A method, device, equipment and medium for coordinated control of a road trunk

Abstract

The embodiment of the application provides a kind of arterial road coordination control method, device, equipment and medium, it is related to traffic control technical field, comprising: obtaining the intersection parameter and road control parameter of multiple intersecting arterial roads;Determine the combination scheme of different signal periods, the release mode of different target intersections, for each combination scheme, the intersection parameter, road control parameter is used, the arterial bandwidth of each arterial road under the combination scheme is calculated, according to the arterial bandwidth of each arterial road, the comprehensive bandwidth corresponding to the combination scheme is determined, wherein the arterial bandwidth includes: arterial green wave bandwidth or arterial red wave bandwidth;Determine the combination scheme corresponding to the comprehensive bandwidth that satisfies the preset traffic control condition as coordination control scheme, to carry out coordination control to the multiple intersecting arterial roads according to the coordination control scheme.The effect of the intersection arterial coordination control can be improved by applying the scheme provided in the embodiment of the application.

Description

Technical Field

[0001] This application relates to the field of traffic control technology, and in particular to a coordinated control method, device, equipment and medium for main roads. Background Technology

[0002] Urban arterial roads carry a large volume of traffic. In order to keep the roads running smoothly or to divert traffic, it is necessary to control the roads so that the traffic conditions on the roads can achieve the desired effect.

[0003] In related technologies, the general approach is to determine the control mode required for each trunk line to achieve the desired traffic conditions, and then control the trunk line according to the aforementioned control mode.

[0004] In the above scheme, different trunk lines are controlled separately. When coordinating the control of multiple intersecting trunk lines, the relationship between the control modes of multiple intersecting trunk lines cannot be taken into account. Consequently, the traffic status of multiple trunk lines cannot be considered as a whole, resulting in poor effect of coordinated control of intersecting trunk lines. Summary of the Invention

[0005] The purpose of this application is to provide a method, apparatus, equipment, and medium for coordinated control of road trunk lines, so as to improve the effectiveness of coordinated control of intersecting trunk lines. The specific technical solution is as follows:

[0006] In a first aspect, embodiments of this application provide a coordination control method, including:

[0007] Obtain intersection parameters and road control parameters of multiple intersecting arterial roads, wherein the road control parameters include at least: the signal cycle range of traffic signals for each arterial road, the release mode configured for each intersection in the arterial road, the release mode of the target intersections of different arterial roads being the same, and the signal cycles of different arterial roads being the same or satisfying a multiple relationship.

[0008] Determine a combination scheme for the release modes of different signal cycles and different target intersections. For each combination scheme, use the intersection parameters and road control parameters to calculate the trunk bandwidth of each trunk line under the combination scheme. Based on the trunk bandwidth of each trunk line, determine the comprehensive bandwidth corresponding to the combination scheme. The trunk bandwidth includes: trunk green wave bandwidth or trunk red wave bandwidth.

[0009] A combination scheme that satisfies the preset traffic control conditions is determined as a coordinated control scheme, and the multiple intersecting trunk lines are coordinated and controlled according to the coordinated control scheme.

[0010] In one embodiment of this application, the road control parameters further include at least one of the following parameters: coordinated control mode of each trunk line, desired green wave speed, and intersection traffic flow at each intersection of the trunk line.

[0011] In one embodiment of this application, the step of calculating the trunk bandwidth of each trunk line under each combined scheme using the intersection parameters and road control parameters, and determining the comprehensive bandwidth corresponding to the combined scheme based on the trunk bandwidth of each trunk line, includes:

[0012] Obtain priority for different trunk lines;

[0013] For each combination scheme, the trunk bandwidth of each trunk line under the combined scheme is calculated using the intersection parameters and road control parameters. The trunk bandwidths of each trunk line are weighted and summed according to the priority of different trunk lines to obtain the comprehensive bandwidth corresponding to the combined scheme.

[0014] In one embodiment of this application, the priority of each trunk line is positively correlated with the traffic flow at the intersections along that trunk line.

[0015] In one embodiment of this application, obtaining the priority of different trunk lines includes:

[0016] Based on the intersection traffic flow at each intersection of each trunk line, the trunk line traffic flow of each trunk line is calculated.

[0017] Based on the statistical data of trunk line traffic, the priority of each trunk line is determined.

[0018] In one embodiment of this application, the method further includes:

[0019] Obtain the phase difference of the signal period between each intersection of each trunk line under the aforementioned coordinated control scheme;

[0020] Using the phase difference of any intersection in any trunk line as the reference phase difference, the phase difference of the signal period between each intersection in each trunk line is determined according to the phase difference between each intersection, so as to adjust the phase difference of the signal period between each intersection in each trunk line to the determined phase difference.

[0021] In one embodiment of this application, the method of determining a combination scheme of release modes for different signal cycles and different target intersections includes, for each combination scheme, calculating the trunk bandwidth of each trunk line under that combination scheme using the intersection parameters and road control parameters, including:

[0022] Determine the combination scheme of release modes for different target intersections on different trunk lines;

[0023] For each mode combination scheme, different signal cycles are traversed. Based on the mode combination scheme and the currently traversed signal cycle, the trunk bandwidth of each trunk line under the mode combination scheme and the currently traversed signal cycle is calculated using the intersection parameters and road control parameters.

[0024] In one embodiment of this application, the release model configured for each intersection includes at least one of the following modes:

[0025] Symmetrical release, single-entry release, overlapping release, and mixed release.

[0026] Secondly, embodiments of this application provide a coordinated control device for a main road, comprising:

[0027] The parameter acquisition module is used to obtain intersection parameters and road control parameters of multiple intersecting trunk lines. The road control parameters include at least: the signal cycle range of traffic signals for each trunk line, the release mode configured for each intersection in the trunk line, the release mode of the target intersections of different trunk lines being the same, and the signal cycles of different trunk lines being the same or satisfying a multiple relationship.

[0028] The bandwidth calculation module is used to determine the combination scheme of the release mode for different signal cycles and different target intersections. For each combination scheme, the trunk bandwidth of each trunk line under the combination scheme is calculated using the intersection parameters and road control parameters. Based on the trunk bandwidth of each trunk line, the comprehensive bandwidth corresponding to the combination scheme is determined. The trunk bandwidth includes: trunk green wave bandwidth or trunk red wave bandwidth.

[0029] The scheme determination module is used to determine the combination scheme that meets the preset traffic control conditions for the corresponding comprehensive bandwidth, as a coordinated control scheme, so as to coordinate and control the multiple intersecting trunk lines according to the coordinated control scheme.

[0030] In one embodiment of this application, the road control parameters further include at least one of the following parameters: coordinated control mode of each trunk line, desired green wave speed, and intersection traffic flow at each intersection of the trunk line.

[0031] In one embodiment of this application, the bandwidth calculation module includes:

[0032] Priority acquisition unit, used to obtain the priority of different trunk lines;

[0033] The index calculation unit is used to calculate the trunk bandwidth of each trunk line under each combination scheme using the intersection parameters and road control parameters. The trunk bandwidths of each trunk line are weighted and summed according to the priority of different trunk lines to obtain the comprehensive bandwidth corresponding to the combination scheme.

