Dynamic control method of signal cycle at staggered intersections under vehicle-road cooperative environment

Abstract

The present invention discloses a method for dynamically controlling the signal cycle of a staggered intersection in a vehicle-road cooperative environment, including: 1. Collecting information on different types of vehicles in each lane at the tth time interval of the staggered intersection; 2. Determining the optimal signal cycle using a signal cycle optimization model; 3. Determining a staggered intersection control method based on road conditions; 4. Determining the optimal signal timing plan using an optimal signal timing plan model; 5. Repeating the above steps based on real-time changes in traffic flow at the intersection. The dynamic control method proposed in the present invention can dynamically control the signal cycle according to real-time traffic volume, select the optimal signal timing plan, reduce vehicle delays, enable vehicles to quickly pass through the staggered intersection, and improve the traffic operation efficiency of the staggered intersection.

Description

Technical Field

[0001] The present invention belongs to the field of traffic control in intelligent networked environments, and specifically, is a method for dynamically controlling signal cycles at staggered intersections in a vehicle-road collaborative environment. Background Art

[0002] A staggered intersection is a special type of plane intersection, usually located on a city trunk road. It consists of two T-shaped intersections with a small distance between them. The distance between the two intersections is between 30 and 300 meters. The traffic volume on the trunk road is large, and the two-way traffic volume is basically balanced. In this case, the connecting section between the two intersections has a high traffic density and large traffic delays, which can easily become a "bottleneck" for trunk road traffic. In addition, the signal setting is not coordinated with the traffic flow, and the phase sequence and duration do not match the traffic flow size. This has led to a decrease in the traffic capacity of urban roads, reduced driving safety, and seriously affected the traffic efficiency of the entire urban transportation network. However, with the development of information and communication technology and the continuous improvement of vehicle-mounted systems, vehicle-road cooperative technology can use advanced wireless communication and new generation Internet technology to implement dynamic real-time information interaction between vehicles and roads in all directions, and can carry out active vehicle safety control and road cooperative management at typical intersections such as staggered intersections to improve the traffic operation conditions at intersections. Summary of the invention

[0003] In order to overcome the shortcomings of the prior art, the present invention proposes a method for dynamically controlling the signal cycle of staggered intersections in a vehicle-road cooperative environment, in order to ensure the safety of traffic operation at the staggered intersections, dynamically control the signal cycle of the staggered intersections, and provide a signal timing plan in combination with road conditions and traffic conditions, thereby reducing driving delays at the staggered intersections, alleviating traffic congestion, and improving the overall traffic efficiency of the staggered intersections.

[0004] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme:

[0005] The signal cycle dynamic control method of the staggered intersection in the vehicle-road cooperative environment of the present invention is characterized in that it is applied to the staggered intersection composed of two adjacent T-shaped intersections; the T-shaped intersection is composed of a main road and a branch road, wherein the main road has three entrance lanes; the main road has two exit lanes; the branch road has two entrance lanes including: a left-turn dedicated entrance lane and a right-turn dedicated entrance lane; the branch road has two exit lanes; any phase of a T-shaped intersection is recorded as the i-th phase; any entrance lane among all the entrance lanes of the main road and the branch road of a T-shaped intersection is recorded as the j-th entrance lane;

[0006] Step 1: Collect vehicle information in each lane of a T-intersection in the tth time interval, including: the number of vehicles of different types, vehicle positions, and vehicle speeds;

[0007] Step 2: Use formula (1) to calculate the equivalent traffic volume of the jth entrance lane in the i-th phase of a T-intersection in the traffic direction k during the t-th time interval:

[0008]

[0009] In formula (1), q ikj (t) represents the total traffic volume of the jth import lane in the i-th phase of the T-intersection in the traffic direction k during the t-th time interval; P w (t) represents the percentage of the w-th type of vehicles on the j-th import lane in the traffic direction k at the i-th phase of the T-intersection in the t-th time interval to the total number of vehicles; E w represents the vehicle conversion factor of the wth type of vehicle; W represents the total vehicle type;

[0010] Step 2.1: Use formula (2) to calculate the actual arrival flow of the T-intersection in the i-th phase in the traffic direction k during the t-th time interval:

[0011]

[0012] In formula (2), n ik represents the number of lanes in the traffic direction k in the i-th phase;

