A non-motorized vehicle lane traffic light control system, method and storage medium

Abstract

The present application discloses a non-motor vehicle lane traffic light control system, method and storage medium, and relates to the field of intelligent transportation technology. The system includes a vehicle flow detection module, a motor vehicle lane light control module and a non-motor vehicle lane light control module; the vehicle flow detection module is arranged at each non-motor vehicle lane, and is configured to: monitor the non-motor vehicle flow at both ends of the corresponding non-motor vehicle lane, and obtain non-motor vehicle flow data; the motor vehicle lane light control module is configured to: collect the light control time of the motor vehicle lane traffic light, and obtain the motor vehicle lane traffic light data; the non-motor vehicle lane light control module is configured to: control the non-motor vehicle lane traffic lights arranged at both ends of the non-motor vehicle lane based on the non-motor vehicle flow data and the motor vehicle lane traffic light data. The method is applicable to the above-mentioned system, and when the storage medium is executed, the above-mentioned method is implemented. The present application effectively reduces the traffic pressure of the non-motor vehicle lane and improves the safety of non-motor vehicle travel.

Description

Technical Field

[0001] The present application relates to the field of intelligent transportation technology, and specifically to a non-motorized vehicle lane traffic light control system, method and storage medium. Background Art

[0002] There is a great deal of uncertainty when non-motor vehicles on non-motorized vehicle lanes cross the road. The specific manifestations include: whether the non-motorized vehicle crosses the road along the current non-motorized vehicle lane, whether the non-motorized vehicle passes when the traffic light corresponding to the current non-motorized vehicle lane indicates that the vehicle can pass, etc. In addition, with the increase in traffic pressure, the number of non-motorized vehicles passing through is also increasing. Therefore, the control of non-motorized vehicles crossing the road has become as important and necessary as the control of motor vehicle traffic.

[0003] Traditional non-motorized vehicle lane traffic light control is implemented based on the communication of motor vehicle lane traffic lights. This method relies on motor vehicle flow and motor vehicle traffic pressure. However, since non-motorized vehicle lanes are generally narrow and mostly one-way streets, non-motorized vehicle traffic pressure is more likely to increase with the increase in vehicle flow. Therefore, simply controlling non-motorized vehicle lane traffic lights synchronously with motor vehicle traffic lights is not very effective in alleviating non-motorized vehicle traffic pressure. Summary of the invention

[0004] The purpose of the present application is to provide a non-motorized vehicle lane traffic light control system, method and storage medium to solve the technical problems raised in the above-mentioned background technology.

[0005] To achieve the above objectives, this application discloses the following technical solutions:

[0006] In a first aspect, the present application discloses a non-motorized lane traffic light control system, including a vehicle flow detection module, a motor vehicle lane light control module, and a non-motorized lane light control module;

[0007] The vehicle flow detection module is arranged at each non-motor vehicle lane and is configured to: monitor the non-motor vehicle flow at both ends of the corresponding non-motor vehicle lane and obtain non-motor vehicle flow data;

[0008] The motor vehicle lane light control module is configured to: collect the light control time of the motor vehicle lane traffic light and obtain the motor vehicle lane traffic light data;

[0009] The non-motor vehicle lane light control module is configured to control the non-motor vehicle lane traffic lights set at both ends of the non-motor vehicle lane based on the non-motor vehicle flow data and the motor vehicle lane traffic light data; wherein, when the non-motor vehicle flow data reaches the corresponding judgment threshold, the non-motor vehicle lane light control module sends a delay instruction to the motor vehicle lane light control module and the non-motor vehicle lane traffic light, so that the red light display time of the traffic light corresponding to the motor vehicle lane passing through the non-motor vehicle lane is delayed and the green light display time of the non-motor vehicle lane traffic light is delayed and controlled.

[0010] In one embodiment, the vehicle flow detection module includes an image acquisition unit and a vehicle flow counting unit;

[0011] The image acquisition unit is configured to acquire images of both ends of the non-motorized vehicle lane;

[0012] The vehicle flow counting unit is configured to count the number of non-motor vehicles based on the collected images and obtain non-motor vehicle flow data.