[0034] In one embodiment of this application, the priority of each trunk line is positively correlated with the traffic flow at the intersections along that trunk line.

[0035] In one embodiment of this application, the priority obtaining unit is specifically used for:

[0036] Based on the intersection traffic flow at each intersection of each trunk line, the trunk line traffic flow of each trunk line is calculated.

[0037] Based on the statistical data of trunk line traffic, the priority of each trunk line is determined.

[0038] In one embodiment of this application, the device further includes a phase difference adjustment module, used for:

[0039] Obtain the phase difference of the signal period between each intersection of each trunk line under the aforementioned coordinated control scheme;

[0040] Using the phase difference of any intersection in any trunk line as the reference phase difference, the phase difference of the signal period between each intersection in each trunk line is determined according to the phase difference between each intersection, so as to adjust the phase difference of the signal period between each intersection in each trunk line to the determined phase difference.

[0041] In one embodiment of this application, the bandwidth calculation module is specifically used for:

[0042] Determine the combination scheme of release modes for different target intersections on different trunk lines;

[0043] For each mode combination scheme, different signal cycles are traversed. Based on the mode combination scheme and the currently traversed signal cycle, the trunk bandwidth of each trunk line under the mode combination scheme and the currently traversed signal cycle is calculated using the intersection parameters and road control parameters. Based on the trunk bandwidth of each trunk line, the comprehensive bandwidth corresponding to the combination scheme is determined.

[0044] In one embodiment of this application, the release model configured for each intersection includes at least one of the following modes:

[0045] Symmetrical release, single-entry release, overlapping release, and mixed release.

[0046] Thirdly, embodiments of this application provide an electronic device, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0047] Memory, used to store computer programs;

[0048] When a processor executes a program stored in memory, it implements any of the steps described in the first aspect.

[0049] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of any of the methods described in the first aspect.

[0050] This application also provides a computer program product containing instructions that, when run on a computer, cause the computer to execute any of the coordination and control methods described above.

[0051] Beneficial effects of the embodiments in this application:

[0052] The coordinated control scheme for road arteries provided in this application embodiment can obtain intersection parameters and road control parameters for multiple intersecting arteries. The road control parameters include at least: the signal cycle range of traffic signals for each artery, the release mode configured at each intersection of the arteries, the same release mode at target intersections of different arteries, and the same or multiple-like signal cycles for different arteries. A combination scheme of different signal cycles and release modes for different target intersections is determined. For each combination scheme, the artery bandwidth of each artery under the combination scheme is calculated using the intersection parameters and road control parameters. Based on the artery bandwidth of each artery, the comprehensive bandwidth corresponding to the combination scheme is determined. The artery bandwidth includes: artery green wave bandwidth or artery red wave bandwidth. A combination scheme whose corresponding comprehensive bandwidth meets preset traffic control conditions is determined as a coordinated control scheme to coordinate and control multiple intersecting arteries according to the coordinated control scheme. This approach allows for the direct acquisition of intersection parameters and road control parameters for each arterial road. Then, based on different target intersection release modes and signal cycles, multiple different combination schemes are obtained. The comprehensive bandwidth of each arterial road under each combination scheme is calculated, and the combination scheme whose comprehensive bandwidth meets the preset traffic control conditions is selected as the final coordinated control scheme. Subsequent coordinated control of the multiple arterial roads according to this scheme ensures that the traffic conditions of each arterial road meet the aforementioned traffic control requirements. Therefore, it is evident that applying the coordinated control scheme provided in this application can improve the effectiveness of coordinated control of intersecting arterial roads. Attached Figure Description

[0053] To more clearly illustrate the technical solutions in the embodiments of this application 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 this application. For those skilled in the art, other embodiments can be obtained based on these drawings.

[0054] Figure 1 A flowchart illustrating a coordinated control method for a main road provided in this application embodiment;

[0055] Figure 2 A schematic diagram of multiple intersecting trunk lines provided in an embodiment of this application;

[0056] Figure 3 A schematic diagram of another set of intersecting trunk lines provided in this application embodiment;

[0057] Figure 4 A time-distance diagram for solving the green wave bandwidth between intersections A and B, provided in an embodiment of this application;

[0058] Figure 5 A flowchart illustrating another coordinated control method for a main road provided in this application embodiment;

[0059] Figure 6 A time-distance diagram for solving the periodic phase difference of signals between intersections A and B, provided in an embodiment of this application;

[0060] Figure 7 A flowchart illustrating another method for coordinated control of a main road provided in this application embodiment;

[0061] Figure 8 The time-distance diagram of trunk line 2 under the coordinated control scheme provided in the embodiments of this application;

[0062] Figure 9 The time-distance diagram of trunk line 3 under the coordinated control scheme provided in the embodiments of this application;

[0063] Figure 10 A schematic diagram of the structure of a coordinated control device for a main road provided in this application embodiment;

[0064] Figure 11 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0065] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of this application.

[0066] To improve the effectiveness of coordinated control of intersecting arterial roads, embodiments of this application provide a method, apparatus, equipment, and medium for coordinated control of arterial roads, which will be described in detail below.

[0067] This application provides a coordinated control method for arterial roads, which can be applied to electronic devices such as computers, servers, and traffic control systems. The method includes:

[0068] Obtain the intersection parameters and road control parameters of multiple intersecting arterial roads. The road control parameters include at least: the signal cycle range of the traffic signals of each arterial road, the release mode configured for each intersection of the arterial road, the release mode of the target intersections of different arterial roads being the same, and the signal cycles of different arterial roads being the same or satisfying a multiple relationship.

[0069] Determine the combination scheme of release modes for different signal cycles and different target intersections. For each combination scheme, use intersection parameters and road control parameters to calculate the trunk bandwidth of each trunk line under the combination scheme. Based on the trunk bandwidth of each trunk line, determine the comprehensive bandwidth corresponding to the combination scheme. The trunk bandwidth includes: trunk green wave bandwidth or trunk red wave bandwidth.

[0070] Determine the combination scheme that meets the preset traffic control conditions for the corresponding comprehensive bandwidth, and use it as the coordination control scheme to coordinate and control multiple intersecting trunk lines.

[0071] This approach allows for the direct acquisition of intersection parameters and road control parameters for each arterial road. Then, based on different target intersection release modes and signal cycles, multiple different combination schemes are generated. The comprehensive bandwidth of each arterial road under each combination scheme is calculated, and the combination scheme whose comprehensive bandwidth meets the preset traffic control conditions is selected as the final coordinated control scheme. Subsequent coordinated control of the multiple arterial roads according to this scheme ensures that the traffic conditions of each arterial road meet the aforementioned traffic control requirements. Therefore, it is evident that applying the coordinated control scheme provided in the above embodiment can improve the effectiveness of coordinated control of intersecting arterial roads.

[0072] The above-mentioned coordination and control methods will be described in detail below.

[0073] See Figure 1 , Figure 1 This application provides a flowchart illustrating a coordinated control method for a main road, comprising the following steps S101-S103:

[0074] S101 obtains the intersection parameters and road control parameters of multiple intersecting trunk lines.