[0013] Step 2.2: Use formula (3) to calculate the flow ratio y of the i-th phase of the T-intersection in the traffic direction k during the t-th time interval: ik (t);

[0014]

[0015] In formula (3), S ik represents the saturated flow of traffic in the traffic direction k in the i-th phase;

[0016] Step 2.3: Select the maximum value of the flow ratios in all directions of the i-th phase of the T-intersection in the t-th time interval as the key flow ratio y of the i-th phase. i,max (t); and use formula (4) to calculate the sum of the critical flow ratios of all phases of the T-intersection in the tth time interval Y(t);

[0017]

[0018] In formula (4), m represents the total number of phases at the T-intersection;

[0019] Step 2.4, determine whether Y(t)≤α is established. If so, execute step 3; otherwise, execute step 8; wherein α represents a parameter;

[0020] Step 3, determining the signal cycle of the T-intersection within the tth time interval;

[0021] Step 3.1: Use formula (5) to calculate the saturation X of the jth entrance lane in the i-th phase of the T-intersection in the traffic direction k in the t-th time interval: ikj (t);

[0022]

[0023] c ikj (t) = λ i (t)·S ikj (6)

[0024] In formula (5), c ikj (t) is the capacity of the jth entrance lane in the i-th phase in the traffic direction k; in formula (6), λ i (t) represents the green-to-signal ratio of the i-th phase in the t-th time interval; S ikj represents the saturated flow of the jth entrance road in the traffic direction k in the i-th phase;

[0025] Step 3.2: Calculate the total loss time L(t) of all phases of the T-intersection in the tth time interval using formula (7):

[0026]

[0027] In formula (7), l i (t) represents the start-up loss time of all vehicles on the i-th phase of the T-intersection at the t-th time interval; I represents the green light interval time; A represents the yellow light time;

[0028] Step 3.3: Use equation (8) to determine the effective green light time g on the i-th phase in the t-th time interval: i (t);

[0029]

[0030] In formula (8), C(t) represents the signal period of the T-intersection at the tth time interval;

[0031] Step 3.4: Use equation (9) to determine the green-to-signal ratio λ of the i-th phase in the t-th time interval: i (t);

[0032]

[0033] Step 3.5: Use formula (10) to calculate the shortest green light time g required for pedestrians to cross the street in the i-th phase: i,min ;

[0034]

[0035] In formula (10), L p V represents the length of pedestrian crossing at T-intersection; i,p represents the pedestrian crossing speed in the i-th phase; β is a parameter;

[0036] Step 3.6, taking the minimum vehicle delay time at the T-intersection as the target, construct the intersection signal cycle optimization model using formula (11);

[0037]

[0038] In formula (11), d(t) represents the average vehicle delay time of the T-intersection at the tth time interval; a, b, η, θ, ε are five different parameters; Q(t) represents the vehicle flow of all entrance lanes of the T-intersection at the tth time interval;

[0039] Step 3.7: Use a genetic algorithm to solve the intersection signal cycle optimization model to obtain the signal cycle C corresponding to the minimum vehicle delay time in the tth time interval of a T-type intersection. best (t);

[0040] Step 3.8: Follow the process from step 1 to step 3.7 to obtain the signal period C corresponding to the minimum vehicle delay time in the tth time interval of another T-intersection. b ' est (t);

[0041] Step 4: Determine whether T≤τ is established. If so, execute step 5; otherwise, execute step 6; wherein τ is a parameter;

[0042]

[0043] In formula (12), T represents the time it takes for a vehicle to pass through the connecting section of two T-intersections; D represents the distance between the connecting sections of two T-intersections; represents the average speed of vehicles at the T-intersection in the tth time interval;

[0044] Step 5. Select C best (t) and C b ' est The larger value in (t) is used as the common signal cycle of the staggered intersection, and step 7 is executed;

[0045] Step 6: Follow C best (t) and C b ' est (t) After the traffic lights at the two T-intersections are respectively controlled to be green in both directions, step 8 is executed;

[0046] Step 7: Determine the optimal signal phase solution P for the tth time interval according to the common signal period best (t), so as to carry out synchronous coordinated control of the signal lights at the staggered intersections;

[0047] Step 7.1, according to the traffic information collected at the T-intersection, a signal phase timing scheme P(t) is selected using the Webster method;

