A method for determining a vehicle passing state, an electronic device, and a storage medium

Abstract

The application provides a method for determining a vehicle passing state, an electronic device and a storage medium, comprising the following steps: acquiring a key vehicle ID list set; acquiring a waiting time length list set corresponding to the key vehicle ID list set; acquiring a key time length and a period corresponding to a traffic signal lamp; acquiring a specified time period list set according to the key time length and the period corresponding to the traffic signal lamp; and acquiring a state identifier of a target vehicle according to the specified time period list set. In the case that no vehicle speed acquisition device or video acquisition device is deployed in a road intersection, the passing state of the vehicle in the road intersection can still be determined, and then the period and the green ratio of the traffic signal lamp in the road intersection can be adjusted.

Description

Technical Field

[0001] This invention relates to the field of intelligent transportation, and in particular to a method, electronic device, and storage medium for determining vehicle traffic status. Background Technology

[0002] With the rapid development of society, the number of roads in cities is constantly increasing, and the number of vehicles on these roads is also growing, leading to increasingly serious queuing and congestion. Analyzing the traffic flow at road intersections allows for adjustments to traffic light cycles and green light ratios based on the analysis results, effectively reducing queuing and congestion and improving road traffic efficiency. Most existing methods for determining the traffic flow at road intersections rely on data collected by vehicle speed monitoring devices or video monitoring devices deployed at the intersections.

[0003] However, the above method also has the following technical problems:

[0004] With a large number of roads in the city, it is not possible to deploy vehicle speed collection devices or video collection devices at all road intersections. For road intersections without such devices, the above method cannot obtain the traffic status of vehicles at the road intersection. Therefore, the above method cannot adjust the cycle and green light ratio of traffic lights at road intersections without vehicle speed collection devices or video collection devices. Summary of the Invention

[0005] To address the aforementioned technical problems, the technical solution adopted by this invention is as follows:

[0006] According to a first aspect of the present invention, a method for determining vehicle traffic status is provided, for determining the traffic status of a target vehicle passing through a target road intersection when the working status of the traffic lights at the target road intersection is unknown, comprising the following steps:

[0007] S1. Obtain F = {F1, F2, ..., F...} r , ..., F s}, F r ={F r1 F r2 , ..., F rg , ..., F rh(r)} Among them, F

[0008] Let r be a set of key vehicle IDs, where r ranges from 1 to s, and s is the number of key vehicle IDs in the list. rg For the r-th key vehicle ID list F r The g-th key vehicle ID in the array, where g takes values ​​from 1 to h(r), and h(r) is F rThe number of key vehicle IDs, where key vehicles are those that have passed through and stopped at the target road intersection during a historical time period.

[0009] S2. Obtain G = {G1, G2, ..., G...} r , ..., G s}, G r ={G r1 G r2 , ..., G rg , ..., G rh(r)},in,

[0010] G is a set of waiting time lists corresponding to F, G rg For F rg The corresponding waiting time is obtained through the following sub-steps: G rg :

[0011] S21. Obtain D = {D1, D2, ..., D...} e , ..., D f}, where D is the list of historical vehicle IDs, D e Let e ​​be the e-th historical vehicle ID, where e ranges from 1 to f, and f is the number of historical vehicle IDs. Historical vehicles are those that passed through the target road intersection before the initial time period and did not stop moving during the passage through the target road intersection. The start time of the initial time period is the time when the first electronic device collects the target vehicle ID, and the end time of the initial time period is the time when the second electronic device collects the target vehicle ID. The first electronic device and the second electronic device are located on opposite sides of the target road intersection, and the vehicle passes through the collection area of ​​the first electronic device first and then the collection area of ​​the second electronic device.

[0012] S22. Obtain E = {E1, E2, ..., E...} e , ..., E f}, E e ={E e1 E e2}, where E is the set of key time points corresponding to D, E e1 D e Corresponding key time point list E e The first key time point in E e2 For E e The second key time point is the time when the first electronic device collects the historical vehicle ID, and the second key time point is the time when the second electronic device collects the historical vehicle ID.

