This represents the set threshold for the y-th queue length; The second release duration adjustment module is used to adjust the vehicle queue length at the current sensing and detection time point of the current release phase if the vehicle queue length is greater than or equal to the maximum queue length threshold. Then, based on the vehicle queue length corresponding to the current sensing and detection time point of the other phases of the target intersection, the first release time is adjusted to obtain a third release time, wherein the third release time is greater than or equal to the second release time.

7. The apparatus according to claim 6, characterized in that, The vehicle queue length acquisition module is specifically used for: If the number of release lanes corresponding to the current release phase is greater than 1, the average value of the vehicle queue length on each release lane is calculated, and the calculation result is used as the vehicle queue length corresponding to the current release phase at the current sensing and detection time point. Otherwise, the vehicle queue length on the release lane is used as the vehicle queue length corresponding to the current release phase at the current sensing and detection time point.

8. An electronic device, characterized in that, Electronic devices include: processors and memory; The memory is used to store machine-executable instructions; The processor is configured to read and execute machine-executable instructions stored in the memory to implement the method as described in any one of claims 1 to 5.

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