[0048] Step 7.2: Taking traffic efficiency and space utilization as the best goal, use formula (13) to build a signal phase timing model;

[0049]

[0050] In formula (13), K L is the loss time correction factor for the misaligned intersection; K s is the safety correction factor of the misaligned intersection; K U is the time and space resource utilization correction coefficient of the staggered intersection; s i (t) represents the number of conflict points of the i-th phase in the t-th time interval; N iku (t) represents the number of entrance lanes occupied by the traffic flow in the i-th phase in the same direction k in the t-th time interval; N i ' ku (t) represents the number of exit lanes occupied by the traffic flow in the i-th phase in the same direction k in the t-th time interval; N ikf (t) represents the number of entrance lanes that can be used by the traffic flow in the i-th phase in the same direction k in the t-th time interval; N i ' kf (t) represents the number of exit lanes that can be used by the traffic flow in the i-th phase in the same direction k in the t-th time interval;

[0051] Step 7.3: Solve the signal phase timing model to obtain the optimal signal phase timing solution P best (t);

[0052] Step 8: Assign t+1 to t and return to step 1 to execute sequentially.

[0053] An electronic device of the present invention includes a memory and a processor, wherein the memory is used to store a program that supports the processor to execute the signal period dynamic control method, and the processor is configured to execute the program stored in the memory.

[0054] The present invention provides a computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and the computer program executes the steps of the signal period dynamic control method when the computer program is executed by a processor.

[0055] Compared with the prior art, the beneficial technical effects of the present invention are embodied in:

[0056] 1. The present invention can dynamically adjust the signal cycle of a T-shaped intersection according to the traffic volume of the T-shaped intersection in real time, determine the optimal cycle length on the premise of ensuring the stable operation of vehicles at the T-shaped intersection, shorten the waiting time for vehicle parking, reduce the delay of vehicle operation at the intersection, and improve the road traffic capacity of the T-shaped intersection.

[0057] 2. The present invention takes into account the road conditions and traffic conditions of the staggered intersections, and utilizes the optimal signal timing scheme model to select the optimal signal timing scheme, which can rationally utilize the optimal signal cycle and reduce the conflict points and conflict areas of the staggered intersections.

[0058] 3. The present invention can use wireless communication technology to exchange information with vehicles at intersections in real time through a vehicle-road collaborative environment, and use a central computer to control the intelligent traffic lights at staggered intersections, thereby reducing the loss and delay in the information transmission process, and allowing staggered intersections to operate under optimal traffic conditions and maximize traffic capacity. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 It is the overall flow chart of the present invention;

[0060] Figure 2 It is a flow chart of the specific control steps of the present invention;

[0061] Figure 3 It is a schematic diagram of the staggered intersection of the present invention. DETAILED DESCRIPTION

[0062] In this embodiment, Figure 3 As shown, the signal cycle dynamic control method of the staggered intersection in the vehicle-road cooperative environment is applied to the staggered intersection composed of two adjacent T-intersections; the T-intersection consists of a main road and a branch road, wherein the main road has three entrance lanes; the main road has two exit lanes; the branch road has two entrance lanes including: a left-turn dedicated entrance lane and a right-turn dedicated entrance lane; the branch road has two exit lanes; any phase of a T-intersection is recorded as the i-th phase; any entrance lane among all the entrance lanes of the main road and the branch road of a T-intersection is recorded as the j-th entrance lane;

[0063] Step 1: Figure 1 As shown, the vehicle information of a T-intersection in each lane in the t-th time interval is collected, including: the number of vehicles of different types, vehicle positions, and vehicle speeds.

[0064] Step 2: Use formula (1) to calculate the equivalent traffic volume of the jth entrance lane in the i-th phase of a T-intersection in the traffic direction k during the t-th time interval:

[0065]

[0066] In formula (1), q ikj (t) represents the total traffic volume of the jth import lane in the i-th phase of the T-intersection in the traffic direction k during the t-th time interval; P w (t) represents the percentage of the w-th type of vehicles on the j-th import lane in the traffic direction k at the i-th phase of the T-intersection in the t-th time interval to the total number of vehicles; E w represents the vehicle conversion factor for the wth type of vehicle; W represents the total vehicle type.

