A traffic simulation signal timing method and device, a computer device and a computer readable storage medium
By setting timing templates and modes for traffic lights, the problem of low efficiency in configuring traffic light timing parameters is solved, enabling batch configuration and flexible management, and improving the configuration efficiency and flexibility of traffic simulation traffic lights.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- GUANGZHOU AUTOMOBILE GROUP CO LTD
- Filing Date
- 2023-09-22
- Publication Date
- 2026-06-26
AI Technical Summary
In existing technologies, traffic light timing parameters need to be manually configured in traffic simulations, leading to repetitive operations and synchronous modifications, which cannot efficiently meet different business needs.
By setting timing templates and modes for traffic lights, batch configuration and flexible management can be achieved. Traffic lights can use templates or built-in information during simulation and automatically synchronize and modify relevant timing information.
It improves the efficiency and flexibility of traffic light timing configuration, supports the multi-traffic light timing requirements in complex traffic simulation scenarios, and simplifies the parameter creation and modification process.
Smart Images
Figure CN117218876B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of intelligent driving technology, specifically to a traffic simulation signal light timing method, apparatus, computer equipment, and computer-readable storage medium. Background Technology
[0002] Intelligent transportation technologies such as autonomous driving, green wave travel, and vehicle-road cooperation are gradually being implemented and applied. Traffic scenarios are closely related to people's daily lives and safety, making traffic simulation with traffic light timing increasingly important.
[0003] In the field of simulation, traffic simulation scenarios consist of static and dynamic descriptions. Static descriptions primarily consist of high-precision maps, such as those in the OpenDRIVE format, containing information such as road topology, lane information, and traffic lights. Regarding traffic light information, this includes the relationship between traffic lights and lanes, their coordinates, and orientation. Dynamic descriptions primarily consist of dynamic scenes, such as those in the OpenSCENARIO format, containing information such as vehicle trajectories and traffic light timings.
[0004] Generally, static and dynamic descriptions are two separate files, with dynamic descriptions created based on specific static descriptions. Multiple dynamic descriptions generated from the same static description differ primarily in the behavior of traffic participants (Business Requirement 1, which accounts for a relatively high percentage). However, there are also cases where multiple dynamic descriptions have different traffic light timing parameters (Business Requirement 2, which accounts for a relatively low percentage).
[0005] Currently, the main problems in traffic simulation for traffic light timing are:
[0006] The signal light timing parameters of dynamic descriptions created based on static descriptions need to be configured manually. When multiple dynamic descriptions are created based on the same static description and the signal light timing parameters in multiple dynamic descriptions are the same, there are a lot of repetitive operations, which means that business requirement 2 cannot be achieved efficiently.
[0007] If the traffic light timing parameters are separated from the dynamic description and bound to the static description, then adjusting the traffic light timing parameters will cause all related dynamic descriptions to be modified synchronously, which does not meet business requirement 2.
[0008] If the signal timing parameters in all dynamic descriptions created based on the same static description are completely independent, then the dynamic descriptions that need to be modified with the same signal timing need to be manually configured, which means that business requirement 1 cannot be efficiently achieved. Summary of the Invention
[0009] The technical problem to be solved by the embodiments of the present invention is to provide a traffic simulation signal light timing method, apparatus, computer equipment and computer-readable storage medium to improve timing efficiency.
[0010] To solve the above-mentioned technical problems, the present invention provides a traffic simulation signal timing method, comprising the following steps:
[0011] Create a static description of a traffic simulation scenario, which includes multiple traffic lights;
[0012] Create a dynamic description based on the static description;
[0013] In the dynamic description, a traffic light is selected, and timing information is set for the traffic light;
[0014] Set the timing information of the traffic lights to a timing template, and set the timing mode of the traffic lights to use the template;
[0015] The timing mode of at least one other traffic light in the dynamic description is automatically associated and set as a template. For traffic lights whose timing mode is a template, the timing information in the timing template is used during the simulation.
[0016] Preferably, the traffic simulation signal timing method further includes: setting the timing mode of at least one other signal light in the dynamic description to self-control; and using the timing information of the signal light itself during the simulation process for the signal light with the self-control timing mode.