[0075] The intersection parameters include at least the intersection spacing of each trunk road, and may also include: the number of intersections on the trunk road, the order of different intersections, etc.

[0076] Road control parameters characterize the control parameters configured for each arterial road. These parameters are used to control vehicles on the road. The aforementioned road control parameters include at least: the range of the signal cycle of the traffic signals for each arterial road and the release mode configured for each intersection on the arterial road.

[0077] The release pattern is the same for target intersections where different trunk lines intersect.

[0078] The signal periods of different trunk lines are the same or satisfy a multiple relationship. For example, suppose there are 4 intersecting trunk lines, namely trunk line a, trunk line b, trunk line c, and trunk line d. In one case, the signal period of the above 4 trunk lines is 150 seconds. In another case, the signal period of trunk line a and trunk line c is 150 seconds, and the signal period of trunk line b and trunk line d is 300 seconds. That is, the signal period of trunk line a and trunk line c is a multiple relationship with the signal period of trunk line b and trunk line d.

[0079] The aforementioned trunk lines intersect each other, and each trunk line intersects with at least one other trunk line at a target intersection. For example, see... Figure 2 , Figure 2 This is a schematic diagram of multiple intersecting trunk lines provided in an embodiment of this application. It is assumed that there are 3 trunk lines, namely trunk line 1, trunk line 2 and trunk line 3. There is a target intersection between trunk line 1 and trunk line 2, and there is a target intersection between trunk line 1 and trunk line 3.

[0080] It should be noted that in the embodiments of this application, the target intersection mentioned above is the intersection for which the release mode needs to be solved in this solution. This method does not need to determine the combination of release modes of all intersections, but only needs to determine the combination of release modes of the target intersection.

[0081] Intersection spacing refers to the distance between two adjacent intersections on each main road. For example, see... Figure 3 , Figure 3 This is a schematic diagram of another set of intersecting trunk lines provided in an embodiment of this application. Assume there are three trunk lines, namely trunk line 1, trunk line 2, and trunk line 3. Trunk line 1 includes intersections a, b, c, and d; trunk line 2 includes intersections e, b, and g; and trunk line 3 includes intersections f, c, and h. For trunk line 1, the distances between intersections a and b, b and c, and c and d can be obtained as the spacing between each intersection of trunk line 1. The distances between intersections e and b and b and g can be obtained as the spacing between each intersection of trunk line 2. The distances between intersections f and c and c and h can be obtained as the spacing between each intersection of trunk line 3.

[0082] The signal cycle refers to the period of traffic signals at an intersection. Traffic signals include red light signals, green light signals, yellow light signals, etc. For example, if the duration of the green light signal in a certain direction at an intersection is 45 seconds, the duration of the red light signal is 45 seconds, and the duration of the yellow light signal is 10 seconds, then the signal cycle of the intersection is 100 seconds.

[0083] Specifically, multiple intersecting trunk lines can be selected as trunk lines to be coordinated and controlled, and the intersection parameters and road control parameters of these multiple trunk lines can be obtained.

[0084] In one embodiment of this application, the release mode configured for each intersection includes at least one of the following modes: symmetrical release, single-entry release, overlapping release, and mixed release.

[0085] Symmetrical release refers to: simultaneous release of two opposing directions of straight-ahead traffic, or simultaneous release of two opposing directions of left-turning traffic, or simultaneous release of two opposing directions of right-turning traffic.

[0086] Single-port release means that straight-through and left-turn traffic are released simultaneously in one direction of entry, or straight-through, left-turn, and right-turn traffic are released simultaneously in one direction of entry.

[0087] Overlapping release refers to a situation where, under different phase conditions, there are two opposing directions of straight-through traffic being released simultaneously, or two opposing directions of left-turn traffic being released simultaneously, and there is also an entrance direction of straight-through traffic or left-turn traffic being released simultaneously.

[0088] Mixed release refers to: allowing straight-ahead and left-turn traffic in two opposing directions to proceed simultaneously, or allowing straight-ahead, left-turn, and right-turn traffic in two opposing directions to proceed simultaneously.

[0089] In addition, in one embodiment of this application, the road control parameters also include at least one of the following parameters: the coordinated control mode of each trunk line, the desired green wave speed, and the intersection traffic flow at each intersection of the trunk line.

[0090] For each trunk line, different coordinated control modes are used to achieve different control effects. These coordinated control modes include: bidirectional green wave, unidirectional green wave, bidirectional red wave, unidirectional red wave, and single red and single green. Bidirectional green wave means that green wave coordinated control is applied in both the up and down directions of the trunk line; unidirectional green wave means that green wave coordinated control is applied in only one direction of the trunk line; bidirectional red wave means that red wave coordinated control is applied in both the up and down directions of the trunk line; unidirectional red wave means that red wave coordinated control is applied in only one direction of the trunk line; single red and single green means that green wave coordinated control is applied in one direction of the trunk line, and red wave coordinated control is applied in the other direction. The green wave coordinated control mode refers to the control mode that maximizes the green wave bandwidth of the trunk line by coordinating the signal cycles, release patterns, and phase differences at various intersections on the trunk line; the red wave coordinated control mode refers to the control mode that maximizes the red wave bandwidth of the trunk line by coordinating the signal cycles, release patterns, and phase differences at various intersections on the trunk line.

[0091] Green wave bandwidth refers to the maximum time window during which vehicles can continuously pass through multiple intersections on a main road at the desired green wave speed. Vehicles arriving during the green wave bandwidth time window can pass through each intersection continuously.

[0092] Red wave bandwidth refers to the maximum time window during which vehicles continuously stop at multiple intersections at the desired red wave speed. Vehicles arriving within the red wave bandwidth time window will continuously stop at each intersection.

[0093] The traffic flow at an intersection can be either the approach lane flow or the exit lane flow. The approach lane flow can be understood as the traffic flow entering the intersection, and the exit lane flow can be understood as the traffic flow leaving the intersection. The value of the traffic flow can be set manually or obtained by counting the number of vehicles passing through each intersection within a preset time period. The preset time period can be 5 minutes, 10 minutes, 15 minutes, etc.

[0094] In one embodiment of this application, for each trunk line, intersection parameters and road control parameters can be obtained manually through an external input device, or the intersection parameters and road control parameters corresponding to the trunk line can be queried from a pre-established trunk line information database according to the trunk line's identifier. This application embodiment does not limit this.

[0095] S102, determine the combination scheme of release modes for different signal cycles and different target intersections. For each combination scheme, use intersection parameters and road control parameters to calculate the trunk bandwidth of each trunk line under the combination scheme. Based on the trunk bandwidth of each trunk line, determine the comprehensive bandwidth corresponding to the combination scheme.

[0096] The trunk bandwidth includes any one of the following indicators: trunk green wave bandwidth and trunk red wave bandwidth.

[0097] Specifically, the obtained road control parameters include the signal cycle range for each arterial road and the selectable release modes for different target intersections. These different signal cycles and release modes can be combined to obtain various combination schemes. For each combination scheme, the arterial bandwidth of each arterial road can be calculated using the intersection parameters and road control parameters under the corresponding signal cycle and release mode. This arterial bandwidth can be either the green wave bandwidth or the red wave bandwidth. Then, based on the bandwidth of each arterial road, the combined bandwidth of multiple intersecting arterial roads under this combination scheme is determined.