[0013] S25, according to E e1 and E e2 Determine Grg Among them, G rg Meets the following conditions:

[0014] G rg =T 2 rg -T 1 rg -(L-L1) / (Σ f e＝1 (L / (E e2 -E e1 )) / f)-L 0 / (2×L1×J rg / (Σ f e＝1 (L / (E e2 -E e1 )) / f)), L is the first

[0015] The length of the road between the first electronic device and the second electronic device, L1 is the length of the road between the first electronic device and the center of the road intersection, and T is the length of the road between the first electronic device and the center of the road intersection. 1 rg F was collected by the first electronic device rg The time point, T 2 rg F was collected for the second electronic device rg At the time point, L 0 J is the length of the road between the first electronic device and the nearest stop line at the intersection of the first electronic device and the target road. rg For F rg The key acceleration of the corresponding key vehicle.

[0016] S3, according to G rg Obtain the critical duration H corresponding to the traffic light, where H meets the following conditions:

[0017] H = Σ s r＝1 max(G r1 G r2 , ..., G rg , ..., G rh(r) ) / s, where max() is the function to get the maximum value.

[0018] S4, according to G rg Obtain the period R of the traffic light.

[0019] S5. Based on H and R, obtain B = {B1, B2}, B1 = {B...} 11 B 12 , ..., B 1i , ..., B 1m}, B2={B21 B 22 , ..., B 2j , ..., B 2n}, where B is a set of lists of traffic lights at the target road intersection corresponding to a specified time period. 1i This refers to the i-th specified time period in the list B1 corresponding to the traffic light, where i ranges from 1 to m, and m is the number of specified time periods. 2j The j-th critical time period in the critical time period list B2 corresponding to B1, where j ranges from 1 to n and n is the number of critical time periods. The specified time period is the period during which the traffic lights are in a red state in the initial time period, and the critical time period is the period during which the traffic lights are in a green state in the initial time period.

[0020] S6, according to B 1i and B 2j Obtain the status identifier of the target vehicle.

[0021] According to a second aspect of the present invention, a non-transitory computer-readable storage medium is provided, wherein a computer program or at least one computer-executable instruction is stored in the storage medium, the computer program or at least one computer-executable instruction being loaded and executed by a processor to implement the aforementioned method.

[0022] According to a third aspect of the present invention, an electronic device is provided, comprising: a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the aforementioned method.

[0023] The present invention has at least the following beneficial effects:

[0024] This invention provides a method for determining vehicle traffic status, comprising the following steps: obtaining a list of key vehicle IDs; obtaining a list of waiting times corresponding to the key vehicle IDs; obtaining the key duration and cycle of traffic lights based on the waiting time list; obtaining a list of specified time periods based on the key duration and cycle; and obtaining the status identifier of the target vehicle based on the list of specified time periods. This invention can determine the traffic status of vehicles at road intersections even when no vehicle speed or video capture equipment is deployed, thereby enabling adjustments to the cycle and green light ratio of traffic lights at the intersections. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 A flowchart illustrating a method for determining vehicle traffic status according to an embodiment of the present invention;

[0027] Figure 2 A plan view of the target road intersection provided in an embodiment of the present invention;

[0028] The labels are explained as follows: 1-Target road intersection; 2-Target vehicle; 3-First electronic device; 4-Second electronic device. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] Embodiments of the present invention provide a method for determining vehicle traffic status, used to determine the traffic status of a target vehicle 2 passing through the target road intersection 1 when the working status of the traffic lights at the target road intersection 1 is unknown, including the following steps, such as... Figure 1 As shown:

[0031] S1. Obtain F = {F1, F2, ..., F...} r , ..., F s}, F r ={F r1 F r2 , ..., F rg , ..., F rh(r)},in,

[0032] F represents the set of key vehicle IDs, r ranges from 1 to s, and s is the number of key vehicle IDs in the list. rg For the r-th key vehicle ID list F r The g-th key vehicle ID in the array, where g takes values ​​from 1 to h(r), and h(r) is F rThe number of key vehicle IDs, where a key vehicle ID is a unique identifier for a key vehicle, and a key vehicle is a vehicle that has passed through and stopped at the target road intersection 1 during a historical time period; it can be understood as a vehicle that has passed through the target road intersection 1 during a historical time period and waited for a red light while passing through the target road intersection 1. As those skilled in the art know, the historical time period is a time period set by those skilled in the art according to actual needs, and will not be elaborated here.