[0017] Preferably, the traffic simulation signal timing method further includes: for signal lights whose timing mode is automatically associated with a template, modifying their timing mode to self-control, so that the signal light uses its own timing information during the simulation; for signal lights whose timing mode is set to self-control, automatically associating their timing mode with a template, so that the signal light uses the timing information in the timing template during the simulation.
[0018] Preferably, the traffic simulation signal timing method further includes: when modifying the timing information of a signal light associated with the timing template, the timing information of other signal lights associated with the timing template is automatically and synchronously modified.
[0019] The present invention also provides a traffic simulation signal light timing device, comprising:
[0020] The first creation module is used to create a static description of a traffic simulation scenario, which includes multiple traffic lights.
[0021] The second creation module is used to create a dynamic description based on the static description;
[0022] The first setting module is used to select a traffic light in the dynamic description and set timing information for the traffic light;
[0023] The second setting module is used to set the timing information of the traffic light as a timing template and set the timing mode of the traffic light to use the template.
[0024] The association module is used to automatically associate the timing mode of at least one other traffic light in the dynamic description with the template to be used. For traffic lights whose timing mode is the template to be used, the timing information in the timing template is used during the simulation.
[0025] Preferably, the association module is further configured to: set the timing mode of at least one other traffic light in the dynamic description to self-control, and for traffic lights with self-control timing mode, use the timing information of the traffic light itself during the simulation process.
[0026] Preferably, the traffic simulation signal timing device further includes: a modification module, used to modify the timing mode of a signal light whose timing mode is automatically associated with a template to self-control, so that the signal light uses its own timing information during the simulation; and also used to automatically associate the timing mode of a signal light whose timing mode is set to self-control with a template, so that the signal light uses the timing information in the timing template during the simulation.
[0027] Preferably, when the modification module modifies the timing information of a certain traffic light associated with the timing template, the timing information of other traffic lights associated with the timing template is automatically and synchronously modified.
[0028] The present invention also provides a computer device, comprising:
[0029] One or more processors;
[0030] Memory;
[0031] One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, and the one or more applications are configured to perform the traffic simulation signal timing method.
[0032] The present invention also provides a computer-readable storage medium comprising a stored computer program; wherein, when the computer program is executed, it controls the device on which the computer-readable storage medium is located to perform the traffic simulation signal timing method.
[0033] Implementing this invention has the following beneficial effects: After initially setting the timing template and timing mode for a selected traffic light, timing modes can be set for multiple traffic lights in association, enabling batch and rapid association of timing information configuration, thereby improving the configuration efficiency of multiple traffic light timings; it can also set corresponding timing templates and timing modes for different traffic lights, which helps to cope with the timing requirements of different traffic lights in complex traffic simulation scenarios and improves the flexibility of timing configuration; it provides great convenience for the creation, reuse, and rapid batch modification of timing parameters. Attached Figure Description
[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0035] Figure 1 This is a flowchart illustrating a traffic simulation signal timing method according to an embodiment of the present invention.
[0036] Figure 2 This is a schematic diagram of the implementation architecture of a traffic simulation signal timing method according to Embodiment 1 of the present invention.
[0037] Figure 3 This is a schematic diagram illustrating the initial creation of timing information for the first traffic light in an embodiment of the present invention.
[0038] Figure 4 According to the embodiments of the present invention Figure 3 The created timing information automatically generates a timing template and sets the traffic light timing mode to use the template.
[0039] Figure 5 This is a schematic diagram illustrating the batch application of timing templates to multiple traffic lights in an embodiment of the present invention.
[0040] Figure 6 This is a schematic diagram illustrating the modification of the timing mode of a signal light with an associated timing template in an embodiment of the present invention.
[0041] Figure 7 This is a schematic diagram illustrating the modification of timing information in a signal light associated with a timing template in an embodiment of the present invention.
[0042] Figure 8 This is a schematic diagram of the front-end and back-end architecture and data structure design in an embodiment of the present invention. Detailed Implementation
[0043] The following description of the embodiments is taken with reference to the accompanying drawings, which illustrate specific embodiments in which the invention can be implemented.
