Method and device for determining phase sequence of intersection traffic flow, and electronic equipment

Abstract

The disclosure provides a phase sequence determination method for intersection traffic flow, and relates to the technical field of traffic control. The specific implementation scheme is: generating a plurality of basic phases corresponding to each traffic flow group based on a plurality of traffic flow groups; for any traffic flow group, determining a plurality of feasible basic phases according to a preset phase constraint condition, and generating a basic phase set of the traffic flow group according to the plurality of feasible basic phases; generating a plurality of phase sequences according to the plurality of feasible basic phases, and determining a plurality of feasible phase sequences of the traffic flow group according to a preset phase sequence constraint condition; generating a plurality of phase sequence sets according to the feasible phase sequences of the plurality of traffic flow groups, wherein any phase sequence set includes a plurality of feasible phase sequences, and the feasible phase sequences in the same phase sequence set belong to different traffic flow groups; calculating the sum of key flow ratios of each phase sequence set, and determining a target phase sequence set according to the sum of key flow ratios.

Description

Technical Field

[0001] This disclosure relates to the field of traffic control and processing technology, and in particular to methods, apparatus, and electronic equipment for determining the phase sequence of traffic flow at intersections. Background Technology

[0002] With the continuous expansion of urban scale and the rapid increase in vehicle ownership, intersection traffic signal control is indispensable to ensure the safe, orderly, and smooth operation of urban traffic. Currently, urban traffic congestion and intersection traffic signal control have attracted the attention of many researchers. Under the condition of unchanged urban road channelization, the optimization of traffic signals has played a positive role in reducing congestion and maintaining smooth traffic.

[0003] Traffic flow phase sequence control at intersections often only considers the geometric information of the intersection (i.e., the direction of the intersection entrance, the number of lanes, etc.) and cannot adjust the phase sequence control based on other complex conditions. Summary of the Invention

[0004] This disclosure provides a method, apparatus, and electronic device for determining the phase sequence of traffic flow at an intersection to solve at least one of the above-mentioned technical problems.

[0005] According to one aspect of this disclosure, a method for determining the phase sequence of traffic flow at an intersection is provided, wherein the method includes:

[0006] Based on the basic information of the intersection, multiple traffic flows are identified, and multiple traffic flow groups are formed according to the multiple traffic flows.

[0007] Based on the multiple traffic flow groups, multiple basic phases are generated for each traffic flow group;

[0008] For any traffic flow group, based on preset phase constraints, multiple feasible basic phases are determined from multiple basic phases corresponding to the traffic flow group, and a basic phase set of the traffic flow group is generated based on the multiple feasible basic phases.

[0009] For any traffic flow group, multiple phase sequences are generated based on multiple feasible basic phases contained in the basic phase set, and multiple feasible phase sequences of the traffic flow group are determined from the multiple phase sequences according to preset phase sequence constraints.

[0010] Based on the feasible phase sequence of multiple traffic flow groups, multiple phase sequence sets are generated, wherein any one of the phase sequence sets includes multiple feasible phase sequences, and the feasible phase sequences in the same phase sequence set belong to different traffic flow groups.

[0011] Calculate the sum of the critical flow ratios of each of the phase sequence sets, and determine the target phase sequence set based on the sum of the critical flow ratios, wherein the target phase sequence set is used to control the traffic flow at the intersection.

[0012] According to another aspect of this disclosure, a phase sequence determination device for intersection traffic flow is provided, wherein the device comprises:

[0013] The traffic flow group module is used to determine multiple traffic flows based on basic intersection information, and to divide the multiple traffic flows into multiple traffic flow groups.

[0014] The basic phase module is used to generate multiple basic phases corresponding to each traffic flow group based on the multiple traffic flow groups;

[0015] The basic phase set module is used to determine multiple feasible basic phases from multiple basic phases corresponding to any traffic flow group according to preset phase constraints, and generate the basic phase set of the traffic flow group based on the multiple feasible basic phases.

[0016] The feasible phase sequence module is used to generate multiple phase sequences for any traffic flow group based on multiple feasible basic phases contained in the basic phase set, and to determine multiple feasible phase sequences of the traffic flow group from the multiple phase sequences according to preset phase sequence constraints.

[0017] The phase sequence set module is used to generate multiple phase sequence sets based on the feasible phase sequence of multiple traffic flow groups. Each phase sequence set includes multiple feasible phase sequences, and the feasible phase sequences in the same phase sequence set belong to different traffic flow groups.

[0018] The target phase sequence set module is used to calculate the sum of the critical flow ratios of each of the phase sequence sets, and to determine the target phase sequence set based on the sum of the critical flow ratios, wherein the target phase sequence set is used to control the traffic flow at the intersection.

[0019] According to another aspect of this disclosure, an electronic device is provided, comprising:

[0020] At least one processor; and

[0021] A memory communicatively connected to the at least one processor; wherein,

[0022] The memory stores instructions that can be executed by the at least one processor, which, when executed by the at least one processor, enables the at least one processor to perform the above-described method.

[0023] According to another aspect of this disclosure, a non-transitory computer-readable storage medium is provided storing computer instructions, wherein the computer instructions are used to cause the computer to perform the method described above.

[0024] According to another aspect of this disclosure, a computer program product is provided, including a computer program that, when executed by a processor, implements the method described above.

[0025] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0026] The accompanying drawings are provided to better understand this solution and do not constitute a limitation of this disclosure. Wherein:

[0027] Figure 1 This is a flowchart illustrating a method for determining the phase sequence of traffic flow at an intersection, provided in the first embodiment of this disclosure.

[0028] Figure 2 This is a flowchart illustrating a method for determining the phase sequence of traffic flow at an intersection, provided in the second embodiment of this disclosure.

[0029] Figure 3 This is a schematic diagram of the structure of a phase sequence determination device for traffic flow at an intersection provided in the third embodiment of this disclosure;

[0030] Figure 4 This is a block diagram of an electronic device used to implement the methods of the embodiments of this disclosure. Detailed Implementation

[0031] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0032] Where there is no conflict, the various embodiments of this disclosure and the features thereof in the embodiments may be combined with each other.

[0033] As used herein, the term “and / or” includes any and all combinations of one or more related enumerated entries.

[0034] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this disclosure. As used herein, the singular forms “a” and “the” are also intended to include the plural forms, unless the context clearly indicates otherwise.

[0035] Unless otherwise specified, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art. It will also be understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant art and this disclosure, and will not be interpreted as having an idealized or overly formal meaning, unless expressly so defined herein.

[0036] The method for determining the phase sequence of traffic flow at an intersection according to this disclosure can be executed by electronic devices such as terminal devices or servers. Terminal devices can be in-vehicle devices, user equipment (UE), mobile devices, user terminals, terminals, cellular phones, cordless phones, personal digital assistants (PDAs), handheld devices, computing devices, in-vehicle devices, wearable devices, etc. The method can be implemented by a processor calling computer-readable program instructions stored in memory. Alternatively, the method for determining the phase sequence of traffic flow at an intersection provided by this disclosure can be executed by a server.