[0013] In one embodiment, the image acquisition unit receives the light control time of the corresponding non-motorized vehicle lane traffic light fed back by the non-motorized vehicle lane light control module, and during the time from the end of one green light of the non-motorized vehicle lane traffic light to the next green light of the non-motorized vehicle lane traffic light, the image acquisition unit executes an image acquisition instruction to perform image acquisition.

[0014] In one implementation, the non-motor vehicle flow data is obtained based on an image count collected at a time point ΔT before the next green light turns on.

[0015] In one embodiment, the delay instruction includes the red light delay time T of the traffic light on the motorway. 机动车 The green light delay time T of the green light of the non-motorized vehicle lane traffic light 非机动车 ;

[0016] The green light delay time T 非机动车 It is calculated by the following formula: T 非机动车 =t need +ρ*KT basis , where t need is the time required for non-motor vehicles to pass through the corresponding non-motor vehicle lane, ρ is the congestion coefficient corresponding to the collected non-motor vehicle flow data, K is the congestion time benchmark value, T basis The standard green light duration of the traffic light on the non-motorized vehicle lane;

[0017] The red light delay time T 机动车 It is calculated by the following formula: T 机动车 =T 人 +ρ*t basis, where t basis The interval time between the end of the green light of the non-motor vehicle lane and the switch to green light of the traffic light of the motor vehicle lane corresponding to the motor vehicle lane passing through the non-motor vehicle lane preset by the traffic management department.

[0018] In one embodiment, the time required for the non-motor vehicle to pass through the corresponding non-motor vehicle lane is calculated by the following formula: Where L is the length of the non-motorized vehicle lane, V avg It is the average travel speed of non-motor vehicles corresponding to the road when crossing the road along the non-motor vehicle lane obtained based on data statistics.

[0019] In one embodiment, the congestion coefficient corresponding to the collected non-motor vehicle flow data is obtained by comparing the collected non-motor vehicle flow data with a preset congestion time coefficient criterion library, wherein the congestion time coefficient criterion library stores the congestion coefficient values ​​corresponding to the maximum non-motor vehicle flow that can be passed through the corresponding non-motor vehicle lane within the standard green light lighting time and the incremented non-motor vehicle flow value range, wherein when the collected non-motor vehicle flow data is less than or equal to the maximum non-motor vehicle flow, ρ is 0.

[0020] In a second aspect, the present application discloses a method for controlling a traffic light on a non-motorized vehicle lane, the method comprising the following steps:

[0021] Monitor the non-motor vehicle flow at both ends of the corresponding non-motor vehicle lane to obtain non-motor vehicle flow data;

[0022] The collected non-motor vehicle flow data is compared with a preset judgment threshold, and a control instruction is generated based on the comparison result, the control instruction includes a sequential instruction configured to control the traffic light according to the originally set traffic light control mode and a delay instruction for delaying the corresponding traffic light, the delay instruction specifically includes: delaying the red light display time of the motor vehicle lane traffic light corresponding to the motor vehicle lane passing through the non-motor vehicle lane and delaying the green light display time of the non-motor vehicle lane traffic light.

[0023] In one embodiment, the delay instruction includes the red light delay time T of the traffic light on the motorway. 机动车 The green light delay time T of the green light of the non-motorized vehicle lane traffic light 非机动车 ;

[0024] The green light delay time T 非机动车 It is calculated by the following formula: T 非机动车 =t need +ρ*KT basis , where t needis the time required for non-motor vehicles to pass through the corresponding non-motor vehicle lane, ρ is the congestion coefficient corresponding to the collected non-motor vehicle flow data, K is the congestion time benchmark value, T basis The standard green light duration of the traffic light on the non-motorized vehicle lane;

[0025] The red light delay time T 机动车 It is calculated by the following formula: T 机动车 =T 人 +ρ*t basis , where t basis The interval time between the end of the green light of the non-motor vehicle lane and the switch to green light of the traffic light of the motor vehicle lane corresponding to the motor vehicle lane passing through the non-motor vehicle lane preset by the traffic management department.