[0044] Please refer to Figure 1 As shown, Embodiment 1 of the present invention provides a traffic simulation signal light timing method, including the following steps:
[0045] Create a static description of a traffic simulation scenario, which includes multiple traffic lights;
[0046] Create a dynamic description based on the static description;
[0047] In the dynamic description, a traffic light is selected, and timing information is set for the traffic light;
[0048] Set the timing information of the traffic lights to a timing template, and set the timing mode of the traffic lights to use the template;
[0049] The timing mode of at least one other traffic light in the dynamic description is automatically associated and set as a template. For traffic lights whose timing mode is a template, the timing information in the timing template is used during the simulation.
[0050] As can be seen from the above steps, the embodiments of the present invention initially set a timing template and timing mode for a selected traffic light, and then set timing modes for multiple traffic lights in association, thereby realizing batch and rapid association configuration of timing information, thus improving the configuration efficiency of timing for multiple traffic lights.
[0051] It should be noted that in this embodiment, the timing template stores the traffic light timing information that may be reused later as a template in the form of a file or database table. The fields of the timing template can be the same as or more than the fields required for the traffic light timing information (e.g., adding a template creator field). The timing mode is a binary option related to the traffic lights. A high-precision map can contain multiple traffic lights, and the timing mode of each traffic light can be configured independently. If the timing mode is "Use Template", the traffic light uses the timing information of its associated timing template during the simulation. If the timing mode is "Auto-Control", the traffic light uses its own timing information during the simulation.
[0052] Therefore, this embodiment of the invention further includes: setting the timing mode of at least one other traffic light in the dynamic description to self-control; for traffic lights with self-control timing mode, using the timing information inherent in the traffic light during simulation. By flexibly configuring the same or different timing modes for different traffic lights, the configuration efficiency of multiple traffic light timings in complex traffic simulation scenarios is achieved.
[0053] The present invention will be described in detail below through specific examples.
[0054] like Figure 2The diagram shown is a schematic representation of the implementation architecture of a traffic simulation signal timing method according to an embodiment of the present invention. Figure 2 The static description shown includes three traffic lights—traffic light A, traffic light B, and traffic light C. Any traffic light can be selected in the corresponding generated dynamic description, and timing information can be set for that traffic light. Then, the timing information of the traffic light is set as a timing template, and the timing mode of the traffic light is set to use the template. Other traffic lights in the dynamic description can be batch-associated with the timing template, and the timing information in the timing template can be used during the simulation.
[0055] Specifically, such as Figure 3 and Figure 4 As shown, when creating the timing information for the first traffic light for the first time, for example, selecting traffic light A in the dynamic description, the user edits timing information 1 for traffic light A. Then, timing information 1 is automatically set as timing template 1, and the timing mode of traffic light A is also automatically set to use the template. For example... Figure 5 As shown, the timing modes of other traffic lights in the dynamic description—traffic lights B and C—are automatically associated with the template. Then, the timing templates of traffic lights B and C will be associated with timing template 1 in batches. In this way, there is no need to set the timing information for traffic lights B and C separately. During the simulation, traffic lights B and C use the timing information in timing template 1, just like traffic light A.
[0056] To address the timing requirements of different traffic lights in complex traffic simulation scenarios, this invention, in addition to the aforementioned batch association mechanism, offers flexibility by allowing the setting of timing templates and modes for different traffic lights, thereby enabling the use of corresponding timing information during simulation. For example... Figure 6 As shown, traffic lights B and C are as described above. Figure 5 The batch association mechanism shown automatically associates the timing mode with a template, and the timing template is automatically associated with timing template 1. If the timing information of traffic light C needs to be changed due to changes in timing requirements, the timing mode of traffic light C is changed to self-control, so that traffic light C can use its built-in timing information—timing information 2. If traffic light C does not have its own timing information in its initial state, the timing information is automatically generated according to the timing requirements.
[0057] It should be noted that if the original timing mode of traffic light C is self-controlled, and the timing information of traffic light C needs to be changed due to changes in timing requirements, the aforementioned batch association mechanism can also be used to modify the timing mode of traffic light C to use a template. In this way, traffic light C can use the timing information of timing template 1 - timing information 1.