[0037] To facilitate understanding of the relevant concepts involved in this invention, the technical terms that may be involved are explained below:

[0038] Phase sequence control: A traffic control measure that uses red, yellow, and green light signals at road intersections to allocate right-of-way to traffic flow. However, the control of traffic lights is not strictly determined according to the individual times of red, green, and yellow lights. It is generally determined by the times of green and non-green lights.

[0039] Control scheme: A set of signal control modes, control strategies, and signal timing parameters and constraints for a certain intersection or area, selected and formulated based on road facilities and traffic conditions.

[0040] Traffic flow conflict: A traffic phenomenon in which traffic flows from different directions intersect or merge when they share space at an intersection.

[0041] Traffic light control: Logic traffic light group, a set of independent red, yellow and green signals output by the traffic signal controller to drive the physical traffic light group. It is the basic control unit for controlling one or more traffic flows.

[0042] Traffic flow: Traffic flow consists of one or more lanes coming from the same direction, forming the same queue and having the same traffic characteristics. It is the smallest unit of traffic control.

[0043] Phase: The state of passage when one or more traffic flows simultaneously obtain stable right-of-way.

[0044] Basic phase: A vector that includes the release status of multiple traffic flows (represented as elements of 0 or 1).

[0045] Phase sequence: The execution order (display order) of phases, which can be mapped to the phase release order.

[0046] Flow ratio: The ratio of the equivalent flow rate to the stop line of the intersection entrance lane to the saturation flow rate of that lane within a certain observation period. The flow ratio corresponds one-to-one with the motor vehicle traffic flow.

[0047] Signal control cycle: The time required for the intersection signal control to complete one cycle according to the set phase sequence.

[0048] Phase green light perspective: The duration for which the traffic light at the next intersection is green in a given phase.

[0049] Lost time: The time during which vehicles cannot pass due to a change in traffic light color in intersection signal control.

[0050] In this disclosure, the parameter definition table is as follows:

[0051]

[0052] Table 1-1

[0053] In the first disclosed embodiment, see Figure 1 , Figure 1 This diagram illustrates a flow chart of a method for determining the phase sequence of traffic flow at an intersection according to a first embodiment of this disclosure. The method includes:

[0054] S101. Based on the basic information of the intersection, determine multiple traffic flows and divide them into multiple traffic flow groups.

[0055] Specifically, basic intersection information may include information such as intersection entrance direction, traffic flow direction, traffic flow ratio, traffic facilities (such as traffic lights, lane facilities, etc.), waiting area lane information, and overflow risk traffic flow information.

[0056] Based on the intersection's basic information, including the direction of approach and the direction of traffic flow, multiple traffic flows can be identified. Each traffic flow corresponds to one direction of approach and one direction of traffic flow. Traffic flows with opposite directions of approach are grouped into multiple traffic flow groups. For example, the south-facing and north-facing straight-through traffic flows at a crossroads are examples of traffic flows with opposite directions of approach.

[0057] This method of grouping traffic flows ensures that traffic flows within the same group do not conflict with each other, thereby optimizing the phase and phase sequence of the traffic flow groups, reducing computational load, and simplifying the process of designing phase and phase sequence.

[0058] S102. Generate multiple basic phases corresponding to each traffic flow group based on multiple traffic flow groups.

[0059] That is, based on the traffic flows contained in each traffic flow group, the release status of each traffic flow is enumerated, and multiple basic phases are formed accordingly.

[0060] S103. For any traffic flow group, based on the preset phase constraint conditions, determine multiple feasible basic phases from the multiple basic phases corresponding to the traffic flow group, and generate the basic phase set of the traffic flow group based on the multiple feasible basic phases.

[0061] Among them, the phase constraint conditions can introduce basic constraint factors such as the number of releases, conflict relationships, and traffic flow group relationships. They can also introduce factors of traffic facilities (such as traffic light settings and lane facilities) to constrain the flow. In addition, the subsequent phases of traffic flow with overflow risk can be considered to constrain the flow. By selecting feasible basic phases through multiple factors, the designed control scheme can be adapted to a variety of complex scenarios.

[0062] S104. For any traffic flow group, generate multiple phase sequences based on multiple feasible basic phases contained in the basic phase set, and determine multiple feasible phase sequences of the traffic flow group from the multiple phase sequences according to the preset phase sequence constraints.

[0063] This process involves enumerating multiple phase sequences based on feasible basic phases, and then selecting feasible phase sequences based on phase sequence constraints. Phase sequence constraints can incorporate factors such as the number of releases, the phase sequence requirements of the preceding and following phases of traffic flow in the waiting-to-turn area, the phase sequence requirements of the following phases of traffic flow with overflow risk, and the phase sequence requirements of traffic flow under special directional patterns. By selecting feasible phase sequences through multiple factors, the designed phase sequence control scheme can adapt to various complex scenarios and special directional schemes, exhibiting high adaptability and flexibility.

[0064] S105. Based on the feasible phase sequence of multiple traffic flow groups, generate multiple phase sequence sets, wherein any phase sequence set includes multiple feasible phase sequences, and the feasible phase sequences in the same phase sequence set belong to different traffic flow groups.

[0065] S106. Calculate the sum of the critical flow ratios of each phase sequence set, and determine the target phase sequence set based on the sum of the critical flow ratios. The target phase sequence set is used to control the traffic flow at the intersection.

[0066] After determining the phase sequence set as a feasible control scheme based on phase constraints and phase sequence constraints of multiple factors, the target phase sequence set as the best control scheme is selected by combining the sum of the critical flow ratios of each phase sequence set. By controlling the traffic flow at the intersection through the target phase sequence set, it can adapt to traffic flow control under various complex scenarios, making the phase sequence scheme more adaptable and flexible.

[0067] In the second disclosed embodiment, see Figure 2 , Figure 2 The diagram shows a flowchart of a method for determining the phase sequence of traffic flow at an intersection according to a second embodiment of this disclosure.

[0068] In some examples, the following parameters can be predefined first:

[0069] (1) Construct the traffic flow conflict matrix as C F

[0070]

[0071] Here, FN×FN represents the number of elements in the conflict matrix. To illustrate with a practical example: an intersection has four approach lanes (east, west, south, and north). Traffic flow in each direction includes left turns, right turns, and straight-ahead traffic. Right turns are not controlled by default; only left turns and straight-ahead traffic are controlled. Therefore, the total number of traffic flows in the four approach lanes is 4×2=8, hence FN=8. For any given traffic flow, the conflict relationships between the traffic flow in each approach lane and the left-turn and straight-ahead traffic flows in other approach lanes need to be considered (1×8). Therefore, the number of elements in the conflict matrix is ​​8×8 traffic flows.

[0072] (2) Constructing the pre-traffic flow set With post-traffic flow collection

[0073] The sets of preceding and following traffic flows for each traffic flow are, by default, all traffic flows. In practice, specific preceding / following traffic flows can be set up for certain traffic flows based on factors such as actual traffic facilities and release methods; no restrictions are imposed here.

[0074] To illustrate with a concrete example: taking the straight-through traffic flow at the south entrance as an example, if the current phase of the south entrance straight-through traffic light is green, meaning the current permitted traffic flow is the south straight-through traffic flow, then the preceding traffic flow is the traffic flow corresponding to the green light before the south straight-through traffic flow was permitted. Typically at an intersection, when entering from the south entrance, the first phase permits the south straight-through traffic flow and the north straight-through traffic flow, and the next phase permits the south left-hand traffic flow and the north left-hand traffic flow. The preceding traffic flow of the south left-hand traffic flow is the south straight-through traffic flow and the north straight-through traffic flow; the following traffic flow of the south straight-through traffic flow is the south left-hand traffic flow and the north left-hand traffic flow.