[0098] In one embodiment of this application, when determining the overall bandwidth, the sum of the trunk bandwidths of each trunk line can be calculated as the overall bandwidth. Alternatively, the median, mode, average, etc., of the trunk bandwidths of multiple trunk lines can be determined as the overall bandwidth. This embodiment of the application does not limit this approach.

[0099] In one embodiment of this application, when calculating the trunk bandwidth of each trunk line under each combination scheme, the intersection parameters and road control parameters of the trunk line under the combination scheme can be input into a pre-trained bandwidth calculation model. The bandwidth calculation model is then used to process the input intersection parameters and road control parameters to predict the trunk bandwidth of the trunk line. The bandwidth calculation model can be a convolutional neural network model, a recurrent neural network model, or the like.

[0100] In one embodiment of this application, a mode combination scheme for the release mode of different target intersections on different trunk lines can be determined; for each mode combination scheme, different signal cycles are traversed, and based on the mode combination scheme and the currently traversed signal cycle, the trunk bandwidth of each trunk line under the mode combination scheme and the currently traversed signal cycle is calculated using intersection parameters and road control parameters.

[0101] Specifically, the traffic release modes of different target intersections can be arranged and combined according to the available release modes of different target intersections to obtain multiple mode combination schemes. Then, for each mode combination scheme, the trunk bandwidth of each trunk line can be calculated using intersection parameters and road control parameters under different signal cycles, until all available signal cycles are traversed, thereby obtaining the trunk bandwidth of each trunk line under different mode combination schemes and different signal cycles.

[0102] For example, if the period range is [100s, 200s], during traversal, it can be performed at 1s intervals to calculate the trunk bandwidth of each trunk when the signal period of the combination scheme is 100s, 101s, etc.

[0103] Specifically, the steps for calculating the trunk bandwidth of each trunk line include:

[0104] 1. Determine the timing information of each phase under different release modes at each target intersection, where the timing information includes the green light ratio.

[0105] The aforementioned green light ratio refers to the ratio of green light time to signal cycle. It can be manually input through an external input device or obtained from a pre-established green light ratio database.

[0106] 2. Calculate the offset distance of each target intersection, and then calculate the offset green ratio.

[0107] The offset distance of the target intersection mentioned above is the difference between the actual position and the ideal position of the target intersection.

[0108] The aforementioned offset green signal ratio is the ratio of the offset at the center of the green light to the signal period. The offset at the center of the green light is the ratio of the offset distance to the desired green wave speed.

[0109] See Figure 4 , Figure 4 The time-distance diagram for solving the green wave bandwidth between intersections A and B is provided in the embodiments of this application.

[0110] Specifically, when calculating the offset distance, intersection A on the main road side is used as the reference intersection. When the ideal distance is between the reference intersection and the target intersection B, the center times of the green lights for the coordinated up and down traffic phases between the two intersections on the time-distance diagram correspond to each other. That is, the center line connecting the corresponding green light center times does not shift. The formula for calculating the ideal distance is:

[0111]

[0112] Where a is the ideal distance between intersections A and B, C is the signal period, n is any integer, and Δ B The time when the green light center time of the uplink coordinated phase at intersection B leads the green light center time of the downlink coordinated phase is Δ. A This refers to the time when the green light center time of the uplink coordinated phase at intersection A precedes the green light center time of the downlink coordinated phase. When different combinations of release modes are used, Δ A Δ B There are differences. For example, if the reference intersection A uses single-entry release and the target intersection B uses overlapping release, Δ A Δ B The values ​​are different.

[0113] After determining the ideal distance between intersections A and B, the offset distance between the actual position and the ideal position of intersection B can be calculated, and then the offset-green ratio can be calculated from the offset at the green light center time and the signal period.

[0114] 3. Calculate the green wave bandwidth based on the aforementioned offset green ratio. For a certain driving direction, calculate the green ratios above and below the centerline for each intersection in that direction, based on the offset green ratios for that direction, and finally obtain the green wave bandwidth for that driving direction.

[0115] For a given direction of travel, the green wave bandwidth of each intersection can be obtained by adding or subtracting the offset green wave ratio in that direction. This gives the green wave ratio above and below the centerline, and finally, the green wave bandwidth in that direction of travel.

[0116] The green wave bandwidth in that direction can be used as the trunk bandwidth of that trunk line.

[0117] The method for calculating the red-wave bandwidth can refer to the steps described above, and will not be repeated here.

[0118] S103, determine the combination scheme that meets the preset traffic control conditions for the corresponding comprehensive bandwidth, and use it as a coordinated control scheme to coordinate and control multiple intersecting trunk lines in accordance with the coordinated control scheme.

[0119] The traffic control conditions mentioned above can be any of the following: maximum comprehensive bandwidth, minimum comprehensive bandwidth, comprehensive bandwidth exceeding a preset first indicator threshold, comprehensive bandwidth less than a preset second indicator threshold, etc.

[0120] Specifically, after obtaining the comprehensive bandwidth corresponding to multiple combination schemes, a combination scheme whose comprehensive bandwidth meets the above traffic control conditions can be selected as the coordination control scheme for the above multiple trunk lines. Subsequently, the above multiple intersecting trunk lines can be coordinated and controlled according to the coordination control scheme to achieve the preset control effect.

[0121] For example, in a traffic control scenario, if the goal is to ensure smooth traffic flow on multiple arterial roads, the arterial road bandwidth can be set as the arterial road green wave bandwidth, and the comprehensive bandwidth can be the sum of the green wave bandwidths of all arterial roads. The traffic control condition is to maximize the comprehensive bandwidth. After obtaining the sum of the arterial road green wave bandwidths under different combinations, the combination scheme with the largest sum of the arterial road green wave bandwidths can be selected as the coordinated control scheme for multiple arterial roads. Subsequently, this coordinated control scheme can be used to coordinate and control each arterial road so that the overall traffic status of each arterial road after coordinated control meets the expectations.

[0122] In the coordinated control scheme for road arteries provided in the above embodiments, intersection parameters and road control parameters of multiple intersecting arteries can be obtained. The road control parameters include at least: the signal cycle range of traffic signals for each artery, the release mode configured at each intersection of the arteries, the same release mode at target intersections of different arteries, and the same or multiple relationship between the signal cycles of different arteries. A combination scheme of different signal cycles and release modes for different target intersections is determined. For each combination scheme, the artery bandwidth of each artery under the combination scheme is calculated using the intersection parameters and road control parameters. Based on the artery bandwidth of each artery, the comprehensive bandwidth corresponding to the combination scheme is determined. The artery bandwidth includes: artery green wave bandwidth or artery red wave bandwidth. A combination scheme whose corresponding comprehensive bandwidth meets preset traffic control conditions is determined as a coordinated control scheme to coordinate and control multiple intersecting arteries according to the coordinated control scheme. This approach allows for the direct acquisition of intersection parameters and road control parameters for each arterial road. Then, based on different target intersection release modes and signal cycles, multiple different combination schemes are generated. The comprehensive bandwidth of each arterial road under each combination scheme is calculated, and the combination scheme whose comprehensive bandwidth meets the preset traffic control conditions is selected as the final coordinated control scheme. Subsequent coordinated control of the multiple arterial roads according to this scheme ensures that the traffic conditions of each arterial road meet the aforementioned traffic control requirements. Therefore, it is evident that applying the coordinated control scheme provided in the above embodiment can improve the effectiveness of coordinated control of intersecting arterial roads.

