Traffic signal control method and system applied to intersections

Abstract

The present invention discloses a traffic signal control method and system applied to an intersection, the method comprising: obtaining object identification information of each passing object in a multi-fork traffic area, determining the traffic information of each passing object according to the object identification information, determining the traffic density of each passing type of passing objects under each passing direction in the current time period according to the traffic information, and obtaining the front traffic situation of the front traffic intersection corresponding to the current passing direction, and the rear traffic situation of the rear traffic intersection corresponding to the current passing direction, and generating a traffic control signal corresponding to the passing direction according to the traffic density of the passing objects of the passing type in the current time period, the front traffic situation of the front traffic intersection corresponding to the passing direction, and the rear traffic situation of the rear traffic intersection corresponding to the passing direction. It can be seen that the implementation of the present invention can help reduce the difficulty of controlling traffic signals in intersection traffic scenes, and improve the efficiency and accuracy of controlling vehicle flow and pedestrian flow.

Description

Technical Field

[0001] The present invention relates to the field of intelligent transportation technology, and in particular to a traffic signal control method and system applied to an intersection. Background Art

[0002] With the rapid development of the Internet of Things, Internet information technology and big data technology, the current traffic scenes at intersections of urban roads often experience slow traffic or even congestion during peak traffic hours. In the traditional road traffic control mode, it is difficult to control traffic at intersections and traffic signals in real time, resulting in low efficiency and accuracy in traffic diversion, vehicle flow and pedestrian flow control at intersections, and thus it is impossible to effectively divert road congestion caused by traffic factors such as accidents in a timely manner. Therefore, intelligent control of traffic signals at intersections is particularly important.

[0003] A traffic signal control method and system for intersections are provided to intelligently control traffic signals at intersections to solve the current technical problems of difficulty in directing road traffic and controlling traffic signals, and low efficiency and accuracy in controlling vehicle and pedestrian flows. Summary of the invention

[0004] The present invention provides a method and system for controlling traffic signals at intersections, which can help reduce the difficulty of controlling traffic signals at intersection traffic scenes, and improve the efficiency and accuracy of controlling vehicle and pedestrian flows.

[0005] In order to solve the above technical problems, the first aspect of the present invention discloses a traffic signal control method applied to an intersection, the method comprising:

[0006] Obtain object identification information of each passing object in the multi-intersection traffic area;

[0007] Determine the traffic information of each passing object according to the object identification information, wherein the traffic information includes: the traffic direction and traffic type of each passing object;

[0008] For each traffic type under each traffic direction, determine the traffic density of traffic objects of the traffic type in the current time period;

[0009] For each direction of travel, obtain the preceding traffic conditions of the preceding traffic intersection corresponding to the current direction of travel, and the following traffic conditions of the following traffic intersection corresponding to the current direction of travel;

[0010] A traffic control signal corresponding to the traffic direction is generated based on the traffic density of the traffic objects of the traffic type in the current time period, the previous traffic conditions at the previous traffic intersection corresponding to the traffic direction, and the subsequent traffic conditions at the subsequent traffic intersection corresponding to the traffic direction. The traffic control signal is used to guide traffic in the intersection area.

[0011] As an optional implementation, in the first aspect of the present invention, the passing object includes: at least one of a vehicle and a pedestrian in the multi-fork traffic area;

[0012] The object identification information includes at least one of vehicle identification information of each vehicle and pedestrian identification information of each pedestrian;

[0013] Determining the passage information of each passage object according to the object identification information includes:

[0014] Determine the vehicle traffic information of each vehicle according to the vehicle identification information, the vehicle traffic information includes: at least one of the traffic direction, traffic speed, and vehicle traffic type of the vehicle, the vehicle traffic type includes: at least one of the traffic type of small vehicles, the traffic type of medium vehicles, the traffic type of large vehicles, and the traffic type of non-motor vehicles; and / or,

[0015] The pedestrian traffic information of each pedestrian is determined according to the pedestrian identification information, and the pedestrian traffic information includes at least one of the traffic direction, traffic speed and traffic type of the pedestrian.

[0016] As an optional implementation manner, in the first aspect of the present invention, for each traffic type in each traffic direction, determining the traffic density of traffic objects of the traffic type in the current time period includes:

[0017] For each vehicle type in each direction, the number of vehicles in the current time period corresponding to each vehicle type in each direction is obtained;

[0018] Determine the traffic density of vehicles corresponding to each vehicle traffic type in each traffic direction in the current time period according to the traffic number of the vehicles and the average traffic speed of the vehicles; and / or,

[0019] For each pedestrian type in each direction, the number of pedestrians in the current time period corresponding to each pedestrian type in each direction is obtained;

[0020] The pedestrian density corresponding to each pedestrian traffic type in each traffic direction in the current time period is determined according to the number of pedestrians and the average traffic speed of the pedestrians.