[0075] (2.1 In the case of traffic flow set FW in the waiting area, the traffic flow in a waiting area will lag behind and follow other traffic flows on the same approach lane, so a special preceding traffic flow set needs to be set for it.

[0076]

[0077] The above formula means: traverse the traffic flow in F to find fn and put it in. fn satisfies the constraint that it and fm (traffic flow in the waiting area) belong to the same entrance lane.

[0078] (2.2 For traffic flow sets FT that are prone to overflow risk, the subsequent traffic flow of a traffic flow with overflow risk should be a non-conflicting traffic flow that belongs to the same traffic flow group. Therefore, it is necessary to set up a special subsequent traffic flow set for it.)

[0079]

[0080] The above formula means: traverse the traffic flow in F to find fn and put it in. fn satisfies the constraint that it does not conflict with fm (traffic flow that is prone to overflow risk) (judged according to the conflict matrix).

[0081] Based on the above, the method for determining the phase sequence of traffic flow at intersections provided in this disclosure includes:

[0082] S201. Based on the intersection entrance direction information and traffic flow direction information contained in the basic information of the intersection, determine multiple traffic flows, each traffic flow corresponding to one intersection entrance direction and one traffic flow direction.

[0083] S202. Divide the traffic flows that are opposite each other at the intersection entrance into a traffic flow group to obtain multiple traffic flow groups.

[0084] Specifically, basic intersection information may include information such as intersection entrance direction, traffic flow direction, traffic flow ratio, traffic facilities (such as traffic lights, lane facilities, etc.), waiting area lane information, and overflow risk traffic flow information.

[0085] Based on the intersection's basic information, including the direction of approach and the direction of traffic flow, multiple traffic flows can be identified. Each traffic flow corresponds to one direction of approach and one direction of traffic flow. Traffic flows with opposite directions of approach are grouped into multiple traffic flow groups. For example, the south-facing and north-facing straight-through traffic flows at a crossroads are examples of traffic flows with opposite directions of approach.

[0086] This method of grouping traffic flows ensures that traffic flows within the same group do not conflict with each other, thereby optimizing the phase and phase sequence of the traffic flow groups, reducing computational load, and simplifying the process of designing phase and phase sequence.

[0087] Specifically, the traffic flow set at the intersection is F, the total number is FN, and the traffic flow group is represented as FG. v There are a total of V groups. For example, in a typical cross intersection, V=2, meaning that the north-south traffic flow and the east-west traffic flow each form a separate traffic flow group; S202 is represented as:

[0088] F = {FG} v} V ={f m} FN

[0089] S201-S202 is one implementation of S101. S101 also has other implementations, which are not limited here.

[0090] S203. For a traffic flow group, under any phase, generate the release status of each traffic flow in the traffic flow group under any phase. The release status of a traffic flow is used to indicate whether the traffic flow is released under a phase.

[0091] S204. A basic phase is obtained based on the release status of each traffic flow under any given phase.

[0092] That is, enumerate all possible basic phases. The basic phases are determined by the traffic flow subset {f}. m f n Composed of , ..., the basic phase should, in principle, ensure that traffic flows do not conflict with each other and accommodate as many traffic flows as possible.

[0093] Fundamental phase p s For example, the Southern Straight Line can be combined with the Northern Straight Line or the Southern Left Straight Line to form a p. s .

[0094]

[0095] Among them, the fundamental phase P sIt is a vector consisting of 0 and 1 elements, where each element P has a value of 1. m,s This vector represents the traffic flow release status under a given phase. It can also be represented by a subset of the traffic flow, expressed as: {f m f n , ...}.

[0096] S203-S204 is one implementation of S102. S102 also has other implementations, which are not limited here.

[0097] S205. For any traffic flow group, based on the preset phase constraint conditions, determine multiple feasible basic phases from the multiple basic phases corresponding to the traffic flow group, and generate the basic phase set of the traffic flow group based on the multiple feasible basic phases.

[0098] The basic phase basis of the v-th traffic flow group is denoted as PB. v The quantity is PBN v The overall fundamental phase basis is denoted as PB, which contains all feasible fundamental phases and overflow-related fundamental phases. Then PB and PB... v Express it according to the following formula:

[0099] PB = {PB v} V

[0100]

[0101] The phase constraint condition can be implemented in various ways, as illustrated below.

[0102] In one implementation, the phase constraint conditions include: basic phase constraint conditions.

[0103] The basic phase constraint conditions include at least one of the following:

[0104] (1) For any basic phase of any traffic flow group, determine that the basic phase has at least one traffic flow that is allowed to pass.

[0105] This means that at least one traffic flow should be allowed to proceed.

[0106] |p s |≥1

[0107] (2) For any basic phase of any traffic flow group, determine the non-conflict relationship between multiple traffic flows that are released under the same phase.

[0108] This means that the released traffic flows do not conflict:

[0109]

[0110] (3) For any basic phase of any traffic flow group, determine that multiple traffic flows that are released under the same phase belong to the same traffic flow group.

[0111] This means that the released traffic flows belong to the same traffic flow group:

[0112] {f m |p m，s =1}∈FG v

[0113] In another implementation, phase constraints include traffic light facility phase constraints. The actual facilities at the intersection (traffic lights) can be introduced to constrain the phases, allowing for the design of phase sequences to control traffic flow in conjunction with the facilities in the actual environment.

[0114] Phase constraints for traffic light facilities include:

[0115] For multiple traffic flows controlled by the same signal light group within any traffic flow group, under any basic phase, the release status of the multiple traffic flows controlled by the same signal light group is determined to be the same; and,

[0116] Determine the conflict relationships between multiple traffic flows controlled by the same signal light group and other traffic flows.

[0117] Specifically, it can be expressed as:

[0118] If m and n are controlled by the same light group and m is moving straight, let

[0119] Here, m, n, and n' are all elements of a traffic flow group. If m and n belong to the same traffic flow group, then all traffic flows with conflicting relationships with m (i.e., traffic flows n' other than m and n at the same intersection) must be converted into conflicting relationships with n and kept consistent. For example, if m is the south-straight traffic flow and n is the south-left traffic flow, then n' is all traffic flows at the south entrance other than the south-straight and south-left traffic flows. Taking m (where m is the straight-through traffic flow) as the primary element, the relationship of mn' is copied to the relationship of nn'.

[0120] In another implementation, phase constraints include lane facility phase constraints. Actual intersection facilities (signaled lane facilities) can be introduced to constrain the phases, allowing for the design of phase sequences to control traffic flow in conjunction with the facilities in the actual environment.

[0121] Lane facility phase constraints include:

[0122] For multiple traffic flows corresponding to a mixed lane in any traffic flow group, under any basic phase, the release status of the multiple traffic flows corresponding to the mixed lane is determined to be the same; and,

[0123] The conflict relationships between multiple traffic flows and other traffic flows corresponding to the mixed lanes are determined.