[0026] In a third aspect, the present application discloses a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the above-mentioned non-motorized vehicle lane traffic light control method is implemented.

[0027] Beneficial effect: The non-motor vehicle lane traffic light control system, method and storage medium of the present application, by adapting the non-motor vehicle flow at the non-motor vehicle lane to the new adjustment of the switching of the non-motor vehicle traffic lights, and at the same time, synchronously controlling the corresponding motor vehicle traffic lights, realizes a technical method of adaptively adjusting the non-motor vehicle lane traffic lights based on the non-motor vehicle traffic pressure, thereby effectively reducing the traffic pressure of the non-motor vehicle lane, avoiding the occurrence of large vehicle stocks and traffic congestion on the non-motor vehicle lane, and further avoiding traffic accidents when crossing the road through the non-motor vehicle lane, thereby improving the safety of non-motor vehicle travel. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0029] Figure 1 This is a structural block diagram of a non-motorized vehicle lane traffic light control system in an embodiment of the present application;

[0030] Figure 2 This is a flowchart of the non-motorized vehicle lane traffic light control method in an embodiment of the present application. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present application are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

[0032] In this article, the term "comprising" is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of more restrictions, the elements defined by the sentence "comprising..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0033] This embodiment discloses Figure 1 A non-motorized lane traffic light control system is shown, comprising a vehicle flow detection module, a motor vehicle lane light control module and a non-motorized lane light control module.

[0034] Specifically, the vehicle flow detection module is arranged at each non-motor vehicle lane and is configured to: monitor the non-motor vehicle flow at both ends of the corresponding non-motor vehicle lane and obtain non-motor vehicle flow data;

[0035] Specifically, the motor vehicle lane light control module is configured to: collect the light control time of the motor vehicle lane traffic light to obtain the motor vehicle lane traffic light data;

[0036] Specifically, the non-motorized vehicle lane light control module is configured to control the non-motorized vehicle lane traffic lights set at both ends of the non-motorized vehicle lane based on the non-motorized vehicle flow data and the motor vehicle lane traffic light data; wherein, when the non-motorized vehicle flow data reaches the corresponding determination threshold, the non-motorized vehicle lane light control module sends a delay instruction to the motor vehicle lane light control module and the non-motorized vehicle lane traffic light, so that the red light display time of the traffic light corresponding to the motor vehicle lane passing through the non-motorized vehicle lane is delayed, and the green light display time of the non-motorized vehicle lane traffic light is delayed. It should be noted that when the red light display time of the traffic light corresponding to the motor vehicle lane passing through the non-motorized vehicle lane is adjusted, the corresponding traffic light corresponding to the motor vehicle lane in the same direction as the non-motorized vehicle lane is adjusted synchronously with the traffic light of the non-motorized vehicle lane, for example, the traffic light corresponding to the motor vehicle lane in the same direction as the non-motorized vehicle lane corresponds to a straight-line traffic state and / or corresponds to a turning traffic state in the opposite direction to the non-motorized vehicle lane.

[0037] In this embodiment, the vehicle flow detection module includes an image acquisition unit and a vehicle flow counting unit.

[0038] Specifically, the image acquisition unit is configured to acquire images of both ends of the non-motorized vehicle lane.

[0039] Specifically, the vehicle flow counting unit is configured to count the number of non-motor vehicles based on the collected images and obtain non-motor vehicle flow data. Among them, the image acquisition unit receives the corresponding non-motor vehicle lane traffic light control time fed back by the non-motor vehicle lane light control module, and the image acquisition unit executes the image acquisition instruction to collect images during the time from the end of one green light to the next green light of the non-motor vehicle lane traffic light. Preferably, the non-motor vehicle flow data is obtained based on the image count collected at the time point of ΔT time before the next green light is on. In order to improve the accuracy of the non-motor vehicle flow data, the ΔT time can be adjusted according to the vehicle inventory of the non-motor vehicle lane. Similarly, the range of image acquisition can also be adjusted according to the normal traffic pressure of the non-motor vehicle lane. Even the non-motor vehicle flow data of the non-motor vehicle lane can be obtained through multiple image acquisition methods. For this application, all methods that can accurately obtain the non-motor vehicle flow data of the non-motor vehicle lane can be adopted, and any technical means in the prior art that can achieve this purpose can be adopted. This technology is not the key protection content of this application and will not be repeated here.