[0058] Furthermore, such as Figure 7 As shown, traffic lights B and C are as described above. Figure 5The batch association mechanism shown automatically associates the timing mode with the template, and the timing template is automatically associated with timing template 1. If the timing requirements change and the timing information of traffic light B needs to be directly modified, the modification mechanism provided in this embodiment is as follows: modifying the timing information in a traffic light associated with the timing template is equivalent to directly modifying the timing template, and the timing information of the traffic lights associated with this timing template will be modified synchronously. That is, if the timing information of traffic light B, which is already associated with timing template 1, is modified, it is equivalent to directly modifying timing template 1, and the timing information of the traffic lights (including traffic light A and traffic light B) associated with this timing template 1 will be modified synchronously. The modified timing information is set as timing template 2. Since the timing modes of traffic lights A and B are automatically associated with the template, in subsequent simulations, traffic lights A and B will use the timing information of timing template 2 (i.e., the aforementioned modified timing information for traffic light B).
[0059] As shown above, to modify the timing information of a traffic light associated with a timing template, one method is to first change the timing mode, for example, to "automatic control." Modifying the timing information of a traffic light using this method will not affect the associated timing template, so the timing template will not be updated synchronously. Another method is to directly modify the timing information within the timing template. This method will cause the timing information of all traffic lights associated with that timing template to be updated synchronously. This is because, under this mechanism, modifying the timing information of a traffic light in an associated timing template is actually equivalent to directly modifying the timing template itself; therefore, the timing information of all traffic lights associated with this timing template will be updated synchronously.
[0060] Please refer to again Figure 8 As shown, in this embodiment of the invention, timing editing and batch association functions are performed through a front-end editor. The front-end editor is a user interaction tool, typically a web-based or application-based graphical user interface (GUI), designed for intuitive operation. Users can edit the timing mechanism of a single traffic light through the front-end editor, including the timing mode and timing information; as mentioned earlier, directly modifying the timing information in the timing template of the traffic light is essentially equivalent to directly modifying the associated timing template. Users can also view all timing templates and all traffic lights through the front-end editor, and select at least one traffic light to associate with a single timing template.
[0061] Corresponding to the traffic simulation signal timing method described in Embodiment 1 of the present invention, Embodiment 2 of the present invention provides a traffic simulation signal timing device, comprising:
[0062] The first creation module is used to create a static description of a traffic simulation scenario, which includes multiple traffic lights.
[0063] The second creation module is used to create a dynamic description based on the static description;
[0064] The first setting module is used to select a traffic light in the dynamic description and set timing information for the traffic light;
[0065] The second setting module is used to set the timing information of the traffic light as a timing template and set the timing mode of the traffic light to use the template.
[0066] The association module is used to automatically associate the timing mode of at least one other traffic light in the dynamic description with the template to be used. For traffic lights whose timing mode is the template to be used, the timing information in the timing template is used during the simulation.
[0067] Preferably, the association module is further configured to: set the timing mode of at least one other traffic light in the dynamic description to self-control, and for traffic lights with self-control timing mode, use the timing information of the traffic light itself during the simulation process.
[0068] Preferably, the traffic simulation signal timing device further includes: a modification module, used to modify the timing mode of a signal light whose timing mode is automatically associated with a template to self-control, so that the signal light uses its own timing information during the simulation; and also used to automatically associate the timing mode of a signal light whose timing mode is set to self-control with a template, so that the signal light uses the timing information in the timing template during the simulation.
[0069] Preferably, when the modification module modifies the timing information of a certain traffic light associated with the timing template, the timing information of other traffic lights associated with the timing template is automatically and synchronously modified.
[0070] Corresponding to the traffic simulation signal timing method described in Embodiment 1 of the present invention, Embodiment 3 of the present invention also provides a computer device, the computer device comprising:
[0071] One or more processors;
[0072] Memory;
[0073] One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, the one or more applications being configured to perform the traffic simulation signal timing method according to Embodiment 1 of the present invention.
[0074] Corresponding to the traffic simulation signal timing method described in Embodiment 1 of the present invention, Embodiment 4 of the present invention provides a computer-readable storage medium, the computer-readable storage medium including a stored computer program; wherein, when the computer program is running, it controls the device where the computer-readable storage medium is located to execute the traffic simulation signal timing method as described in Embodiment 1 of the present invention.
[0075] Preferably, the computer program can be divided into one or more modules / units (such as computer program 1, computer program 2, ...), and the one or more modules / units are stored in the memory and executed by the processor to complete the present invention. The one or more modules / units can be a series of computer program instruction segments capable of performing a specific function, and the instruction segments are used to describe the execution process of the computer program in the device.