[0124] Specifically, it can be expressed as:

[0125] If m and n exist in a mixed lane and m is going straight, let

[0126] Here, m, n, and n' are all elements of a traffic flow group. If m and n belong to the same traffic flow group, then all traffic flows with conflicting relationships with m (i.e., traffic flows n' other than m and n at the same intersection) must be converted into conflicting relationships with n and kept consistent. For example, if m is the south-straight traffic flow and n is the south-left traffic flow, then n' is all traffic flows at the south entrance other than the south-straight and south-left traffic flows. Taking m (where m is the straight-through traffic flow) as the primary element, the relationship of mn' is copied to the relationship of nn'.

[0127] It should be noted that any of the above phase constraints can be used individually or in any combination, without limitation. Using the above phase constraints, from the enumerated basic phases, those that satisfy the phase constraints are selected as feasible basic phases. This process considers constraints on fundamental factors and actual traffic facilities, thus enabling phase design to adapt to actual traffic infrastructure.

[0128] S206. Based on the preset set of subsequent traffic flows corresponding to the overflow risk, generate multiple basic phases corresponding to the traffic flows in the subsequent traffic flow set.

[0129] S207. Based on the preset overflow phase constraint conditions, determine multiple feasible basic phases from multiple basic phases;

[0130] S208. Update the subsequent traffic flow set based on the traffic flows corresponding to multiple feasible basic phases.

[0131] Among them, the overflow phase constraint condition is the same as at least one of the above phase constraint conditions, that is, the overflow-related basic phase also needs to be subject to the same constraints as the ordinary basic phase to determine the overflow-related feasible basic phase, so as to realize the basic constraint and adjust the basic phase with reference to traffic facilities to adapt to the actual environment control scheme.

[0132] S209. For any traffic flow group, based on the multiple feasible basic phases contained in the basic phase set corresponding to the traffic flow group, enumerate the execution order combinations of multiple feasible basic phases to obtain multiple phase sequences.

[0133] S210. Based on the preset phase sequence constraints, determine multiple feasible phase sequences of the traffic flow group from multiple phase sequences.

[0134] The execution order combination of feasible basic phases is called the phase sequence. Enumerating multiple feasible basic phase execution order combinations represents: traffic flow group v has a total of A number of phase sequences are selected, and those that meet the preset phase sequence constraints are selected as feasible phase sequences.

[0135] S209-S210 are one implementation of S104, and are not limited here.

[0136] The phase sequence constraint can be implemented in various ways, as illustrated below.

[0137] In one implementation, the phase sequence constraints include: basic phase sequence constraints;

[0138] The basic phase sequence constraints include:

[0139] For any phase sequence of any traffic flow group, each traffic flow in the traffic flow group is allowed to pass at least once in the phase sequence.

[0140] In other words, there are basic traffic flow demand constraints. Each traffic flow must be allowed to pass at least once, expressed as:

[0141]

[0142] In another implementation, the phase sequence constraint includes: the release number phase sequence constraint.

[0143] The release sequence constraints include:

[0144] For any phase sequence of any traffic flow group, each traffic flow in the traffic flow group is allowed to proceed at most twice within that phase sequence.

[0145] In other words, traffic flow release frequency constraint: each traffic flow can be released at most twice.

[0146]

[0147] In another implementation, the phase sequence constraints include: the phase sequence constraints before the transition area;

[0148] The pre-phase sequence constraints for the region to be transferred include:

[0149] For any phase sequence of any traffic flow group, if any traffic flow marked as a waiting area is released in the phase sequence, then the traffic flow released in the previous phase belongs to the preset preceding traffic flow set of the traffic flow corresponding to the waiting area.

[0150] In other words, if the currently released traffic flow is a traffic flow in the waiting area traffic flow set FW, its preceding phase satisfies the following preceding phase sequence constraint condition:

[0151]

[0152] In another implementation, the phase sequence constraint also includes: a phase sequence constraint after the region to be transferred;

[0153] The post-phase sequence constraints for the region to be transferred include:

[0154] For any phase sequence of any traffic flow group, if any traffic flow marked as a waiting area is released in the phase sequence, then the traffic flow released in the next phase does not belong to the preset preceding traffic flow set of the traffic flow corresponding to the waiting area.

[0155] In other words, if the currently released traffic flow is a traffic flow in the waiting area traffic flow set FW (i.e., traffic flow marked as waiting area), its preceding phase satisfies the following post-transfer phase sequence constraint condition:

[0156]

[0157] The aforementioned pre-phase sequence constraints and post-phase sequence constraints of the area to be transferred can be imposed together or separately, and no limitation is made here.

[0158] In another implementation, the phase sequence constraints include: overflow phase sequence constraints.

[0159] Overflow phase sequence constraints include:

[0160] For any phase sequence of any traffic flow group, if any traffic flow marked as having overflow risk is allowed to pass in the phase sequence, then the traffic flow allowed to pass in the next phase belongs to the preset set of subsequent traffic flows corresponding to the traffic flow with overflow risk.

[0161] In other words, if the currently released traffic flow is a traffic flow in the overflow traffic flow set FT (i.e., a traffic flow marked as having overflow risk), its subsequent phase should satisfy the following overflow phase sequence constraint:

[0162]

[0163] In another implementation, phase sequence constraints are also included for special releases (e.g., overlap releases, secondary releases). First, the traffic flow set that allows overlap releases is preset to F0, and the traffic flow sets that allow secondary releases are FS. Hereinafter, PN represents the number of phases contained in a phase sequence of a traffic flow group.

[0164] This may include the following methods:

[0165] Method 1: Prohibit overlapping releases and secondary releases.

[0166] Phase sequence constraints include: the first special release constraint;

[0167] The first special release constraints include:

[0168] For any phase sequence of any traffic flow group, the number of times any traffic flow is released in the phase sequence is 1.

[0169] In other words, under Method 1, each traffic flow can only be allowed to pass once, as shown below:

[0170]

[0171] Method 2: Passage can be released in overlapping fashions, but secondary release is prohibited.

[0172] The phase sequence constraint conditions include: the second special release constraint conditions.

[0173] The second special release constraint includes:

[0174] For any phase sequence of any traffic flow group, if a target traffic flow that belongs to a preset overlapping release traffic flow set but does not belong to a preset secondary release traffic flow set is released in any phase of the phase sequence, then the target traffic flow is released in the preceding or following phase.

[0175] In this manner, if a traffic flow is a connecting flow, it will be released in two consecutive phases (for example, the first phase is south-straight and south-left, and the second phase is south-straight and north-straight; the south-straight traffic flow is the connecting flow), represented as:

[0176]

[0177] Method 3: Allow for secondary release and overlapping release.

[0178] The phase sequence constraint conditions include: the third special release constraint condition.

[0179] The third special release constraint includes:

[0180] For any phase sequence of any traffic flow group, if a target traffic flow that belongs to a preset secondary release traffic flow set but does not belong to a preset overlapping release traffic flow set is released twice in any phase of the phase sequence, then the target traffic flow is not released in the previous phase or the next phase.

[0181] In this approach, if a traffic flow is a two-stage release flow, it will be released twice in two non-consecutive phases, as shown below:

[0182]

[0183] Method 4: Can be released in overlapping or secondary release

[0184] The phase sequence constraint conditions include: the fourth special release constraint condition.