[0021] As an optional embodiment, in the first aspect of the present invention, the method further comprises:

[0022] Determine whether the traffic density of vehicles corresponding to the small vehicle traffic type in each traffic direction in the current time period is greater than or equal to a preset first density threshold;

[0023] When it is determined that the traffic density of vehicles corresponding to the small vehicle traffic type in each traffic direction in the current time period is greater than or equal to the first density threshold, it is determined that the vehicles corresponding to the small vehicle traffic type in the traffic direction are in a congested state; and / or,

[0024] Determine whether the traffic density of vehicles corresponding to the medium-sized vehicle traffic type in each traffic direction in the current time period is greater than or equal to a preset second density threshold;

[0025] When it is determined that the traffic density of vehicles corresponding to the medium-sized vehicle traffic type in each traffic direction in the current time period is greater than or equal to the second density threshold, it is determined that the vehicles corresponding to the medium-sized vehicle traffic type in the traffic direction are in a congested state; and / or,

[0026] Determine whether the traffic density of vehicles corresponding to the large vehicle traffic type in each traffic direction in the current time period is greater than or equal to a preset third density threshold;

[0027] When it is determined that the traffic density of vehicles corresponding to the large vehicle traffic type in each traffic direction in the current time period is greater than or equal to the third density threshold, it is determined that the vehicles corresponding to the large vehicle traffic type in the traffic direction are in a congested state; and / or,

[0028] Determine whether the traffic density of vehicles corresponding to the non-motor vehicle traffic type in each traffic direction in the current time period is greater than or equal to a preset fourth density threshold;

[0029] When it is determined that the traffic density of vehicles corresponding to the non-motor vehicle traffic type in each traffic direction in the current time period is greater than or equal to the fourth density threshold, it is determined that the vehicles corresponding to the non-motor vehicle traffic type in the traffic direction are in a congested state.

[0030] As an optional implementation, in the first aspect of the present invention, it is characterized in that, for each travel direction, obtaining the preceding traffic situation of the preceding traffic intersection corresponding to the current travel direction, and the following traffic situation of the following traffic intersection corresponding to the current travel direction, comprises:

[0031] For each vehicle in each direction of travel, obtain the preceding travel time of each vehicle at the preceding traffic intersection corresponding to the travel direction, and the following travel time of each vehicle at the following traffic intersection corresponding to the travel direction; and / or,

[0032] For each pedestrian in each direction of travel, obtain the current length of time each pedestrian has been in the front traffic intersection corresponding to the travel direction, and the current length of time each pedestrian has been in the rear traffic intersection corresponding to the travel direction;

[0033] The method further comprises:

[0034] The average length of time for the vehicle to pass in front and the average length of time for the vehicle to pass behind are calculated based on the length of time for the vehicle to pass in front and the length of time for the vehicle to pass behind; and / or,

[0035] The average length of time that the pedestrian passes in front and the average length of time that the pedestrian passes behind are calculated based on the length of time that all pedestrians pass in front and the length of time that the pedestrian passes behind.

[0036] As an optional embodiment, in the first aspect of the present invention, the method further comprises:

[0037] Determine whether the numerical difference between the average duration of the preceding passage and the average duration of the following passage of the vehicle is greater than or equal to a preset first difference threshold;

[0038] When it is determined that the numerical difference between the average duration of the preceding passage of the vehicle and the average duration of the succeeding passage of the vehicle is greater than or equal to the first difference threshold, determining that the preceding traffic intersection corresponding to the passage direction of the vehicle is in a congested state;

[0039] When it is determined that the numerical difference between the average duration of the preceding passage and the average duration of the following passage of the vehicle is not greater than the first difference threshold, it is determined whether the numerical difference between the average duration of the preceding passage and the average duration of the following passage of the vehicle is less than or equal to a preset second difference threshold;

[0040] When it is determined that the numerical difference between the average duration of the preceding passage and the average duration of the succeeding passage of the vehicle is less than or equal to the second difference threshold, determining that the succeeding traffic intersection corresponding to the passage direction of the vehicle is in a congested state; and / or,

[0041] Determine whether the numerical difference between the average duration of the pedestrian's preceding passage and the average duration of the pedestrian's following passage is greater than or equal to a preset third difference threshold;

[0042] When it is determined that the numerical difference between the average duration of the pedestrian's preceding passage and the average duration of the pedestrian's following passage is greater than or equal to the third difference threshold, determining that the preceding traffic intersection corresponding to the passage direction of the pedestrian is in a congested state;

[0043] When it is determined that the numerical difference between the average duration of the pedestrian's preceding passage and the average duration of the pedestrian's following passage is not greater than the third difference threshold, it is determined whether the numerical difference between the average duration of the pedestrian's preceding passage and the average duration of the pedestrian's following passage is less than or equal to a preset fourth difference threshold;

[0044] When it is determined that the numerical difference between the average duration of the pedestrian's preceding passage and the average duration of the pedestrian's following passage is less than or equal to the fourth difference threshold, it is determined that the following traffic intersection corresponding to the passage direction of the pedestrian is in a congested state.