[0123] In one embodiment of this application, when calculating the comprehensive bandwidth corresponding to each combination scheme in step S102 above, the priority of different trunk lines can be obtained; for each combination scheme, the trunk line bandwidth of each trunk line under the combination scheme is calculated using intersection parameters and road control parameters, and the trunk line bandwidths of each trunk line are weighted and summed according to the priority of different trunk lines to obtain the comprehensive bandwidth corresponding to the combination scheme.

[0124] Specifically, the priority of different trunk lines can be obtained, and then the priority of each trunk line can be used as the weight corresponding to that trunk line. After obtaining the trunk line bandwidth of each trunk line, the trunk line bandwidth of each trunk line can be weighted and summed according to the weight of each trunk line to obtain the corresponding comprehensive bandwidth.

[0125] In one embodiment of this application, the priority of each arterial road is positively correlated with the traffic flow at its intersections. For each arterial road, the higher the traffic flow at each intersection, the greater the traffic volume passing through the arterial road, the higher its importance, and therefore the higher its priority; conversely, the lower the traffic flow at each intersection, the lower the traffic volume passing through the arterial road, the lower its importance, and therefore the lower its priority.

[0126] In one embodiment of this application, the trunk line traffic flow of each trunk line can be calculated based on the intersection traffic flow of each intersection in each trunk line; and the priority of each trunk line can be determined based on the calculated trunk line traffic flow.

[0127] Specifically, for each trunk line, the trunk line traffic flow can be calculated based on the intersection traffic flow of each intersection in the road control parameters of that trunk line. Then, the priority of each trunk line can be determined based on the trunk line traffic flow.

[0128] For example, the maximum flow rate of each trunk line can be determined; for each trunk line, the ratio of its flow rate to the maximum flow rate can be calculated as the priority of that trunk line.

[0129] In addition, the average flow rate of each trunk line can be calculated, and for each trunk line, the ratio of its flow rate to the average flow rate can be used as the priority of that trunk line.

[0130] Alternatively, determine the minimum flow rate of each trunk line; for each trunk line, calculate the ratio of its flow rate to the minimum flow rate, which serves as the priority of that trunk line.

[0131] In the above scheme, when calculating the traffic flow of each trunk line, the maximum value of the traffic flow at each intersection of the trunk line can be determined as the traffic flow of that trunk line, or the average value of the traffic flow at each intersection of the trunk line can be determined as the traffic flow of that trunk line. This application embodiment does not limit this.

[0132] In addition, in one embodiment of this application, the priority of each trunk line can also be determined manually, so that when obtaining the priority of each trunk line, the priority input manually through an external input device can be obtained directly.

[0133] See Figure 5 , Figure 5 This is a flowchart illustrating another coordinated control method for arterial roads provided in an embodiment of this application. The method further includes the following steps S104-S105:

[0134] S104, obtain the phase difference of the signal cycle between each intersection of each trunk line under the coordinated control scheme.

[0135] For any two intersections, the phase difference of the signal cycle between the two intersections refers to the time difference between the start times of the same traffic lights within the same signal cycle. For example, if the start time of the red light at intersection 1 is 08:03:45 and the start time of the red light at intersection 2 is 08:03:50 within the same cycle, then the phase difference between intersection 1 and intersection 2 can be considered to be 5 seconds.

[0136] See Figure 6 , Figure 6 The time-distance diagram for solving the periodic phase difference of signals between intersections A and B provided in this application embodiment is based on the above. Figure 4 Based on the illustrated embodiment, in one embodiment of this application, the step of calculating the phase difference of the signal period between intersections A and B includes:

[0137] Using the center moment of the green light in the upstream coordinated phase at intersection A as the phase difference reference point, based on the green wave speed v AB The ideal location of intersection B and the magnitude of the green light ratio λ of the uplink coordinated phase can determine the phase difference O of intersection B. B The calculation formula is as follows:

[0138]

[0139] Where a is the ideal distance between intersections A and B, C is the signal period, and the phase difference is 0. B This represents the time difference between when the green lights at intersections A and B turn on.

[0140] Specifically, after determining the coordination control scheme for each trunk line, the phase difference between each intersection on the trunk line under the scheme can be obtained for each trunk line.

[0141] S105, using the phase difference of any intersection in any trunk line as the reference phase difference, and according to the phase difference between each intersection, determine the phase difference of the signal period between each intersection in each trunk line, so as to adjust the phase difference of the signal period between each intersection in each trunk line to the determined phase difference.

[0142] Specifically, any intersection on any trunk line can be used as a reference intersection. The phase difference of this reference intersection can be taken as the reference phase difference, which can be understood as setting the phase difference of the reference intersection to 0. Then, according to the phase differences between different intersections, the phase differences of each intersection are adjusted to obtain the phase differences of each intersection under the same reference. Subsequently, the signal periods of each intersection on each intersecting trunk line can be adjusted according to the determined phase differences, so that the phase difference of the signal periods between intersections on each trunk line after adjustment is consistent with the determined phase difference.

[0143] Based on the above Figure 3 Taking the main road shown as an example, we can select intersection a in main road 1 as the reference intersection and use the phase difference of intersection a as the reference phase difference. First, we adjust the phase differences of intersections b, c, and d. Then, for main road 2, we use intersection b as the reference and adjust the phase differences of intersections e and g. Similarly, for main road 3, we use intersection c as the reference and adjust the phase differences of intersections f and h. Finally, we can adjust the phase differences of each intersection in each main road.

[0144] In one embodiment of this application, after obtaining the intersection parameters and road control parameters in step S101, it is possible to detect whether the obtained intersection parameters and road control parameters are accurate. If not, the intersection parameters and road control parameters of multiple intersecting trunk lines are obtained again.

[0145] Specifically, it can be checked whether the obtained intersection parameters and road control parameters are complete. If they are complete, the comprehensive bandwidth of multiple trunk lines can be calculated based on the intersection parameters and road control parameters. If they are incomplete, the intersection parameters of the above-mentioned multiple trunk lines can be obtained again until the obtained intersection parameters and road control parameters are complete.

[0146] In addition, it can also detect whether the obtained intersection parameters and road control parameters are within the preset reasonable range. If not, it means that the obtained intersection parameters and road control parameters may be wrong, and the above intersection parameters and road control parameters can be obtained again.

[0147] For example, if the obtained road control parameters show a signal cycle range of 50 to 300 seconds, while the preset reasonable range for the signal cycle is 100 to 200 seconds, then the signal cycle may be incorrect, and the signal cycle can be obtained again.