[0185] The fourth special release constraint includes:

[0186] For any phase sequence of any traffic flow group, if a target traffic flow belonging to a preset secondary release traffic flow set and a preset overlapping release traffic flow set is released in any phase of the phase sequence, then the number of releases of the target traffic flow in the previous phase and the next phase is less than or equal to 1.

[0187] In this manner, a traffic flow may be either a connecting flow or a secondary flow, represented as:

[0188]

[0189] It should be noted that any of the above phase sequence constraints can be used individually or in any combination, without limitation. Through the above phase sequence constraints, from the enumerated phase sequences, phase sequences that satisfy the constraints are selected as feasible phase sequences. This considers constraints on basic factors, phase sequence requirements of traffic flow in the waiting area, phase sequence requirements of traffic flow with overflow risk, and phase sequence requirements of traffic flow in special directions. This allows for adaptation to actual traffic facilities, complex traffic environments, and special directional requirements in phase sequence design, resulting in highly adaptable and flexible behavioral phase sequences.

[0190] S211. Based on the feasible phase sequence of multiple traffic flow groups, generate multiple phase sequence sets, wherein any phase sequence set includes multiple feasible phase sequences, and the feasible phase sequences in the same phase sequence set belong to different traffic flow groups.

[0191] In other words, after screening out feasible phase sequences that meet the constraints from the phase sequences of each traffic flow group, a traffic volume group has multiple feasible phase sequences; select a feasible phase sequence from each of the multiple traffic flow groups and combine them to form a phase sequence set; through permutation and combination, multiple phase sequence sets SP can be generated, and each phase sequence set SP represents a control scheme that can be used to control the traffic flow at the intersection.

[0192] S212. Under any basic phase, verify that the flow ratio of traffic flows with special release is greater than the flow ratio of traffic flows without special release.

[0193] First, calculate the flow ratio yn of the traffic flow set without special release methods in a phase s. s :

[0194]

[0195] And calculate the flow ratio yos of the traffic flow set with special release modes in a phase s:

[0196]

[0197] The rationality of using a special release method for the phase sequence set is then verified. The flow rate ratio of traffic flows using the special release method within the same phase should be greater than that of traffic flows not using the special release method; otherwise, the scheme is unreasonable. S211 is expressed as:

[0198]

[0199] If the verification is successful, the phase sequence set is determined to be a feasible phase sequence set, and subsequent steps are then performed; if a phase sequence set fails the verification, it is removed. This method improves the accuracy of the scheme.

[0200] S213. For any set of phase sequences, determine the critical flow ratio of each basic phase in the feasible phase sequences it contains.

[0201] In some examples, S213 includes multiple sub-steps:

[0202] Sub-step 1: For any basic phase, determine whether there are traffic flows marked as special releases under the basic phase, where special releases include secondary releases and overlapping releases.

[0203] Sub-step 2A: If not included, take the largest flow ratio under the basic phase as the critical flow ratio of the basic phase.

[0204] Sub-step 2B: If included, then based on the difference between the special release flow ratio and the second release flow ratio of the special release traffic flow under the basic phase, the key flow ratio of the basic phase is obtained, where the special release flow ratio is the sum of the flow ratios of the special release traffic flow in all special release release times.

[0205] From the first Starting from phase s0, the critical flow rate of each phase s is greater than that of y. s for:

[0206]

[0207] In this context, "up" refers to the method used in sub-step 2A to determine the critical flow ratio, and "down" refers to the method used in sub-step 2B to determine the critical flow ratio.

[0208] The special direction flow ratio is the sum of the flow ratios of traffic flows that are specially released in all special release events, representing the sum of the flow ratios of traffic flows that are released twice in a specific phase sequence.

[0209] S214. Based on the critical flow ratio of each phase sequence set, obtain the sum of the critical flow ratios.

[0210] S215. Determine the phase sequence set that minimizes the sum of the critical flow ratios as the target phase sequence set.

[0211] Specifically, the optimal target phase sequence set SP is optimized by minimizing the sum of the critical flow ratios of the phase sequence set in the following manner. opt .

[0212]

[0213] In the formula, Y is the sum of the critical flow ratios of the phase sequence set; The key flow ratio for phase i of the scheme; PN i Let be the phase of scheme i.

[0214] The target phase sequence set is used to control traffic flow at the intersection. S213-S215 is one implementation of S106, and is not limited here.

[0215] S216. Calculate the signal control period of the target phase sequence set and the phase green light time of each phase.

[0216] In S215, the optimal target phase sequence set SP is determined from multiple phase sequence sets. opt Subsequently, using the Webster signal timing method, the target phase sequence set SP is calculated. opt Optimal signal control cycle C opt and the phase green light time C for each phase opt .

[0217] In some examples, the signal control period C opt Calculated in the following way:

[0218] It is calculated based on the sum of the preset total loss time and the critical flow ratio.

[0219] Specifically, it is calculated using the following formula:

[0220]

[0221]

[0222] Where L is the total lost time; Y is the sum of critical traffic ratios, see above; t LA is the preset start-up loss time; A is the preset yellow light time; PN is the number of phases in the target phase sequence set.

[0223] In some examples, the phase green time C for each phase opt Calculated in the following way:

[0224] The green light time for any phase is calculated based on the signal control cycle, the critical flow ratio of the phase, the sum of the critical flow ratios, the preset start-up loss time, and the preset yellow light time.

[0225] Specifically, it is calculated using the following formula:

[0226]

[0227] Where L is the total lost time; Y is the sum of critical traffic ratios; t L A is the preset startup loss time; A is the preset yellow light time; y s For the critical flow ratio of phase s, see above.

[0228] By calculating the target phase sequence set SP opt Optimal signal control cycle C opt and the phase green light time C for each phase opt This means that the state and duration of the green light under each phase s can be obtained, thus enabling the optimal signal control cycle C. opt and the phase green light time C for each phase opt Control the traffic flow at the intersection.

[0229] In the third disclosed embodiment, based on and Figure 1 The same principle, Figure 3 This invention discloses a phase sequence determination device 30 for intersection traffic flow according to a third embodiment of the present disclosure. The device includes:

[0230] Traffic flow group module 301 is used to determine multiple traffic flows based on basic intersection information and to divide the multiple traffic flows into multiple traffic flow groups.

[0231] The basic phase module 302 is used to generate multiple basic phases corresponding to each traffic flow group based on multiple traffic flow groups;

[0232] The basic phase set module 303 is used to determine multiple feasible basic phases from multiple basic phases corresponding to any traffic flow group according to preset phase constraints, and generate a basic phase set of the traffic flow group based on the multiple feasible basic phases.

[0233] The feasible phase sequence module 304 is used to generate multiple phase sequences for any traffic flow group based on multiple feasible basic phases contained in the basic phase set, and to determine multiple feasible phase sequences of the traffic flow group from the multiple phase sequences according to preset phase sequence constraints.

[0234] The phase sequence set module 305 is used to generate multiple phase sequence sets based on the feasible phase sequence of multiple traffic flow groups. Each phase sequence set includes multiple feasible phase sequences, and the feasible phase sequences in the same phase sequence set belong to different traffic flow groups.