[0040] In this embodiment, the delay instruction includes the red light delay time T of the traffic light on the motor vehicle lane. 机动车 The green light delay time T of the green light of the non-motorized vehicle lane traffic light 非机动车 ;

[0041] The green light delay time T 非机动车 It is calculated by the following formula: T 非机动车 =t need +ρ*KT basis , where t need is the time required for non-motor vehicles to pass through the corresponding non-motor vehicle lane, ρ is the congestion coefficient corresponding to the collected non-motor vehicle flow data, K is the congestion time benchmark value, T basis The standard green light duration of the traffic light on the non-motorized vehicle lane;

[0042] The red light delay time T 机动车 It is calculated by the following formula: T 机动车 =T 人 +ρ*t basis , where t basis The interval time between the end of the green light of the non-motor vehicle lane and the switch to green light of the traffic light of the motor vehicle lane corresponding to the motor vehicle lane passing through the non-motor vehicle lane preset by the traffic management department.

[0043] The time required for the non-motor vehicle to pass through the corresponding non-motor vehicle lane is calculated by the following formula: Where L is the length of the non-motorized vehicle lane, V avg It is the average travel speed of non-motor vehicles corresponding to the road when crossing the road along the non-motor vehicle lane obtained based on data statistics.

[0044] Furthermore, the congestion coefficient corresponding to the collected non-motor vehicle flow data is obtained by comparing the collected non-motor vehicle flow data with a preset congestion time coefficient criterion library, wherein the congestion time coefficient criterion library stores the congestion coefficient values ​​corresponding to the maximum non-motor vehicle flow that can be passed through the corresponding non-motor vehicle lane within the standard green light lighting time and the incremented non-motor vehicle flow value range, wherein when the collected non-motor vehicle flow data is less than or equal to the maximum non-motor vehicle flow, ρ is 0. For example: assuming that the maximum number of non-motor vehicle traffic that can pass within the standard green light lighting time is 20, when the detected non-motor vehicle traffic data is 15, then ρ is 0; when the detected non-motor vehicle traffic data is 25, then ρ is 1.2; when the detected non-motor vehicle traffic data is 20, then ρ is 1.5, and so on. The value of ρ can be set comprehensively based on the width of the non-motor vehicle lane, the length of the non-motor vehicle lane, the motor vehicle traffic pressure of the road section, the non-motor vehicle traffic pressure of the road section, etc. The purpose is to adaptively increase the travel time of non-motor vehicles, thereby reasonably alleviating the travel pressure of non-motor vehicles.

[0045] This embodiment also discloses Figure 2 A non-motorized vehicle lane traffic light control method is shown, and this method is applicable to the above-mentioned non-motorized vehicle lane traffic light control system. Specifically, the method includes the following steps:

[0046] S101-Monitor the non-motor vehicle flow at both ends of the corresponding non-motor vehicle lane to obtain non-motor vehicle flow data;

[0047] S102-Compare the collected non-motor vehicle flow data with the preset judgment threshold, and generate control instructions based on the comparison results, the control instructions include a sequential instruction configured to control the traffic light according to the originally set traffic light control mode and a delay instruction for delaying the corresponding traffic light, the delay instruction specifically includes: delaying the red light display time of the motor vehicle lane traffic light corresponding to the motor vehicle lane passing through the non-motor vehicle lane and delaying the green light display time of the non-motor vehicle lane traffic light.

[0048] Specifically, the delay instruction includes the red light delay time T of the traffic light on the motor vehicle lane. 机动车 The green light delay time T of the green light of the non-motorized vehicle lane traffic light 非机动车 ;

[0049] The green light delay time T 非机动车 It is calculated by the following formula: T 非机动车 =t need +ρ*KT basis , where t need is the time required for non-motor vehicles to pass through the corresponding non-motor vehicle lane, ρ is the congestion coefficient corresponding to the collected non-motor vehicle flow data, K is the congestion time benchmark value, T basis The standard green light duration of the traffic light on the non-motorized vehicle lane;

[0050] The red light delay time T 机动车 It is calculated by the following formula: T 机动车 =T 人 +ρ*t basis , where t basis The interval time between the end of the green light of the non-motor vehicle lane and the switch to green light of the traffic light of the motor vehicle lane corresponding to the motor vehicle lane passing through the non-motor vehicle lane preset by the traffic management department.