[0148] See Figure 7 , Figure 7 A flowchart illustrating another coordinated control method for arterial roads provided in this application embodiment, the method comprising the following steps S701-S710:

[0149] S701 obtains intersection parameters and road control parameters for multiple intersecting trunk lines.

[0150] The intersection parameters include: the distance between intersections of each arterial road, and the road control parameters include: the signal cycle range of traffic signals for each arterial road, the release mode configured for each intersection on the arterial road, the coordinated control mode of each arterial road, the expected green wave speed, and the traffic flow at each intersection on the arterial road.

[0151] S702, check whether the obtained intersection parameters and road control parameters are accurate. If not, return to step S701 to obtain the intersection parameters and road control parameters of multiple intersecting trunk lines again. If yes, execute step S703.

[0152] S703 calculates the trunk line traffic flow for each trunk line based on the traffic flow at each intersection, and determines the maximum traffic flow for each trunk line.

[0153] S704. For each trunk line, calculate the ratio of the trunk line flow rate to the maximum flow rate, and use this ratio as the priority of the trunk line.

[0154] S705, determine the combination scheme of release modes for different target intersections on different trunk lines.

[0155] S706: For each mode combination scheme, it iterates through different signal cycles. Based on the mode combination scheme and the currently traversed signal cycle, it uses intersection parameters and road control parameters to calculate the trunk bandwidth of each trunk line under the mode combination scheme and the currently traversed signal cycle. According to the priority of different trunk lines, the trunk bandwidths of each trunk line are weighted and summed to obtain the comprehensive bandwidth corresponding to the combination scheme.

[0156] S707 determines the combination scheme that meets the preset traffic control conditions for the corresponding comprehensive bandwidth, and uses it as the coordinated control scheme for multiple trunk lines.

[0157] S708 obtains the phase difference of the signal cycle between each intersection of each trunk line under the coordinated control scheme.

[0158] S709 uses the phase difference of any intersection in any trunk line as the reference phase difference, and adjusts the phase difference of the signal period between each intersection in each trunk line according to the phase difference between each intersection.

[0159] S710 adjusts the release mode, phase difference, and signal cycle of each intersection in each trunk line according to the coordinated control scheme and the adjusted phase difference between each intersection.

[0160] Based on the above Figure 3 Taking the main line shown as an example, the above-mentioned coordination and control method will be described in detail.

[0161] Depend on Figure 3 It can be seen that there are two intersecting target intersections b and c between trunk lines 1, 2 and 3. Assuming that target intersections b and c each support three release modes, there are a total of 9 combination schemes for the release modes of target intersections b and c. The coordination control mode of trunk line 1 is bidirectional green wave, the coordination control mode of trunk line 2 is unidirectional green wave, and the coordination control mode of trunk line 3 is bidirectional green wave. The signal period of the three trunk lines can be selected within the range of 100 to 200 seconds.

[0162] Assuming the trunk line flows of trunk lines 1, 2, and 3 are 311, 250, and 238 respectively, the priority of each trunk line can be calculated as 1, 0.80, and 0.77 respectively.

[0163] By iterating through the available combination schemes and signal cycles, and considering each combination scheme and each signal cycle, we iterate through three trunk lines. Using the intersection parameters and road control parameters of each trunk line, we can obtain the trunk line bandwidth of each trunk line. Then, we use the aforementioned priority to perform a weighted summation of the trunk line bandwidths of each trunk line, thereby obtaining the comprehensive bandwidth of multiple trunk lines for each combination scheme and each signal cycle.

[0164] Using the maximum green wave sum of the trunk lines as the traffic control condition, it can be determined that when the release modes at the target intersections b and c are overlapping release and overlapping release respectively, and the signal cycle is 150 seconds, the weighted sum of the green wave bandwidth of the trunk lines is the maximum. Therefore, the above scheme can be used as a coordinated control scheme for multiple trunk lines.

[0165] Then, select trunk line 1 as the reference trunk line for phase difference adjustment, and take intersection a as the reference intersection. Use the phase difference of intersection a as the reference phase difference, and first adjust the phase difference of intersections b, c, and d. Then, for trunk line 2, take intersection b as the reference and adjust the phase difference of intersections e and g. Similarly, for trunk line 3, take intersection c as the reference and adjust the phase difference of intersections f and h. Finally, the phase difference of each intersection in each trunk line is adjusted.

[0166] Under the aforementioned coordinated control scheme, the uplink and downlink green wave bandwidths of trunk line 1 are 25 and 26 seconds respectively, the green wave bandwidth of trunk line 2 is 32 seconds, the uplink and downlink bandwidths of trunk line 3 are 22 and 26 seconds respectively, and the weighted sum of the green wave bandwidths of multiple trunk lines is 114 seconds.

[0167] See Figure 8 , Figure 8 The time-distance diagram of trunk line 2 under the coordinated control scheme provided in the embodiments of this application. Figure 8 The horizontal axis represents the distance between intersections e, b, and g, and the vertical axis represents the signal cycle time of the traffic signal. Assuming that the release modes of intersections e, b, and g in the above coordinated control scheme are single-entry release, overlapping release, and symmetrical release, it can be seen that under the above scheme, with a green wave speed v of 13 m / s, the green wave bandwidth of trunk line 2 is 32 s.

[0168] See Figure 9 , Figure 9 The time-distance diagram of trunk line 3 under the coordinated control scheme provided in the embodiments of this application. Figure 9 The horizontal axis represents the intersection spacing between different intersections f, c, and h, and the vertical axis represents the signal cycle time of the traffic signal. Assuming that the release modes of intersections f, c, and h in the above coordinated control scheme are single-entry release, overlapping release, and symmetrical release, it can be seen that under the above scheme, for the up-going direction, with a green wave speed v of 14 m / s, the green wave bandwidth of trunk line 3 is 22 s, and for the down-going direction, with a green wave speed v of 12 m / s, the green wave bandwidth of trunk line 3 is 26 s.

[0169] In the coordinated control scheme for road arteries provided in the above embodiments, intersection parameters and road control parameters of multiple intersecting arteries can be obtained. The road control parameters include at least: the signal cycle range of traffic signals for each artery, the release mode configured at each intersection of the arteries, the same release mode at target intersections of different arteries, and the same or multiple relationship between the signal cycles of different arteries. A combination scheme of different signal cycles and release modes for different target intersections is determined. For each combination scheme, the artery bandwidth of each artery under the combination scheme is calculated using the intersection parameters and road control parameters. Based on the artery bandwidth of each artery, the comprehensive bandwidth corresponding to the combination scheme is determined. The artery bandwidth includes: artery green wave bandwidth or artery red wave bandwidth. A combination scheme whose corresponding comprehensive bandwidth meets preset traffic control conditions is determined as a coordinated control scheme to coordinate and control multiple intersecting arteries according to the coordinated control scheme. This approach allows for the direct acquisition of intersection parameters and road control parameters for each arterial road. Then, based on different target intersection release modes and signal cycles, multiple different combination schemes are generated. The comprehensive bandwidth of each arterial road under each combination scheme is calculated, and the combination scheme whose comprehensive bandwidth meets the preset traffic control conditions is selected as the final coordinated control scheme. Subsequent coordinated control of the multiple arterial roads according to this scheme ensures that the traffic conditions of each arterial road meet the aforementioned traffic control requirements. Therefore, it is evident that applying the coordinated control scheme provided in the above embodiment can improve the effectiveness of coordinated control of intersecting arterial roads.