[0235] The target phase sequence set module 306 is used to calculate the sum of the critical flow ratios of each phase sequence set and determine the target phase sequence set based on the sum of the critical flow ratios. The target phase sequence set is used to control the traffic flow at the intersection.

[0236] In some examples, the traffic flow group module is specifically used for:

[0237] Based on the intersection entrance direction information and traffic flow direction information contained in the basic information of the intersection, multiple traffic flows are determined, and each traffic flow corresponds to one intersection entrance direction and one traffic flow direction.

[0238] Multiple traffic flows are grouped into a single traffic flow group if the traffic flows are in opposite directions at the intersection entrance.

[0239] In some examples, the basic phase module is specifically used for:

[0240] For a traffic flow group, under any phase, generate the release status of each traffic flow in the traffic flow group under any phase. The release status of a traffic flow is used to indicate whether the traffic flow is released under a phase.

[0241] A basic phase is obtained by determining the release status of each traffic flow under any given phase.

[0242] In some examples, the phase constraints of the basic phase set module include: basic phase constraints;

[0243] The basic phase constraint conditions include at least one of the following:

[0244] For any basic phase of any traffic flow group, determine that the basic phase has at least one traffic flow that is allowed to proceed;

[0245] For any basic phase of any traffic flow group, determine the non-conflicting relationship between multiple traffic flows that are allowed to proceed under the same phase;

[0246] For any basic phase of any traffic flow group, determine that multiple traffic flows that are allowed to pass under the same phase belong to the same traffic flow group.

[0247] In some examples, the phase constraints of the basic phase set module include: traffic light facility phase constraints;

[0248] Phase constraints for traffic light facilities include:

[0249] For multiple traffic flows controlled by the same signal light group within any traffic flow group, under any basic phase, the release status of the multiple traffic flows controlled by the same signal light group is determined to be the same; and,

[0250] Determine the conflict relationships between multiple traffic flows controlled by the same signal light group and other traffic flows.

[0251] In some examples, the phase constraints of the basic phase set module include: lane facility phase constraints;

[0252] Lane facility phase constraints include:

[0253] For multiple traffic flows corresponding to a mixed lane in any traffic flow group, under any basic phase, the release status of the multiple traffic flows corresponding to the mixed lane is determined to be the same; and,

[0254] The conflict relationships between multiple traffic flows and other traffic flows corresponding to the mixed lanes are determined.

[0255] In some examples, the device also includes:

[0256] The first overflow module is used to generate multiple basic phases corresponding to the traffic flows in the preset traffic flow set corresponding to the overflow risk.

[0257] The overflow constraint module is used to determine multiple feasible basic phases from multiple basic phases based on preset overflow phase constraint conditions.

[0258] The update module is used to update the subsequent traffic flow set based on the traffic flows corresponding to multiple feasible basic phases;

[0259] The overflow phase constraint condition is the same as any of the phase constraint conditions mentioned above.

[0260] In some examples, the feasible phase sequence module is specifically used for:

[0261] For any traffic flow group, based on the multiple feasible basic phases contained in the basic phase set corresponding to the traffic flow group, the execution order combination of multiple feasible basic phases is enumerated to obtain multiple phase sequences.

[0262] In some examples, the phase sequence constraints of a feasible phase sequence module include: basic phase sequence constraints;

[0263] The basic phase sequence constraints include:

[0264] For any phase sequence of any traffic flow group, each traffic flow in the traffic flow group is allowed to pass at least once in the phase sequence.

[0265] In some examples, the phase sequence constraints of the feasible phase sequence module include: release number phase sequence constraints;

[0266] The release sequence constraints include:

[0267] For any phase sequence of any traffic flow group, each traffic flow in the traffic flow group is allowed to proceed at most twice within that phase sequence.

[0268] In some examples, the phase sequence constraints of a feasible phase sequence module include: the phase sequence constraints before the transition area;

[0269] The pre-phase sequence constraints for the region to be transferred include:

[0270] For any phase sequence of any traffic flow group, if any traffic flow marked as a waiting area is released in the phase sequence, then the traffic flow released in the previous phase belongs to the preset preceding traffic flow set of the traffic flow corresponding to the waiting area.

[0271] In some examples, the phase sequence constraints of the feasible phase sequence module also include: post-phase sequence constraints for the region to be transferred;

[0272] The post-phase sequence constraints for the region to be transferred include:

[0273] For any phase sequence of any traffic flow group, if any traffic flow marked as a waiting area is released in the phase sequence, then the traffic flow released in the next phase does not belong to the preset preceding traffic flow set of the traffic flow corresponding to the waiting area.

[0274] In some examples, the phase sequence constraints of a feasible phase sequence module include: overflow phase sequence constraints;

[0275] Overflow phase sequence constraints include:

[0276] For any phase sequence of any traffic flow group, if any traffic flow marked as having overflow risk is allowed to pass in the phase sequence, then the traffic flow allowed to pass in the next phase belongs to the preset set of subsequent traffic flows corresponding to the traffic flow with overflow risk.

[0277] In some examples, the phase sequence constraints of the feasible phase sequence module include: a first special release constraint;

[0278] The first special release constraints include:

[0279] For any phase sequence of any traffic flow group, the number of times any traffic flow is released in the phase sequence is 1.

[0280] In some examples, the phase sequence constraints of the feasible phase sequence module include: a second special release constraint;

[0281] The second special release constraint includes:

[0282] For any phase sequence of any traffic flow group, if a target traffic flow that belongs to a preset overlapping release traffic flow set but does not belong to a preset secondary release traffic flow set is released in any phase of the phase sequence, then the target traffic flow is released in the preceding or following phase.

[0283] In some examples, the phase sequence constraints of the feasible phase sequence module include: a third special release constraint;

[0284] The third special release constraint includes:

[0285] For any phase sequence of any traffic flow group, if a target traffic flow that belongs to a preset secondary release traffic flow set but does not belong to a preset overlapping release traffic flow set is released in any phase of the phase sequence, then the target traffic flow was not released in the previous or next phase.

[0286] In some examples, the phase sequence constraints of the feasible phase sequence module include: a fourth special release constraint;

[0287] The fourth special release constraint includes:

[0288] For any phase sequence of any traffic flow group, if a target traffic flow belonging to a preset secondary release traffic flow set and a preset overlapping release traffic flow set is released in any phase of the phase sequence, then the number of releases of the target traffic flow in the previous phase and the next phase is less than or equal to 1.

[0289] In some examples, the target phase sequence set module includes:

[0290] The first submodule is used to determine the critical flow ratio of each basic phase in any feasible phase sequence set.

[0291] The second submodule is used to obtain the sum of critical flow ratios based on the critical flow ratios of each phase sequence set;

[0292] The third submodule is used to determine the phase sequence set with the smallest sum of critical flow ratios as the target phase sequence set.

[0293] In some examples, the first submodule is specifically used for:

[0294] For any basic phase, determine whether there are traffic flows marked as special releases under the basic phase, where special releases include secondary releases and overlapping releases;

[0295] If not included, the maximum flow ratio under the basic phase is taken as the critical flow ratio of the basic phase;

[0296] If included, then based on the basic phase, the key flow ratio of the basic phase is obtained by the difference between the special release flow ratio and the second release flow ratio of the special release flow. The special flow ratio is the sum of the flow ratios of the special release flow in all special release release times.