[0033] Specifically, the key vehicles corresponding to key vehicle IDs in the same key vehicle ID list pass through the target road intersection 1 within the same traffic light cycle; this can be understood as: all key vehicle IDs corresponding to key vehicle IDs in the same key vehicle ID list are waiting for the same red light.

[0034] Specifically, F rg The cycle of the traffic light at the target road intersection 1 for the corresponding key vehicle is equal to F. (r-1)g The next cycle of the traffic light cycle at the target road intersection 1 for the corresponding key vehicle.

[0035] S2. Obtain G = {G1, G2, ..., G...} r , ..., G s}, G r ={G r1 G r2 , ..., G rg , ..., G rh(r)},in,

[0036] G is a set of waiting time lists corresponding to F, G rg For F rg The corresponding waiting time.

[0037] Specifically, S2 includes the following sub-steps to obtain G. rg :

[0038] S21. Obtain D = {D1, D2, ..., D...} e , ..., D f}, where D is the list of historical vehicle IDs, D eLet e ​​be the e-th historical vehicle ID, where e ranges from 1 to f, f is the number of historical vehicle IDs, and the historical vehicle ID is a unique identifier for a historical vehicle. A historical vehicle is a vehicle that passed through the target road intersection 1 before the initial time period and did not stop moving during its passage through the target road intersection 1. The start time of the initial time period is the time when the first electronic device 3 collects the target vehicle ID, and the end time of the initial time period is the time when the first electronic device 4 collects the target vehicle ID. This can be understood as: a vehicle that passed through the target road intersection 1 before the initial time period and did not wait at the target road intersection 1. As those skilled in the art know, any method in the prior art for obtaining the vehicle ID of a vehicle that passed through a road intersection and did not stop moving during its passage through the road intersection is within the protection scope of this invention, and will not be elaborated further here.

[0039] Specifically, the historical vehicle first passes through the collection area of ​​the first electronic device 3, and then passes through the collection area of ​​the first electronic device 4.

[0040] S22. Obtain E = {E1, E2, ..., E...} e , ..., E f}, E e ={E e1 E e2}, where E is the set of key time points corresponding to D, E e1 D e Corresponding key time point list E e The first key time point in E e2 For E e The second key time point is the time when the first electronic device 3 collects the historical vehicle ID, and the second key time point is the time when the first electronic device 4 collects the historical vehicle ID.

[0041] S23, according to E e1 and E e2 Get G rg Among them, G rg The following conditions must be met:

[0042] G rg =T 2 rg -T 1 rg -(L-L1) / (Σ f e＝1 (L / (E e2 -E e1 )) / f)-L 0 / (2×L1×J rg / (Σ f e＝1 (L / (Ee2 -E e1 )) / f)), L is the first

[0043] The length of the road between electronic device 3 and first electronic device 4, L1 is the length of the road between first electronic device 3 and the center of the road intersection, and T is the length of the road between electronic device 3 and the center of the road intersection. 1 rg F was collected by the first electronic device 3 rg The time point, T 2 rg F was collected by the first electronic device 4 rg At the time point, L 0 J is the length of the road between the first electronic device 3 and the nearest stop line at the intersection 1 of the target road and the first electronic device 3. rg For F rg The key accelerations of the corresponding key vehicles are, as those skilled in the art know, set by those skilled in the art based on the references of the key vehicles, and will not be elaborated here.

[0044] The above-mentioned method obtains historical vehicle IDs. Based on the time points and road lengths collected by the first and second electronic devices, it can accurately obtain the waiting time corresponding to key vehicle IDs, and then obtain the key duration corresponding to traffic lights. Based on the key duration, it can obtain the cycle corresponding to traffic lights, and obtain a list of specified time periods based on the key duration and cycle. By analyzing the target time point, the specified time periods in the list of specified time periods, and the key time periods, it can determine the vehicle's passage status at the road intersection. Even if no vehicle speed collection equipment or video collection equipment is deployed at the road intersection, it can still determine the vehicle's passage status at the road intersection, thereby enabling the adjustment of the cycle and green light ratio of the traffic lights at the road intersection.

[0045] Specifically, the electronic device is a device capable of collecting vehicle IDs.