[0170] Corresponding to the above-described coordination control method, this application also provides a coordination control device, which will be described in detail below.

[0171] See Figure 10 , Figure 10 A schematic diagram of a coordinated control device for a main road provided in this application embodiment is shown. The device includes:

[0172] The parameter acquisition module 1001 is used to acquire intersection parameters and road control parameters of multiple intersecting trunk lines. The road control parameters include at least: the range of signal cycles of traffic signals of each trunk line, the release mode configured for each intersection of the trunk line, the release modes of target intersections of different trunk lines being the same, and the signal cycles of different trunk lines being the same or satisfying a multiple relationship.

[0173] The bandwidth calculation module 1002 is used to determine the combination scheme of the release mode of different signal cycles and different target intersections. For each combination scheme, the trunk bandwidth of each trunk line under the combination scheme is calculated using the intersection parameters and road control parameters. Based on the trunk bandwidth of each trunk line, the comprehensive bandwidth corresponding to the combination scheme is determined. The trunk bandwidth includes: trunk green wave bandwidth or trunk red wave bandwidth.

[0174] The scheme determination module 1003 is used to determine the combination scheme that meets the preset traffic control conditions for the corresponding comprehensive bandwidth, as a coordinated control scheme, so as to coordinate and control the multiple intersecting trunk lines according to the coordinated control scheme.

[0175] In one embodiment of this application, the road control parameters further include at least one of the following parameters: coordinated control mode of each trunk line, desired green wave speed, and intersection traffic flow at each intersection of the trunk line.

[0176] In one embodiment of this application, the bandwidth calculation module 1002 includes:

[0177] Priority acquisition unit, used to obtain the priority of different trunk lines;

[0178] The index calculation unit is used to calculate the trunk bandwidth of each trunk line under each combination scheme using the intersection parameters and road control parameters. The trunk bandwidths of each trunk line are weighted and summed according to the priority of different trunk lines to obtain the comprehensive bandwidth corresponding to the combination scheme.

[0179] In one embodiment of this application, the priority of each trunk line is positively correlated with the traffic flow at the intersections along that trunk line.

[0180] In one embodiment of this application, the priority obtaining unit is specifically used for:

[0181] Based on the intersection traffic flow at each intersection of each trunk line, the trunk line traffic flow of each trunk line is calculated.

[0182] Based on the statistical data of trunk line traffic, the priority of each trunk line is determined.

[0183] In one embodiment of this application, the device further includes a phase difference adjustment module, used for:

[0184] Obtain the phase difference of the signal period between each intersection of each trunk line under the aforementioned coordinated control scheme;

[0185] Using the phase difference of any intersection in any trunk line as the reference phase difference, the phase difference of the signal period between each intersection in each trunk line is determined according to the phase difference between each intersection, so as to adjust the phase difference of the signal period between each intersection in each trunk line to the determined phase difference.

[0186] In one embodiment of this application, the bandwidth calculation module 1002 is specifically used for:

[0187] Determine the combination scheme of release modes for different target intersections on different trunk lines;

[0188] For each mode combination scheme, different signal cycles are traversed. Based on the mode combination scheme and the currently traversed signal cycle, the trunk bandwidth of each trunk line under the mode combination scheme and the currently traversed signal cycle is calculated using the intersection parameters and road control parameters. Based on the trunk bandwidth of each trunk line, the comprehensive bandwidth corresponding to the combination scheme is determined.

[0189] In one embodiment of this application, the release model configured for each intersection includes at least one of the following modes:

[0190] Symmetrical release, single-entry release, overlapping release, and mixed release.

[0191] In the coordinated control scheme for road arteries provided in the above embodiments, intersection parameters and road control parameters of multiple intersecting arteries can be obtained. The road control parameters include at least: the signal cycle range of traffic signals for each artery, the release mode configured at each intersection of the arteries, the same release mode at target intersections of different arteries, and the same or multiple relationship between the signal cycles of different arteries. A combination scheme of different signal cycles and release modes for different target intersections is determined. For each combination scheme, the artery bandwidth of each artery under the combination scheme is calculated using the intersection parameters and road control parameters. Based on the artery bandwidth of each artery, the comprehensive bandwidth corresponding to the combination scheme is determined. The artery bandwidth includes: artery green wave bandwidth or artery red wave bandwidth. A combination scheme whose corresponding comprehensive bandwidth meets preset traffic control conditions is determined as a coordinated control scheme to coordinate and control multiple intersecting arteries according to the coordinated control scheme. This approach allows for the direct acquisition of intersection parameters and road control parameters for each arterial road. Then, based on different target intersection release modes and signal cycles, multiple different combination schemes are generated. The comprehensive bandwidth of each arterial road under each combination scheme is calculated, and the combination scheme whose comprehensive bandwidth meets the preset traffic control conditions is selected as the final coordinated control scheme. Subsequent coordinated control of the multiple arterial roads according to this scheme ensures that the traffic conditions of each arterial road meet the aforementioned traffic control requirements. Therefore, it is evident that applying the coordinated control scheme provided in the above embodiment can improve the effectiveness of coordinated control of intersecting arterial roads.

[0192] This application also provides an electronic device, see [link to relevant documentation] Figure 11 It includes a processor 1101, a communication interface 1102, a memory 1103, and a communication bus 1104, wherein the processor 1101, the communication interface 1102, and the memory 1103 communicate with each other through the communication bus 1104.

[0193] Memory 1103 is used to store computer programs;

[0194] When the processor 1101 executes the program stored in the memory 1103, it implements the steps of the above-described coordination control method.

[0195] The communication bus mentioned in the above electronic devices can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0196] The communication interface is used for communication between the aforementioned electronic devices and other devices.

[0197] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0198] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be 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, or discrete hardware components.

[0199] In another embodiment provided in this application, a computer-readable storage medium is also provided, which stores a computer program that, when executed by a processor, implements the steps of any of the above-described coordination and control methods.

[0200] In another embodiment provided in this application, a computer program product containing instructions is also provided, which, when run on a computer, causes the computer to perform any of the coordination and control methods described above.

[0201] In the coordinated control scheme for road arteries provided in the above embodiments, intersection parameters and road control parameters of multiple intersecting arteries can be obtained. The road control parameters include at least: the signal cycle range of traffic signals for each artery, the release mode configured at each intersection of the arteries, the same release mode at target intersections of different arteries, and the same or multiple relationship between the signal cycles of different arteries. A combination scheme of different signal cycles and release modes for different target intersections is determined. For each combination scheme, the artery bandwidth of each artery under the combination scheme is calculated using the intersection parameters and road control parameters. Based on the artery bandwidth of each artery, the comprehensive bandwidth corresponding to the combination scheme is determined. The artery bandwidth includes: artery green wave bandwidth or artery red wave bandwidth. A combination scheme whose corresponding comprehensive bandwidth meets preset traffic control conditions is determined as a coordinated control scheme to coordinate and control multiple intersecting arteries according to the coordinated control scheme. This approach allows for the direct acquisition of intersection parameters and road control parameters for each arterial road. Then, based on different target intersection release modes and signal cycles, multiple different combination schemes are generated. The comprehensive bandwidth of each arterial road under each combination scheme is calculated, and the combination scheme whose comprehensive bandwidth meets the preset traffic control conditions is selected as the final coordinated control scheme. Subsequent coordinated control of the multiple arterial roads according to this scheme ensures that the traffic conditions of each arterial road meet the aforementioned traffic control requirements. Therefore, it is evident that applying the coordinated control scheme provided in the above embodiment can improve the effectiveness of coordinated control of intersecting arterial roads.