[0297] In some examples, the device also includes:

[0298] The verification module is used to verify that, under any basic phase, the flow ratio of specially permitted traffic flows is greater than the flow ratio of non-specially permitted traffic flows.

[0299] In some examples, the device also includes:

[0300] The green light ratio calculation module is used to calculate the signal control period of the target phase sequence set and the phase green light time of each phase.

[0301] In some examples, the signal control cycle of the green ratio calculation module is calculated in the following way:

[0302] It is calculated based on the sum of the preset total loss time and the critical flow ratio.

[0303] In some examples, the phase green light time for each phase of the green light ratio calculation module is calculated in the following way:

[0304] The green light time for any phase is calculated based on the signal control cycle, the critical flow ratio of the phase, the sum of the critical flow ratios, the preset start-up loss time, and the preset yellow light time.

[0305] like Figure 4 As shown, device 400 includes a computing unit 401, which can perform various appropriate actions and processes based on a computer program stored in read-only memory (ROM) 402 or a computer program loaded from storage unit 408 into random access memory (RAM) 403. RAM 403 may also store various programs and data required for the operation of device 400. The computing unit 401, ROM 402, and RAM 403 are interconnected via bus 404. Input / output (I / O) interface 405 is also connected to bus 404.

[0306] Multiple components in device 400 are connected to I / O interface 405, including: input unit 406, such as keyboard, mouse, etc.; output unit 407, such as various types of monitors, speakers, etc.; storage unit 408, such as disk, optical disk, etc.; and communication unit 409, such as network card, modem, wireless transceiver, etc. Communication unit 409 allows device 400 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0307] The computing unit 401 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 401 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 401 performs the various methods and processes described above, such as determining the phase sequence of intersection traffic flow. For example, in some embodiments, determining the phase sequence of intersection traffic flow can be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 408. In some embodiments, part or all of the computer program can be loaded and / or installed on device 400 via ROM 402 and / or communication unit 409. When the computer program is loaded into RAM 403 and executed by the computing unit 401, one or more steps of determining the phase sequence of intersection traffic flow described above can be performed. Alternatively, in other embodiments, the calculation unit 401 may be configured by any other suitable means (e.g., by means of firmware) to determine the phase sequence of intersection traffic flows.

[0308] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0309] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0310] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0311] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0312] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with embodiments of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0313] Computer systems can include clients and servers. Clients and servers are generally located far apart and typically interact via communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with each other. Servers can be cloud servers, servers in distributed systems, or servers incorporating blockchain technology.

[0314] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0315] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A method for determining the phase sequence of traffic flow at an intersection, wherein, The method includes: Based on the basic information of the intersection, multiple traffic flows are identified, and multiple traffic flow groups are formed according to the multiple traffic flows. Based on the multiple traffic flow groups, multiple basic phases are generated for each traffic flow group; For any traffic flow group, based on preset phase constraints, multiple feasible basic phases are determined from multiple basic phases corresponding to the traffic flow group, and a basic phase set of the traffic flow group is generated based on the multiple feasible basic phases. For any traffic flow group, multiple phase sequences are generated based on multiple feasible basic phases contained in the basic phase set, and multiple feasible phase sequences of the traffic flow group are determined from the multiple phase sequences according to preset phase sequence constraints. Based on the feasible phase sequence of multiple traffic flow groups, multiple phase sequence sets are generated, wherein any one of the phase sequence sets includes multiple feasible phase sequences, and the feasible phase sequences in the same phase sequence set belong to different traffic flow groups. Calculate the sum of the critical flow ratios of each of the phase sequence sets, and determine the target phase sequence set based on the sum of the critical flow ratios, wherein the target phase sequence set is used to control the traffic flow at the intersection; The phase sequence constraint includes a third special release constraint. The third special release constraint includes: for any phase sequence of any traffic flow group, if a target traffic flow belonging to a preset secondary release traffic flow set but not a preset overlapping release traffic flow set is released in any phase of the phase sequence, then the target traffic flow was not released in the previous phase or the next phase.

2. The method according to claim 1, wherein, The process of determining multiple traffic flows based on intersection information and dividing these multiple traffic flows into multiple traffic flow groups includes: Based on the intersection entrance direction information and traffic flow direction information contained in the basic information of the intersection, multiple traffic flows are determined, and each traffic flow corresponds to one intersection entrance direction and one traffic flow direction. The traffic flows that are opposite each other at the intersection entrance are divided into a traffic flow group to obtain the multiple traffic flow groups.

3. The method according to claim 1, wherein, The generation of multiple basic phases corresponding to each traffic flow group based on the multiple traffic flow groups includes: For a traffic flow group, under any phase, the release status of each traffic flow in the traffic flow group is generated under any phase, and the release status of a traffic flow is used to indicate whether the traffic flow is released under any phase. A basic phase is obtained based on the release status corresponding to each traffic flow under any given phase.

4. The method according to any one of claims 1-3, wherein, The phase constraint conditions include: basic phase constraint conditions; The basic phase constraint conditions include at least one of the following: For any basic phase of any traffic flow group, it is determined that the basic phase has at least one traffic flow that is allowed to proceed. For any basic phase of any traffic flow group, determine the non-conflicting relationship between multiple traffic flows that are allowed to proceed under the same phase; For any basic phase of any traffic flow group, determine that multiple traffic flows that are allowed to pass under the same phase belong to the same traffic flow group.

5. The method according to any one of claims 1-3, wherein, The phase constraint conditions include: phase constraint conditions for traffic light facilities; The phase constraint conditions of the traffic light facility include: For multiple traffic flows controlled by the same signal light group within any traffic flow group, under any basic phase, the release status of the multiple traffic flows controlled by the same signal light group is determined to be the same; and, Determine the conflict relationships between multiple traffic flows controlled by the same signal light group and other traffic flows.

6. The method according to any one of claims 1-3, wherein, The phase constraint conditions include: lane facility phase constraint conditions; The lane facility phase constraint conditions include: For multiple traffic flows corresponding to a mixed lane in any traffic flow group, under any basic phase, the release status of the multiple traffic flows corresponding to the mixed lane is determined to be the same; and, The conflict relationships between multiple traffic flows and other traffic flows corresponding to the mixed lanes are determined.

7. The method according to claim 4, wherein, After determining multiple feasible basic phases from multiple basic phases corresponding to the traffic flow group according to preset phase constraints, and generating a basic phase set of the traffic flow group based on the multiple feasible basic phases, and before determining multiple phase sequences of the traffic flow group from the multiple phase sequences according to preset phase sequence constraints, the method further includes: Based on a preset set of subsequent traffic flows corresponding to overflow risks, multiple basic phases corresponding to the traffic flows in the set of subsequent traffic flows are generated; wherein, the set of subsequent traffic flows corresponding to overflow risks is a set of traffic flows that do not conflict with the traffic flows with overflow risks and belong to the same traffic flow group. Based on the preset overflow phase constraints, multiple feasible basic phases are determined from multiple basic phases; The subsequent traffic flow set is updated based on the traffic flow corresponding to multiple feasible basic phases; The overflow phase constraint condition is the same as any one of the phase constraint conditions described in claims 4-6.