[0067] Step 2.1: Use formula (2) to calculate the actual arrival flow of the T-intersection in the i-th phase in the traffic direction k during the t-th time interval:

[0068]

[0069] In formula (2), n ik represents the number of lanes in the traffic direction k in the i-th phase;

[0070] Step 2.2: Use formula (3) to calculate the flow ratio y of the i-th phase of the T-intersection in the traffic direction k during the t-th time interval: ik (t);

[0071]

[0072] In formula (3), S ik represents the saturated flow of traffic in the traffic direction k in the i-th phase;

[0073] Step 2.3: Select the maximum value of the flow ratios in all directions of the i-th phase of the T-intersection in the t-th time interval as the key flow ratio y of the i-th phase. i,max (t); and use formula (4) to calculate the sum of the critical flow ratios of all phases of the T-intersection in the tth time interval Y(t);

[0074]

[0075] In formula (4), m represents the total number of phases at the T-intersection;

[0076] Step 2.4: Figure 2As shown, determine whether Y(t)≤α is true. If so, execute step 3; otherwise, execute step 8; wherein α represents a parameter, which is generally 0.9.

[0077] Step 3: Figure 1 As shown, the signal cycle of the T-intersection in the tth time interval is determined;

[0078] Step 3.1: Use formula (5) to calculate the saturation X of the jth entrance lane in the i-th phase of the T-intersection in the traffic direction k in the t-th time interval: ikj (t);

[0079]

[0080] c ikj (t) = λ i (t)·S ikj (6)

[0081] In formula (5), c ikj (t) is the capacity of the jth entrance lane in the i-th phase in the traffic direction k; in formula (6), λ i (t) represents the green-to-signal ratio of the i-th phase in the t-th time interval; S ikj It represents the saturated flow of the jth entrance lane in the traffic direction k in the i-th phase.

[0082] Step 3.2: Calculate the total loss time L(t) of all phases of the T-intersection in the tth time interval using formula (7):

[0083]

[0084] In formula (7), l i (t) represents the starting loss time of all vehicles on the i-th phase of the T-type intersection at the t-th time interval; I represents the green light interval time; A represents the yellow light time, which is generally 3s;

[0085] Step 3.3: Use equation (8) to determine the effective green light time g on the i-th phase in the t-th time interval: i (t);

[0086]

[0087] In formula (8), C(t) represents the signal period of the T-intersection at the tth time interval.

[0088] Step 3.4: Use equation (9) to determine the green-to-signal ratio λ of the i-th phase in the t-th time interval: i (t), green-to-signal ratio is the ratio of effective green light time to signal period;

[0089]

[0090] Step 3.5: Use formula (10) to calculate the shortest green light time g required for pedestrians to cross the street in the i-th phase: i,min ;

[0091]

[0092] In formula (10), L p V represents the length of pedestrian crossing at T-intersection; i,p represents the pedestrian crossing speed in the i-th phase; β is a parameter.

[0093] Step 3.6: Figure 2 As shown, taking the minimum vehicle delay time of the T-intersection as the target, the intersection signal cycle optimization model is constructed using formula (11);

[0094]

[0095]

[0096] In formula (11), d(t) represents the average vehicle delay time of the T-intersection at the t-th time interval; a, b, η, θ, ε are five different parameters; Q(t) represents the traffic flow of all entrance lanes of the T-intersection at the t-th time interval.

[0097] Step 3.7: Use a genetic algorithm to solve the intersection signal cycle optimization model to obtain the signal cycle C corresponding to the minimum vehicle delay time in the tth time interval of a T-type intersection. best (t);

[0098] Step 3.8: Follow the process from step 1 to step 3.7 to obtain the signal period C corresponding to the minimum vehicle delay time in the tth time interval of another T-intersection. b ' est (t).

[0099] Step 4: Figure 2 As shown, it is determined whether T≤τ holds true. If so, step 5 is executed; otherwise, step 6 is executed; wherein τ is a parameter, indicating the threshold value at which two T-intersections can be synchronously coordinated;

[0100]

[0101] In formula (12), T represents the time it takes for a vehicle to pass through the connecting section of two T-intersections; D represents the distance between the connecting sections of two T-intersections; Represents the average vehicle speed at the T-intersection during the tth time interval.