[0046] Specifically, the target road intersection 1 corresponds to a first electronic device 3 and a first electronic device 4.

[0047] Furthermore, the first electronic device 3 and the first electronic device 4 are located on opposite sides of the target road intersection 1; it can be understood that if the first electronic device 3 is on the east side of the target road intersection 1, then the first electronic device 4 is on the west side of the target road intersection 1, and if the first electronic device 3 is on the south side of the target road intersection 1, then the first electronic device 4 is on the north side of the target road intersection 1.

[0048] Furthermore, the distance between the first electronic device 3 and the target road intersection 1 is less than the distance between the first electronic device 4 and the target road intersection 1.

[0049] Specifically, the vehicles whose vehicle IDs are collected by the first electronic device 3 and the first electronic device 4 have the same travel direction, and the vehicle passes through the collection area of ​​the first electronic device 3 first and then the collection area of ​​the first electronic device 4.

[0050] Specifically, when there is a first electronic device 4 between the target road intersection 1 and any other road intersection, the first electronic device 4 corresponding to the target road intersection 1 is the first electronic device corresponding to the any other road intersection.

[0051] Specifically, when there is a first electronic device 3 between the target road intersection 1 and any other road intersection, the first electronic device 3 corresponding to the target road intersection 1 is the second electronic device corresponding to the other road intersection.

[0052] Optionally, the length of the road between the first electronic device 3 and the first electronic device 4 is the distance the vehicle travels from the first electronic device 3 to the first electronic device 4, rather than the straight-line distance between the first electronic device 3 and the first electronic device 4.

[0053] Optionally, the length of the road between the first electronic device 3 and the nearest stop line of the target road intersection 1 is the travel distance of the vehicle from the first electronic device 3 to the nearest stop line of the target road intersection 1, rather than the straight-line distance between the first electronic device 3 and the nearest stop line of the target road intersection 1.

[0054] Optionally, the length of the road between the first electronic device 3 and the center of the road intersection is the distance the vehicle travels from the first electronic device 3 to the center of the road intersection, rather than the straight-line distance between the first electronic device 3 and the center of the road intersection.

[0055] S3, according to G rg Obtain the critical duration H corresponding to the traffic light, where H meets the following conditions:

[0056] H = Σ s r＝1 max(G r1 G r2 , ..., G rg , ..., G rh(r) ) / s, where max() is the function to get the maximum value.

[0057] S4, according to G rg Obtain the period R of the traffic light.

[0058] Specifically, S4 includes the following sub-steps:

[0059] S41, max(G)r1 G r2 , ..., G rg , ..., G rh(r) The corresponding F rg As G 0 r G 0 r For F r The corresponding candidate vehicle ID.

[0060] S42, according to G 0 r Obtain R, where R satisfies the following condition:

[0061] R = Σ s r＝2 ((T 0 r +(Σ f e＝1 (L / (E e2 -E e1 )) / f) / J 0 r )-(T 0 r-1 +(Σ f e＝1 (L / (E e2 -E e1 )) / f) / J 0 r-1 )) / (s-1), T 0 r

[0062] G was collected by the first electronic device 3 0 r At the time point, J 0 r For G 0 r The corresponding key acceleration, T 0 r-1 G was collected by the first electronic device 3 0 r-1 At the time point, J 0 r-1 For G 0 r-1 The corresponding key acceleration, G 0 r-1 For F r-1 The corresponding candidate vehicle ID.

[0063] Specifically, max(G) (r-1)1 G (r-1)2 , ..., G (r-1)g , ..., G (r-1)h(r-1)The corresponding F (r-1)g As G 0 r-1 .

[0064] As described above, based on the waiting time corresponding to the key vehicle ID, candidate vehicle IDs corresponding to the key vehicle ID list are obtained. Based on the time points when all the first electronic devices collect the candidate vehicle IDs and the key acceleration and road length corresponding to the candidate vehicle IDs, the cycle of the traffic light can be accurately obtained. Based on the cycle of the traffic light and the key duration, which can be understood as the duration when the traffic light is red, the working status of the traffic light can be obtained, which helps to avoid resource waste and improve the accuracy of obtaining the working status of the traffic light.