8. The method according to any one of claims 1-3, wherein, For any traffic flow group, generating multiple phase sequences based on multiple feasible basic phases included in the basic phase set includes: For any traffic flow group, based on the multiple feasible basic phases contained in the basic phase set corresponding to the traffic flow group, the execution order combination of the multiple feasible basic phases is enumerated to obtain multiple phase sequences.

9. The method according to any one of claims 1-3, wherein, The phase sequence constraints include: basic phase sequence constraints; The basic phase sequence constraints include: For any phase sequence of any traffic flow group, each traffic flow in the traffic flow group is allowed to pass at least once in the phase sequence.

10. The method according to any one of claims 1-3, wherein, The phase sequence constraint conditions include: release number phase sequence constraint conditions; The release sequence constraint includes: For any phase sequence of any traffic flow group, each traffic flow in the traffic flow group is allowed to proceed at most twice in that phase sequence.

11. The method according to any one of claims 1-3, wherein, The phase sequence constraints include: the phase sequence constraints before the region to be converted; The preceding phase sequence constraints for the region to be transferred include: For any phase sequence of any traffic flow group, if any traffic flow marked as a waiting area is released in the phase sequence, then the traffic flow released in the previous phase belongs to a preset set of preceding traffic flows corresponding to the traffic flow in the waiting area.

12. The method according to claim 11, wherein, The phase sequence constraint conditions also include: post-phase sequence constraint conditions for the region to be transferred; The post-phase sequence constraint conditions for the region to be transferred include: For any phase sequence of any traffic flow group, if any traffic flow marked as a waiting area is released in the phase sequence, then the traffic flow released in the next phase does not belong to the preset preceding traffic flow set corresponding to the traffic flow of the waiting area.

13. The method according to any one of claims 1-3, wherein, The phase sequence constraint conditions include: overflow phase sequence constraint conditions; The overflow phase sequence constraint conditions include: For any phase sequence of any traffic flow group, if any traffic flow marked as having overflow risk is allowed to pass in the phase sequence, then the traffic flow allowed to pass in the next phase belongs to a preset set of subsequent traffic flows corresponding to the traffic flow with overflow risk.

14. The method according to any one of claims 1-3, wherein, The phase sequence constraint conditions include: a first special release constraint condition; The first special release constraint includes: For any phase sequence of any traffic flow group, the number of times any traffic flow is released is 1 in the phase sequence.

15. The method according to any one of claims 1-3, wherein, The phase sequence constraint conditions include: a second special release constraint condition; The second special release constraint includes: For any phase sequence of any traffic flow group, if a target traffic flow that belongs to a preset overlapping release traffic flow set but does not belong to a preset secondary release traffic flow set is released in any phase of the phase sequence, then the target traffic flow is released in the preceding or following phase.

16. The method according to any one of claims 1-3, wherein, The phase sequence constraint conditions include: the fourth special release constraint condition; The fourth special release constraint includes: For any phase sequence of any traffic flow group, if a target traffic flow belonging to a preset secondary release traffic flow set and a preset overlapping release traffic flow set is released in any phase of the phase sequence, then the number of times the target traffic flow is released in the previous phase and the next phase is less than or equal to 1.

17. The method according to any one of claims 1-3, wherein, The step of calculating the sum of the critical flow ratios of each of the phase sequence sets, and determining the target phase sequence set based on the sum of the critical flow ratios, includes: For any set of phase sequences, determine the critical flow ratio of each basic phase in the feasible phase sequences it contains; Based on the critical flow ratio of each phase sequence set, the sum of the critical flow ratios is obtained; The set of phases with the smallest sum of critical flow ratios is determined as the target phase sequence set.

18. The method according to claim 17, wherein, For any set of phase sequences, determining the critical flow ratio of each basic phase in the feasible phase sequences it contains includes: For any basic phase, determine whether there is a traffic flow marked as special release under the basic phase, wherein the special release includes secondary release and overlap release; If not included, the maximum flow ratio under the basic phase is taken as the key flow ratio of the basic phase; If included, the key flow ratio of the basic phase is obtained by the difference between the special release flow ratio and the second release flow ratio of the traffic flow under the basic phase, wherein the special release flow ratio is the sum of the flow ratios of the traffic flow under the special release in all special release release times.

19. The method of claim 17, wherein, After generating multiple phase sequence sets based on feasible phase sequences of multiple traffic flow groups, and before calculating the sum of critical flow ratios for each of the phase sequence sets and determining the target phase sequence set based on the sum of critical flow ratios, the method further includes: Under any basic phase, it is verified that the flow ratio of traffic flows with special clearance is greater than that of traffic flows without special clearance.

20. The method according to any one of claims 1-3, wherein, The method further includes calculating the sum of critical flow ratios for each of the phase sequence sets, determining a target phase sequence set based on the sum of the critical flow ratios, wherein the target phase sequence set is used to control traffic flow at the intersection. Calculate the signal control period of the target phase sequence set and the phase green light time of each phase.

21. The method according to claim 20, wherein, The signal control period is calculated in the following way: It is calculated based on the preset total loss time and the key flow ratio.

22. The method according to claim 21, wherein, The green light time for each phase is calculated in the following way: The green light time for any phase is calculated based on the signal control cycle, the critical flow ratio of the phase, the sum of the critical flow ratios, the preset start-up loss time, and the preset yellow light time.

23. A device for determining the phase sequence of traffic flow at an intersection, wherein, The device includes: The traffic flow group module is used to determine multiple traffic flows based on basic intersection information, and to divide the multiple traffic flows into multiple traffic flow groups. The basic phase module is used to generate multiple basic phases corresponding to each traffic flow group based on the multiple traffic flow groups; The basic phase set module is used to determine multiple feasible basic phases from multiple basic phases corresponding to any traffic flow group according to preset phase constraints, and generate the basic phase set of the traffic flow group based on the multiple feasible basic phases. The feasible phase sequence module is used to generate multiple phase sequences for any traffic flow group based on multiple feasible basic phases contained in the basic phase set, and to determine multiple feasible phase sequences of the traffic flow group from the multiple phase sequences according to preset phase sequence constraints. The phase sequence set module is used to generate multiple phase sequence sets based on the feasible phase sequence of multiple traffic flow groups. Each phase sequence set includes multiple feasible phase sequences, and the feasible phase sequences in the same phase sequence set belong to different traffic flow groups. The target phase sequence set module is used to calculate the sum of the critical flow ratios of each of the phase sequence sets, and to determine the target phase sequence set based on the sum of the critical flow ratios, wherein the target phase sequence set is used to control the traffic flow at the intersection; The phase sequence constraint includes a third special release constraint. The third special release constraint includes: for any phase sequence of any traffic flow group, if a target traffic flow belonging to a preset secondary release traffic flow set but not a preset overlapping release traffic flow set is released in any phase of the phase sequence, then the target traffic flow was not released in the previous phase or the next phase.

24. An electronic device, comprising: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-22.

25. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to cause the computer to perform the method according to any one of claims 1-22.

26. A computer program product comprising a computer program that, when executed by a processor, implements the method according to any one of claims 1-22.

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