[0102] Step 5: Figure 2 As shown, select C best (t) and C b ' est The larger value in (t) is used as the common signal cycle of the staggered intersection, and step 7 is executed;

[0103] Step 6: Follow C best (t) and C b ' est (t) After the traffic lights at the two T-intersections are respectively controlled to be green waves in both directions, proceed to step 8.

[0104] Step 7: Determine the optimal signal phase solution P for the tth time interval according to the common signal period best (t), so as to carry out synchronous coordinated control of the signal lights at the staggered intersections;

[0105] Step 7.1, according to the traffic information collected at the T-intersection, a signal phase timing scheme P(t) is selected using the Webster method;

[0106] Step 7.2: Figure 2 As shown, with the goal of optimizing traffic efficiency and space utilization, the signal phase timing model is constructed using formula (13);

[0107]

[0108] In formula (13), K L is the loss time correction factor for the misaligned intersection; K s is the safety correction factor of the misaligned intersection; K U is the time and space resource utilization correction coefficient of the staggered intersection; s i (t) represents the number of conflict points of the i-th phase in the t-th time interval; N iku (t) represents the number of entrance lanes occupied by the traffic flow in the i-th phase in the same direction k in the t-th time interval; N i ' ku (t) represents the number of exit lanes occupied by the traffic flow in the i-th phase in the same direction k in the t-th time interval; N ikf (t) represents the number of entrance lanes that can be used by the traffic flow in the i-th phase in the same direction k in the t-th time interval; N i ' kf (t) represents the number of exit lanes that can be used by the traffic flow in the i-th phase in the same direction k in the t-th time interval.

[0109] Step 7.3: Solve the signal phase timing model to obtain the optimal signal phase timing solution P best (t);

[0110] Step 8: Assign t+1 to t and return to step 1 to execute sequentially.

[0111] In this embodiment, an electronic device includes a memory and a processor, wherein the memory is used to store a program that supports the processor to execute the above method, and the processor is configured to execute the program stored in the memory.

[0112] In this embodiment, a computer-readable storage medium stores a computer program on the computer-readable storage medium, and the computer program executes the steps of the above method when executed by a processor.

[0113] In this embodiment, the method concept of the present invention is not limited to the staggered intersection composed of two T-intersections. Other embodiments obtained by ordinary technicians in this field without creative changes are all within the scope of protection of the present invention.