[0065] S5. Based on H and R, obtain B = {B1, B2}, B1 = {B...} 11 B 12 , ..., B 1i , ..., B 1m}, B2={B 21 B 22 , ..., B 2j , ..., B 2n}, where B is a list of specified time periods corresponding to the traffic lights at the target road intersection 1. 1i This refers to the i-th specified time period in the list B1 corresponding to the traffic light, where i ranges from 1 to m, and m is the number of specified time periods. 2j The j-th critical time period in the critical time period list B2 corresponding to B1, where j can be 1 to n and n is the number of critical time periods. The specified time period is the period when the traffic light is in the red state during the initial time period, and the critical time period is the period when the traffic light is in the green state during the initial time period.

[0066] Specifically, the working state of a traffic light is either red or green. This can be understood as follows: when the traffic light is red, it is in red light mode; when the traffic light is green, it is in green light mode.

[0067] Specifically, S5 includes the following sub-steps to obtain B. 1i and B 2j :

[0068] S51. Based on the intermediate time point K, where K is the time when the traffic light's red light last turned on before the initial time period, obtain the intermediate duration list K corresponding to K. 0 ={K 0 1, K 0 2, ..., K 0 x ..., K0 p}, K 0 x ={K 0 x1 K 0 x2}, K 0 x1 ={K 01 x1 K 02 x1}, K 0 x2 ={K 01 x2 K 02 x2}, where x ranges from 1 to p, p is the number of intermediate durations in the list, and K 01 x1 For the x-th intermediate duration list K corresponding to K 0 x The first intermediate duration K in 0 x1 The starting time point, K 02 x1 For K 0 x1 The end time point, K 01 x2 For K 0 x The second intermediate duration K 0 x2 The starting time point, K 02 x2 For K 0 x2 The end time point, where K 01 x1 K 02 x1 K 01 x2 K 02 x2 Meets the following conditions:

[0069] K 01 x1 =K + (x - 1) × R;

[0070] K 02 x1 =K 01 x1 +H-1;

[0071] K 01 x2 =K 02 x1 +1;

[0072] K 02 x2 =K + x × R - 1.

[0073] S52, when K 01 x1 ≥A1 and K 02 When x1≤A2, K 0 x1 As B 1i Where A1 is the start time of the initial time period and A2 is the end time of the initial time period.

[0074] S53, when K 01 x1 <A1 and A1<K 02 x1 When A2 ≤ A2, the first candidate time period L is selected. x1 As B 1i L x1 The starting time point is A1, and the ending time point is K. 02 x1 .

[0075] S54, when K 01 x1 ≥A1 and K 02 x1 When >A2, the second candidate time period L is selected. 0 x1 As B 1i L 0 x1 The starting time point is K 01 x1 The end time is A2.

[0076] S55, when K 01 x1 <A1 and K 02 x1 >A1 and K 02 x1 When A2 is greater than or equal to 2, the third candidate time period L will be selected. 1 x1 As B 1i L 1 x1 The starting time point is A1, and the ending time point is A2.

[0077] S56, when K 01 x2 ≥A1 and K 02 x2 When K ≤ A2, 0 x2 As B 2j .

[0078] S57, when K 01 x2 <A1 and A1<K 02 x2 When ≤A2, the first intermediate time period Q is... x2 As B 2j Q x2 The starting time point is A1, and the ending time point is K. 02 x2 .

[0079] S58, when K 01 x2 ≥A1 and K 02 x2 When >A2, the second specified time period Q will be... 0 x2 As B 2j Q 0 x2 The starting time point is K 01 x2 The end time is A2.

[0080] S59, When K 01 x2 <A1 and K 02 x2 >A1 and K 02 x2 When ≥A2, L 1 x1 As B 2j .

[0081] For traffic lights with unknown operating status, current technologies mostly rely on manual statistics to obtain the operating status and duration of the traffic lights. However, manual statistics are unpredictable and labor-intensive. When the amount of traffic light operating status data reaches a certain level, errors will occur. Therefore, the accuracy of the traffic light operating status obtained by existing technologies is low, and it is easy to waste resources. Through the above steps, a list of key vehicle IDs is obtained. Based on the list of key vehicle IDs, the waiting time corresponding to the key vehicles is obtained, thereby obtaining the key duration and the traffic light cycle. Based on the intermediate time point, key duration, and traffic light cycle, an intermediate duration list can be accurately obtained. By comparing the time point when the first electronic device collects the target vehicle ID and the time point when the second electronic device collects the target vehicle ID with the start and end times of the intermediate duration, the operating status of the traffic light in the initial time period can be accurately obtained. In addition, a list of specified time periods can be accurately obtained, which helps to avoid resource waste and improve the accuracy of obtaining the operating status of traffic lights.