[0076] The processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor, or the processor can be any conventional processor. The processor is the control center of the device and connects the various parts of the device using various interfaces and lines.
[0077] The memory mainly includes a program storage area and a data storage area. The program storage area can store the operating system, applications required for at least one function, etc., while the data storage area can store related data, etc. Furthermore, the memory can be a high-speed random access memory, or a non-volatile memory, such as a plug-in hard drive, a SmartMedia Card (SMC), a Secure Digital (SD) card, and a Flash Card, or other volatile solid-state storage devices.
[0078] It should be noted that the above-mentioned devices may include, but are not limited to, processors and memory, as will be understood by those skilled in the art.
[0079] For the working principle and process of the above embodiments, please refer to the description of Embodiment 1 of the present invention, which will not be repeated here.
[0080] As can be seen from the above description, compared with the prior art, the beneficial effects of the present invention are as follows: after initially setting the timing template and timing mode for a selected traffic light, timing modes can be set for multiple traffic lights in association, realizing batch and rapid association configuration of timing information, thereby improving the configuration efficiency of multiple traffic light timings; it can also set corresponding timing templates and timing modes for different traffic lights, which helps to cope with the timing requirements of different traffic lights in complex traffic simulation scenarios and improves the flexibility of timing configuration; it provides great convenience for the creation, reuse, and rapid batch modification of timing parameters.
[0081] The above description is merely a preferred embodiment of the present invention and should not be construed as limiting the scope of the invention. Therefore, any equivalent variations made in accordance with the claims of the present invention are still within the scope of the present invention.
Claims
1. A traffic simulation signal light timing method, characterized in that, Includes the following steps: Create a static description of a traffic simulation scenario, which includes multiple traffic lights; Create a dynamic description based on the static description; In the dynamic description, a traffic light is selected, and timing information is set for the traffic light; Set the timing information of the traffic lights to a timing template, and set the timing mode of the traffic lights to use the template; The timing mode of at least one other traffic light in the dynamic description is automatically associated with and set to use a template. For traffic lights whose timing mode is to use a template, the timing information in the timing template is used during the simulation. In addition, the timing mode of at least one other traffic light in the dynamic description is set to self-control. For traffic lights whose timing mode is self-control, the timing information of the traffic light itself is used during the simulation. When the timing information of a signal light associated with the timing template is modified, the timing information of other signal lights associated with the timing template is automatically and synchronously modified.
2. The traffic simulation signal timing method according to claim 1, characterized in that, Also includes: If a traffic light whose timing mode is automatically associated with a template is changed to self-control, the traffic light will use its own timing information during the simulation. If a traffic light whose timing mode is set to self-control is changed to use a template, the traffic light will use the timing information in the timing template during the simulation.
3. A traffic simulation signal timing device, characterized in that, include: The first creation module is used to create a static description of a traffic simulation scenario, which includes multiple traffic lights. The second creation module is used to create a dynamic description based on the static description; The first setting module is used to select a traffic light in the dynamic description and set timing information for the traffic light; The second setting module is used to set the timing information of the traffic light as a timing template and set the timing mode of the traffic light to use the template. The association module is used to automatically associate the timing mode of at least one other traffic light in the dynamic description with a template. For traffic lights whose timing mode is a template, the timing information in the timing template is used during the simulation. In addition, the module sets the timing mode of at least one other traffic light in the dynamic description to self-control. For traffic lights whose timing mode is self-control, the timing information of the traffic light itself is used during the simulation. When the modification module modifies the timing information of a signal light associated with the timing template, the timing information of other signal lights associated with the timing template is automatically and synchronously modified.
4. The traffic simulation signal timing device according to claim 3, characterized in that, Also includes: The modification module is used to modify the timing mode of traffic lights that are automatically associated with a template to use a template, so that the traffic lights use their own timing information during the simulation. It is also used to modify the timing mode of traffic lights that are automatically associated with a template to use a template, so that the traffic lights use the timing information in the timing template during the simulation.
5. A computer device, characterized in that, include: One or more processors; Memory; One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, the one or more applications being configured to perform the traffic simulation signal timing method as described in any one of claims 1 to 2.
6. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored computer program; wherein, when the computer program is executed, it controls the device on which the computer-readable storage medium is located to perform the traffic simulation signal timing method as described in any one of claims 1 to 2.