Claims

1. A method for dynamically controlling the signal cycle of staggered intersections in a vehicle-road cooperative environment, characterized in that Applicable to the staggered intersection composed of two adjacent T-intersections; the T-intersection consists of a main road and a branch road, wherein the main road has three entrance lanes; the main road has two exit lanes; the branch road has two entrance lanes including: a left-turn entrance lane and a right-turn entrance lane; the branch road has two exit lanes; any phase of a T-intersection is recorded as the i-th phase; any entrance lane among all the entrance lanes of the main road and the branch road of a T-intersection is recorded as the j-th entrance lane; Step 1: Collect vehicle information in each lane of a T-intersection in the tth time interval, including: the number of vehicles of different types, vehicle positions, and vehicle speeds; Step 2: Use formula (1) to calculate the equivalent traffic volume of the jth entrance lane in the i-th phase of a T-intersection in the traffic direction k during the t-th time interval: ; (1) In formula (1), represents the total traffic volume of the jth import lane in the traffic direction k at the i-th phase of the T-intersection in the t-th time interval; It represents the percentage of the number of vehicles of the wth type on the jth import lane in the traffic direction k at the i-th phase of the T-intersection in the t-th time interval to the total number of vehicles; represents the vehicle conversion factor of the wth type of vehicle; W represents the total vehicle type; Step 2.1: Use formula (2) to calculate the actual arrival flow of the T-intersection in the i-th phase in the traffic direction k during the t-th time interval: ; (2) In formula (2), represents the number of lanes in the traffic direction k in the i-th phase; Step 2.2: Use formula (3) to calculate the flow ratio of the i-th phase of the T-intersection in the traffic direction k in the t-th time interval: ; (3) In formula (3), represents the saturated flow of traffic in the traffic direction k in the i-th phase; Step 2.3: Select the maximum value of the flow ratios in all directions of the i-th phase of the T-intersection in the t-th time interval as the key flow ratio of the i-th phase. ; and use formula (4) to calculate the sum of the critical flow ratios of all phases of the T-intersection in the tth time interval ; (4) In formula (4), m represents the total number of phases at the T-intersection; Step 2.4, judgment Is it true? If so, go to step 3; otherwise, go to step 8; where: Represents parameters; Step 3, determining the signal cycle of the T-intersection within the tth time interval; Step 3.1: Use formula (5) to calculate the saturation of the jth entrance lane in the i-th phase of the T-intersection in the traffic direction k in the t-th time interval: ; (5) (6) In formula (5), The capacity of the jth entrance lane in the i-th phase in the traffic direction k; in formula (6), represents the green-to-signal ratio of the i-th phase in the t-th time interval; represents the saturated flow of the jth entrance road in the traffic direction k in the i-th phase; Step 3.2: Calculate the total loss time of all phases of the T-intersection in the tth time interval using formula (7): : (7) In formula (7), represents the start-up loss time of all vehicles on the i-th phase of the T-intersection at the t-th time interval; Indicates the green light interval time; A indicates the yellow light time; Step 3.3: Use equation (8) to determine the effective green light time on the i-th phase in the t-th time interval: ; (8) In formula (8), represents the signal period of the T-intersection at the tth time interval; Step 3.4: Use equation (9) to determine the green-to-signal ratio of the i-th phase in the t-th time interval: ; (9) Step 3.5: Use formula (10) to calculate the shortest green light time required for pedestrians to cross the street in the i-th phase: ; (10) In formula (10), Indicates the length of pedestrian crossing at T-intersection; represents the pedestrian crossing speed in the i-th phase; is the parameter; Step 3.6, taking the minimum vehicle delay time at the T-intersection as the target, construct the intersection signal cycle optimization model using formula (11); (11) In formula (11), represents the average delay time of vehicles at the T-intersection at the tth time interval; , b, , , There are five different parameters; represents the traffic flow of all entrance lanes of the T-intersection at the tth time interval; Step 3.7: Use a genetic algorithm to solve the intersection signal cycle optimization model to obtain the signal cycle corresponding to the minimum vehicle delay time in the tth time interval of a T-type intersection. ; Step 3.8: Follow the process from step 1 to step 3.7 to obtain the signal cycle corresponding to the minimum vehicle delay time in the tth time interval of another T-intersection. ; Step 4: Judgement Is it true? If so, go to step 5; otherwise, go to step 6; where: is the parameter; (12) In formula (12), T represents the time it takes for a vehicle to pass through the connecting section of two T-intersections; D represents the distance between the connecting sections of two T-intersections; represents the average speed of vehicles at the T-intersection in the tth time interval; Step 5: Select and The larger value of is used as the common signal cycle of the staggered intersection, and step 7 is executed; Step 6: Follow and After the traffic lights at the two T-intersections are respectively controlled to be green in both directions, step 8 is executed; Step 7: Determine the optimal signal phase solution for the tth time interval according to the common signal period , so as to carry out synchronous coordinated control of the signal lights at the staggered intersections; Step 7.1: Based on the traffic information collected at the T-intersection, use the Webster method to select a signal phase timing scheme. ; Step 7.2: Taking traffic efficiency and space utilization as the best goal, use formula (13) to build a signal phase timing model; (13) In formula (13), is the loss time correction factor for misaligned intersections; is the safety correction factor of the misaligned intersection; is the time and space resource utilization correction coefficient of the staggered intersection; represents the number of conflict points of the i-th phase in the t-th time interval; It represents the number of entrance lanes occupied by the traffic flow in the same direction k in the i-th phase during the t-th time interval; represents the number of exit lanes occupied by the traffic flow in the same direction k in the i-th phase during the t-th time interval; It represents the number of entrance lanes that can be used by the traffic flow in the same direction k in the i-th phase during the t-th time interval; It represents the number of exit lanes that can be used by the traffic flow in the same direction k in the i-th phase during the t-th time interval; Step 7.3: Solve the signal phase timing model to obtain the optimal signal phase timing solution. ; Step 8: Assign the value to t and return to step 1 to execute sequentially.

2. An electronic device, comprising a memory and a processor, characterized in that: The memory is used to store a program that supports the processor to execute the signal period dynamic control method according to claim 1, and the processor is configured to execute the program stored in the memory.

3. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the signal period dynamic control method according to claim 1 are executed.

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