[0051] This embodiment also discloses a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the above-mentioned non-motorized vehicle lane traffic light control method is implemented.

[0052] To sum up, the non-motor vehicle lane traffic light control system, method and storage medium recorded in this embodiment, by adapting the non-motor vehicle flow at the non-motor vehicle lane to the new adjustment of the switching of the non-motor vehicle traffic lights, and at the same time, synchronously controlling the corresponding motor vehicle traffic lights, realizes a technical method of adaptively adjusting the non-motor vehicle lane traffic lights based on the non-motor vehicle traffic pressure, thereby effectively reducing the traffic pressure of the non-motor vehicle lane, avoiding the occurrence of large vehicle stocks and congestion on the non-motor vehicle lane, and thus avoiding traffic accidents when crossing the road through the non-motor vehicle lane, thereby improving the safety of non-motor vehicle travel.

[0053] In the embodiments provided in the present application, it should be understood that the embodiments described herein can be implemented in hardware, software, firmware, middleware, code or any appropriate combination thereof. For hardware implementation, the processor can be implemented in one or more of the following units: application specific integrated circuit (ASIC), digital signal processor (DSP), digital signal processing device (DSPD), programmable logic device (PLD), field programmable gate array (FPGA), processor, controller, microcontroller, microprocessor, other electronic units designed to implement the functions described herein or their combination. For software implementation, part or all of the flow of the embodiment can be completed by instructing the relevant hardware through a computer program. When implemented, the above program can be stored in a computer-readable storage medium or transmitted as one or more instructions or codes on a computer-readable storage medium. Computer-readable storage media include computer storage media and communication media, wherein the communication medium includes any medium that is convenient for transmitting a computer program from one place to another. The storage medium can be any available medium that a computer can access. The computer-readable storage medium can include but is not limited to RAM, ROM, EEPROM, CD-ROM or other optical disk storage, disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of an instruction or data structure and can be accessed by a computer.

[0054] Finally, it should be noted that the above is only a preferred embodiment of the present application and is not intended to limit the present application. Although the present application has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A non-motorized vehicle lane traffic light control system, characterized in that: It includes a traffic flow detection module, a motor vehicle lane light control module and a non-motor vehicle lane light control module; The vehicle flow detection module is arranged at each non-motor vehicle lane and is configured to: monitor the non-motor vehicle flow at both ends of the corresponding non-motor vehicle lane and obtain non-motor vehicle flow data; The motor vehicle lane light control module is configured to: collect the light control time of the motor vehicle lane traffic light and obtain the motor vehicle lane traffic light data; The non-motor vehicle lane light control module is configured to control the non-motor vehicle lane traffic lights arranged at both ends of the non-motor vehicle lane based on the non-motor vehicle flow data and the motor vehicle lane traffic light data; wherein, when the non-motor vehicle flow data reaches the corresponding determination threshold, the non-motor vehicle lane light control module sends a delay instruction to the motor vehicle lane light control module and the non-motor vehicle lane traffic light, so that the red light display time of the traffic light corresponding to the motor vehicle lane passing through the non-motor vehicle lane is delayed, and the green light display time of the non-motor vehicle lane traffic light is delayed; The delay instruction includes the red light delay time T of the traffic light on the motor vehicle lane. 机动车 The green light delay time T of the green light of the non-motorized vehicle lane traffic light 非机动车 ; The green light delay time T 非机动车 It is calculated by the following formula: T 非机动车 =t need +ρ*KT basis , where t need is the time required for non-motor vehicles to pass through the corresponding non-motor vehicle lane, ρ is the congestion coefficient corresponding to the collected non-motor vehicle flow data, K is the congestion time benchmark value, T basis The standard green light duration of the traffic light on the non-motorized vehicle lane; The red light delay time T 机动车 It is calculated by the following formula: T 机动车 =T 人 +ρ*t basis , where t basis The interval time between the end of the green light of the non-motor vehicle lane and the switch to green light of the traffic light of the motor vehicle lane corresponding to the motor vehicle lane passing through the non-motor vehicle lane preset by the traffic management department.