[0082] S6, according to B 1i and B 2j Obtain the status identifier of target vehicle 2.

[0083] Specifically, S6 includes the following sub-steps to obtain the status identifier of the target vehicle 2:

[0084] S61, when the target time point C is in any B 1i In the process, the status identifier of target vehicle 2 is generated as the first identifier. The status identifier is an identifier that represents the vehicle's passage status at the target road intersection 1. The first identifier represents that: target vehicle 2 is waiting for the red light at the road intersection and will pass through after the red light. Wherein, C meets the following conditions:

[0085] C=A1+1 / (2×a / (Σ f e＝1 (L / (E e2 -E e1 )) / f)), where a is the preset acceleration corresponding to the target vehicle 2. As those skilled in the art know, the preset acceleration is set by those skilled in the art based on the reference of the target vehicle, and will not be elaborated here.

[0086] S62, When C is in any B 2j In the process, the status identifier of the target vehicle 2 is generated as the second identifier, which indicates that the target vehicle 2 passes directly through the road intersection without waiting.

[0087] Through the above steps, a list of specified time periods is obtained. Based on the time points of the target vehicle IDs collected by the first electronic device and the second electronic device, as well as the road length, the target time points are obtained. The target time points, specified time periods, and key time periods are analyzed to determine the traffic status of vehicles at road intersections. Even if no vehicle speed collection equipment or video collection equipment is deployed at the road intersection, the traffic status of vehicles at the road intersection can still be determined, thereby enabling adjustments to the cycle and green light ratio of traffic lights at the road intersection.

[0088] Embodiments of the present invention also provide a non-transitory computer-readable storage medium that can be disposed in an electronic device to store a computer program or at least one computer-executable instruction related to implementing a method in the method embodiments, the computer program or at least one computer-executable instruction being loaded and executed by the processor to implement the method provided in the above embodiments.

[0089] Embodiments of the present invention also provide an electronic device, including: a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method provided in the above embodiments.

[0090] Embodiments of the present invention also provide a computer program product including program code, which, when the program product is run on an electronic device, causes the electronic device to perform the steps of the methods described above according to various exemplary embodiments of the present invention.

[0091] This invention provides a method, electronic device, and storage medium for determining vehicle traffic status. The invention can acquire the key duration and cycle of traffic lights, obtain a list of specified time periods based on the key duration and cycle, analyze the target time point, the specified time periods in the list of specified time periods, and the key time periods to determine the vehicle traffic status at road intersections. Even if no vehicle speed acquisition equipment or video acquisition equipment is deployed at the road intersection, the vehicle traffic status at the road intersection can still be determined, thereby enabling adjustments to the cycle and green light ratio of the traffic lights at the road intersection.

[0092] While specific embodiments of the invention have been described in detail by way of examples, those skilled in the art should understand that the examples are for illustrative purposes only and are not intended to limit the scope of the invention. Those skilled in the art should also understand that various modifications can be made to the embodiments without departing from the scope and spirit of the invention.