[0202] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk (SSD)).

[0203] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0204] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the device embodiments, electronic device embodiments, computer-readable storage medium embodiments, and computer program product embodiments are basically similar to the method embodiments, so the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0205] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A coordinated control method for trunk roads, characterized in that, include: Obtain intersection parameters and road control parameters of multiple intersecting arterial roads. The road control parameters include at least: the signal cycle range of traffic signals for each arterial road, the release mode configured for each intersection of the arterial roads, the release mode of the target intersections of different arterial roads being the same, the signal cycles of different arterial roads being the same or satisfying a multiple relationship, and the release mode including at least one of the following modes: symmetrical release, single-entry release, overlapping release, and mixed release. Determine a combination scheme for the release modes of different signal cycles and different target intersections. For each combination scheme, use the intersection parameters and road control parameters to calculate the trunk bandwidth of each trunk line under the combination scheme. Based on the trunk bandwidth of each trunk line, determine the comprehensive bandwidth corresponding to the combination scheme. The trunk bandwidth includes: trunk green wave bandwidth or trunk red wave bandwidth. A combination scheme that satisfies the preset traffic control conditions is determined as a coordinated control scheme, and the multiple intersecting trunk lines are coordinated and controlled according to the coordinated control scheme.

2. The method according to claim 1, characterized in that, The road control parameters also include at least one of the following parameters: the coordinated control mode of each trunk line, the desired green wave speed, and the traffic flow at each intersection of the trunk line.

3. The method according to claim 1, characterized in that, For each combination scheme, the trunk bandwidth of each arterial road under that combination scheme is calculated using the intersection parameters and road control parameters. Based on the trunk bandwidth of each arterial road, the overall bandwidth corresponding to that combination scheme is determined, including: Obtain priority for different trunk lines; For each combination scheme, the trunk bandwidth of each trunk line under the combined scheme is calculated using the intersection parameters and road control parameters. The trunk bandwidths of each trunk line are weighted and summed according to the priority of different trunk lines to obtain the comprehensive bandwidth corresponding to the combined scheme.

4. The method according to claim 3, characterized in that, The priority of each trunk line is positively correlated with the traffic flow at the intersections along that trunk line.

5. The method according to claim 4, characterized in that, The process of obtaining the priority of different trunk lines includes: Based on the intersection traffic flow at each intersection of each trunk line, the trunk line traffic flow of each trunk line is calculated. Based on the statistical data of trunk line traffic, the priority of each trunk line is determined.

6. The method according to claim 1, characterized in that, The method further includes: Obtain the phase difference of the signal period between each intersection of each trunk line under the aforementioned coordinated control scheme; Using the phase difference of any intersection in any trunk line as the reference phase difference, the phase difference of the signal period between each intersection in each trunk line is determined according to the phase difference between each intersection, so as to adjust the phase difference of the signal period between each intersection in each trunk line to the determined phase difference.

7. The method according to any one of claims 1-6, characterized in that, The proposed combination scheme for determining the release modes of different signal cycles and different target intersections, for each combination scheme, utilizes the intersection parameters and road control parameters to calculate the trunk bandwidth of each trunk line under that combination scheme, including: Determine the combination scheme of release modes for different target intersections on different trunk lines; For each mode combination scheme, different signal cycles are traversed. Based on the mode combination scheme and the currently traversed signal cycle, the trunk bandwidth of each trunk line under the mode combination scheme and the currently traversed signal cycle is calculated using the intersection parameters and road control parameters.

8. A coordinated control device for a main road, characterized in that, include: The parameter acquisition module is used to acquire intersection parameters and road control parameters of multiple intersecting trunk lines. The road control parameters include at least: the signal cycle range of traffic signals for each trunk line, the release mode configured for each intersection in the trunk line, the release mode of the target intersections of different trunk lines being the same, the signal cycles of different trunk lines being the same or satisfying a multiple relationship, and the release mode including at least one of the following modes: symmetrical release, single-entry release, overlapping release, and mixed release. The bandwidth calculation module is used to determine the combination scheme of the release mode for different signal cycles and different target intersections. For each combination scheme, the trunk bandwidth of each trunk line under the combination scheme is calculated using the intersection parameters and road control parameters. Based on the trunk bandwidth of each trunk line, the comprehensive bandwidth corresponding to the combination scheme is determined. The trunk bandwidth includes: trunk green wave bandwidth or trunk red wave bandwidth. The scheme determination module is used to determine the combination scheme that meets the preset traffic control conditions for the corresponding comprehensive bandwidth, as a coordinated control scheme, so as to coordinate and control the multiple intersecting trunk lines according to the coordinated control scheme.

9. The apparatus according to claim 8, characterized in that, The road control parameters also include at least one of the following parameters: the coordinated control mode of each trunk line, the desired green wave speed, and the traffic flow at each intersection of the trunk line.

10. The apparatus according to claim 8, characterized in that, The bandwidth calculation module includes: Priority acquisition unit, used to obtain the priority of different trunk lines; The index calculation unit is used to calculate the trunk bandwidth of each trunk line under each combination scheme using the intersection parameters and road control parameters. The trunk bandwidths of each trunk line are weighted and summed according to the priority of different trunk lines to obtain the comprehensive bandwidth corresponding to the combination scheme.

11. The apparatus according to claim 8, characterized in that, The device further includes a phase difference adjustment module for: Obtain the phase difference of the signal period between each intersection of each trunk line under the aforementioned coordinated control scheme; Using the phase difference of any intersection in any trunk line as the reference phase difference, the phase difference of the signal period between each intersection in each trunk line is determined according to the phase difference between each intersection, so as to adjust the phase difference of the signal period between each intersection in each trunk line to the determined phase difference.

12. The apparatus according to any one of claims 8-11, characterized in that, The bandwidth calculation module is specifically used for: Determine the combination scheme of release modes for different target intersections on different trunk lines; For each mode combination scheme, different signal cycles are traversed. Based on the mode combination scheme and the currently traversed signal cycle, the trunk bandwidth of each trunk line under the mode combination scheme and the currently traversed signal cycle is calculated using the intersection parameters and road control parameters. Based on the trunk bandwidth of each trunk line, the comprehensive bandwidth corresponding to the combination scheme is determined.

13. An electronic device, characterized in that, It includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; Memory, used to store computer programs; A processor, when executing a program stored in memory, implements the steps of the method described in any one of claims 1-7.

14. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the method described in any one of claims 1-7.

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