2. The non-motorized vehicle lane traffic light control system according to claim 1, characterized in that: The vehicle flow detection module includes an image acquisition unit and a vehicle flow counting unit; The image acquisition unit is configured to acquire images of both ends of the non-motorized vehicle lane; The vehicle flow counting unit is configured to count the number of non-motor vehicles based on the collected images and obtain non-motor vehicle flow data.

3. The non-motorized vehicle lane traffic light control system according to claim 2, characterized in that: The image acquisition unit receives the light control time of the corresponding non-motorized vehicle lane traffic light fed back by the non-motorized vehicle lane light control module, and executes the image acquisition instruction to perform image acquisition during the time from the end of one green light of the non-motorized vehicle lane traffic light to the next green light of the non-motorized vehicle lane traffic light.

4. The non-motorized vehicle lane traffic light control system according to claim 3, characterized in that: The non-motor vehicle flow data is obtained based on the image count collected at a time point ΔT before the next green light turns on.

5. The non-motorized vehicle lane traffic light control system according to claim 1, characterized in that: The time required for the non-motor vehicle to pass through the corresponding non-motor vehicle lane is calculated by the following formula: Where L is the length of the non-motorized vehicle lane, V avg It is the average travel speed of non-motor vehicles corresponding to the road when crossing the road along the non-motor vehicle lane obtained based on data statistics.

6. The non-motorized vehicle lane traffic light control system according to claim 1, characterized in that: The congestion coefficient corresponding to the collected non-motor vehicle flow data is obtained by comparing the collected non-motor vehicle flow data with a preset congestion time coefficient criterion library, wherein the congestion time coefficient criterion library stores the congestion coefficient values ​​corresponding to the maximum non-motor vehicle flow that can be passed through the corresponding non-motor vehicle lane within the standard green light lighting time and the incremented non-motor vehicle flow value range, wherein when the collected non-motor vehicle flow data is less than or equal to the maximum non-motor vehicle flow, ρ is 0.

7. A method for controlling traffic lights on non-motorized vehicle lanes, characterized in that: The method comprises the following steps: Monitor the non-motor vehicle flow at both ends of the corresponding non-motor vehicle lane to obtain non-motor vehicle flow data; Compare the collected non-motor vehicle flow data with a preset determination threshold, and generate a control instruction based on the comparison result, wherein the control instruction includes a sequential instruction configured to control the traffic light according to the originally set traffic light control mode and a delay instruction for delaying the corresponding traffic light, wherein the delay instruction specifically includes: delaying the red light display time of the motor vehicle lane traffic light corresponding to the motor vehicle lane passing through the non-motor vehicle lane and delaying the green light display time of the non-motor vehicle lane traffic light; The delay instruction includes the red light delay time T of the traffic light on the motor vehicle lane. 机动车 The green light delay time T of the green light of the non-motorized vehicle lane traffic light 非机动车 ; The green light delay time T 非机动车 It is calculated by the following formula: T 非机动车 =t need +ρ*KT basis , where t need is the time required for non-motor vehicles to pass through the corresponding non-motor vehicle lane, ρ is the congestion coefficient corresponding to the collected non-motor vehicle flow data, K is the congestion time benchmark value, T basis The standard green light duration of the traffic light on the non-motorized vehicle lane; The red light delay time T 机动车 It is calculated by the following formula: T 机动车 =T 人 +ρ*t basis , where t basis The interval time between the end of the green light of the non-motor vehicle lane and the switch to green light of the traffic light of the motor vehicle lane corresponding to the motor vehicle lane passing through the non-motor vehicle lane preset by the traffic management department.

8. A computer-readable storage medium, characterized in that: This computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the non-motorized vehicle lane traffic light control method as described in claim 7 is implemented.

Images