Claims

1. A method for determining vehicle traffic status, used to determine the traffic status of a target vehicle passing through the target road intersection when the working status of the traffic lights at the target road intersection is unknown, characterized in that, The method includes the following steps: S1. Obtain F = {F1, F2, ..., F...} r , ..., F s }, F r ={F r1 F r2 , ..., F rg , ..., F rh(r) }, where F is the set of key vehicle ID lists, r takes values ​​from 1 to s, and s is the number of key vehicle IDs in the list. rg For the r-th key vehicle ID list F r The g-th key vehicle ID in the array, where g takes values ​​from 1 to h(r), and h(r) is F r The number of key vehicle IDs, where key vehicles are vehicles that have passed through and stopped at the target road intersection during a historical time period; S2. Obtain G = {G1, G2, ..., G...} r , ..., G s }, G r ={G r1 G r2 , ..., G rg , ..., G rh(r) }, where G is the set of waiting time lists corresponding to F, G rg For F rg The corresponding waiting time is obtained through the following sub-steps: G rg : S21. Obtain D = {D1, D2, ..., D...} e , ..., D f }, where D is the list of historical vehicle IDs, D e Let e ​​be the e-th historical vehicle ID, where e ranges from 1 to f, and f is the number of historical vehicle IDs. A historical vehicle is a vehicle that passed through the target road intersection before the initial time period and did not stop moving during its passage through the target road intersection. The start time of the initial time period is the time when the first electronic device collects the target vehicle ID, and the end time of the initial time period is the time when the second electronic device collects the target vehicle ID. The first electronic device and the second electronic device are located on opposite sides of the target road intersection, and the vehicle passes through the collection area of ​​the first electronic device first and then the collection area of ​​the second electronic device. S22. Obtain E = {E1, E2, ..., E...} e , ..., E f }, E e ={E e1 E e2 }, where E is the set of key time points corresponding to D, E e1 D e Corresponding key time point list E e The first key time point in E e2 For E e The second key time point is the time when the first electronic device collects the historical vehicle ID, and the second key time point is the time when the second electronic device collects the historical vehicle ID. S23, according to E e1 and E e2 Determine G rg Among them, G rg Meets the following conditions: G rg =T 2 rg -T 1 rg -(L-L1) / (Σ f e=1 (L / (E e2 -E e1 )) / f)-L 0 / (2×L1×J rg / (Σ f e=1 (L / (E e2 -E e1 L is the length of the road between the first electronic device and the second electronic device, L1 is the length of the road between the first electronic device and the center of the intersection of the target road, and T 1 rg F was collected by the first electronic device rg The time point, T 2 rg F was collected by the second electronic device rg At the time point, L 0 J is the length of the road between the first electronic device and the nearest stop line at the intersection with the target road, where J is the distance from the first electronic device. rg For F rg The key acceleration of the corresponding key vehicle; S3, according to G rg Obtain the critical duration H corresponding to the traffic light, where H meets the following conditions: H=Σ s r=1 max(G r1 G r2 , ..., G rg , ..., G rh(r) ) / s, where max() is the function to obtain the maximum value; S4, according to G rg Obtain the traffic light cycle R; S5. Based on H and R, obtain B = {B1, B2}, B1 = {B...} 11 B 12 , ..., B 1i , ..., B 1m }, B2={B 21 B 22 , ..., B 2j , ..., B 2n }, where B is a set of lists of traffic lights at the target road intersection corresponding to a specified time period. 1i This refers to the i-th specified time period in the list B1 corresponding to the traffic light, where i ranges from 1 to m, and m is the number of specified time periods. 2j The j-th key time period in the key time period list B2 corresponding to B1, where j ranges from 1 to n and n is the number of key time periods, is the specified time period as the time when the traffic lights are in a red state during the initial time period, and the key time period is the time when the traffic lights are in a green state during the initial time period; including: S51. Based on the intermediate time point K, where K is the time when the traffic light last turned red before the initial time period, obtain the intermediate duration list set K corresponding to K. 0 ={K 0 1, K 0 2, ..., K 0 x , ..., K 0 p }, K 0 x ={K 0 x1 K 0 x2 }, K 0 x1 ={K 01 x1 K 02 x1 }, K 0 x2 ={K 01 x2 K 02 x2 }, where x ranges from 1 to p, p is the number of intermediate durations in the list, and K 01 x1 For the x-th intermediate duration list K corresponding to K 0 x The first intermediate duration K in 0 x1 The starting time point, K 02 x1 For K 0 x1 The end time point, K 01 x2 For K 0 x The second intermediate duration K 0 x2 The starting time point, K 02 x2 For K 0 x2 The end time point, where K 01 x1 K 02 x1 K 01 x2 K 02 x2 Meets the following conditions: K 01 x1 =K+(x-1)×R; K 02 x1 =K 01 x1 +H-1; K 01 x2 =K 02 x1 +1; K 02 x2 =K+x×R-1; S52, when K 01 x1 ≥A1 and K 02 x1 When K ≤ A2, 0 x1 As B 1i Where A1 is the start time of the initial time period and A2 is the end time of the initial time period; S53, when K 01 x1 <A1 and A1<K 02 x1 When A2 ≤ A2, the first candidate time period L is selected. x1 As B 1i L x1 The starting time point is A1, and the ending time point is K. 02 x1 ; S54, when K 01 x1 ≥A1 and K 02 x1 When >A2, the second candidate time period L is selected. 0 x1 As B 1i L 0 x1 The starting time point is K 01 x1 The end time point is A2, where A2 is the end time point of the initial time period; S55, when K 01 x1 <A1 and K 02 x1 >A1 and K 02 x1 When A2 is greater than or equal to 2, the third candidate time period L will be selected. 1 x1 As B 1i L 1 x1 The starting time point is A1, and the ending time point is A2; S56, when K 01 x2 ≥A1 and K 02 x2 When K ≤ A2, 0 x2 As B 2j ; S57, when K 01 x2 <A1 and A1<K 02 x2 When ≤A2, the first intermediate time period Q is... x2 As B 2j Q x2 The starting time point is A1, and the ending time point is K. 02 x2 ; S58, when K 01 x2 ≥A1 and K 02 x2 When >A2, the second specified time period Q will be... 0 x2 As B 2j Q 0 x2 The starting time point is K 01 x2 The end time is A2; S59, When K 01 x2 <A1 and K 02 x2 >A1 and K 02 x2 When ≥A2, L 1 x1 As B 2j ; S6, according to B 1i and B 2j Obtain the status identifier of the target vehicle.

2. The method for determining vehicle traffic status according to claim 1, characterized in that, S4 includes the following sub-steps: S41, max(G) r1 G r2 , ..., G rg , ..., G rh(r) The corresponding F rg As G 0 r G 0 r For F r The corresponding candidate vehicle ID; S42, according to G 0 r Obtain the period R of the traffic light, where R satisfies the following condition: R=Σ s r=2 ((T 0 r +(Σ f e=1 (L / (E e2 -E e1 )) / f) / J 0 r )-(T 0 r-1 +(Σ f e=1 (L / (E e2 -E e1 )) / f) / J 0 r-1 )) / (s-1), T 0 r G was collected by the first electronic device 0 r At the time point, J 0 r For G 0 r The corresponding key acceleration, T 0 r-1 G was collected by the first electronic device 0 r-1 At the time point, J 0 r-1 For G 0 r-1 The corresponding key acceleration, G 0 r-1 For F r-1 The corresponding candidate vehicle ID.

3. The method for determining vehicle traffic status according to claim 1, characterized in that, S6 includes the following sub-steps to obtain the status identifier of the target vehicle: S61, when the target time point C is in any B 1i In the process, the generated status identifier of the target vehicle is the first identifier, which represents the vehicle's passage status at the target road intersection. C satisfies the following condition: C=A1+1 / (2×a / (Σ f e=1 (L / (E e2 -E e1 )) / f)), where a is the preset acceleration corresponding to the target vehicle; S62, When C is in any B 2j In this process, the status identifier of the target vehicle is generated as the second identifier.

4. The method for determining vehicle traffic status according to claim 3, characterized in that, The first sign indicates that the target vehicle is waiting at a red light at the target road intersection and will proceed after the red light.

5. The method for determining vehicle traffic status according to claim 3, characterized in that, The second indicator signifies that the target vehicle passes directly through the target road intersection without waiting.

6. The method for determining vehicle traffic status according to claim 1, characterized in that, The key vehicles corresponding to the key vehicle IDs in the same key vehicle ID list pass through the target road intersection within the same traffic light cycle.

7. The method for determining vehicle traffic status according to claim 6, characterized in that, F rg The cycle of the traffic lights at the target road intersection for the corresponding key vehicles is equal to F. (r-1)g The next cycle of the traffic light cycle at the target road intersection for the corresponding key vehicle.

8. A non-transitory computer-readable storage medium, characterized in that, The storage medium stores a computer program or at least one computer-executable instruction, which is loaded and executed by a processor to implement the method as described in any one of claims 1-7.

9. An electronic device, characterized in that, include: A processor, a memory, and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program, implements the method as described in any one of claims 1-7.

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