[0045] As an optional implementation, in the first aspect of the present invention, the generating of the traffic control signal corresponding to the passage direction according to the passage density of the passage objects of the passage type in the current time period, the preceding passage condition of the preceding traffic entrance corresponding to the passage direction, and the following passage condition of the following traffic entrance corresponding to the passage direction includes:

[0046] When it is determined that the vehicles corresponding to the small vehicle traffic type in the traffic direction are in a congested state, the duration of the no-travel signal corresponding to the traffic direction is shortened to a preset first duration value;

[0047] When it is determined that the vehicles corresponding to the medium-sized vehicle traffic type in the traffic direction are in a congested state, the duration of the no-entry signal corresponding to the traffic direction is shortened to a preset second duration value;

[0048] When it is determined that the vehicles corresponding to the large vehicle traffic type in the traffic direction are in a congested state, the duration of the no-travel signal corresponding to the traffic direction is shortened to a preset third duration value;

[0049] When it is determined that the vehicles corresponding to the non-motor vehicle traffic type in the traffic direction are in a congested state, the duration of the no-travel signal corresponding to the traffic direction is shortened to a preset fourth duration value;

[0050] And, when it is determined that the preceding traffic intersection corresponding to the travel direction of the vehicle is in a congested state, the duration of the no-entry signal corresponding to the travel direction is shortened to a preset fifth duration value, and the duration of the clear signal corresponding to the travel direction is extended to a preset sixth duration value;

[0051] When it is determined that the rear traffic intersection corresponding to the traffic direction in which the vehicle is located is in a congested state, the duration of the no-entry signal corresponding to the traffic direction is extended to a preset sixth duration value, and the duration of the release signal corresponding to the traffic direction is shortened to a preset fifth duration value;

[0052] When it is determined that the preceding traffic intersection corresponding to the direction of travel where the pedestrian is located is in a congested state, the duration of the no-entry signal corresponding to the direction of travel is shortened to a preset seventh duration value, and the duration of the clear signal corresponding to the direction of travel is extended to a preset eighth duration value;

[0053] When it is determined that the traffic intersection behind the pedestrian's direction of travel is in a congested state, the duration of the no-entry signal corresponding to the direction of travel is extended to a preset eighth duration value, and the duration of the release signal corresponding to the direction of travel is shortened to a preset seventh duration value.

[0054] A second aspect of the present invention discloses a traffic signal control system applied to an intersection, the system comprising:

[0055] An acquisition module, used to acquire object identification information of each passing object in the multi-intersection traffic area;

[0056] A determination module, configured to determine the passage information of each passing object according to the object identification information acquired by the acquisition module, wherein the passage information includes: the passage direction and the passage type of each passing object;

[0057] For each target traffic object corresponding to each traffic type in each traffic direction, the determination module is further used to determine the traffic density of the target traffic object in the current time period;

[0058] For each traffic direction, the acquisition module is further used to acquire the traffic conditions of the preceding traffic intersection corresponding to the current traffic direction, and the traffic conditions of the following traffic intersection corresponding to the current traffic direction;

[0059] A generation module is used to generate a traffic control signal corresponding to the travel direction based on the traffic density of the target travel object determined by the determination module in the current time period, the preceding traffic conditions of the preceding traffic intersection corresponding to the travel direction acquired by the acquisition module, and the following traffic conditions of the following traffic intersection corresponding to the travel direction, wherein the traffic control signal is used to guide traffic in the intersection area.

[0060] As an optional implementation, in the second aspect of the present invention, the passing object includes: at least one of a vehicle and a pedestrian in the multi-intersection traffic area;

[0061] The object identification information includes at least one of vehicle identification information of each vehicle and pedestrian identification information of each pedestrian;

[0062] The specific method in which the determination module determines the passing information of each passing object according to the object identification information is:

[0063] Determine the vehicle traffic information of each vehicle according to the vehicle identification information, the vehicle traffic information includes: at least one of the traffic direction, traffic speed, and vehicle traffic type of the vehicle, the vehicle traffic type includes: at least one of the traffic type of small vehicles, the traffic type of medium vehicles, the traffic type of large vehicles, and the traffic type of non-motor vehicles; and / or,

[0064] The pedestrian traffic information of each pedestrian is determined according to the pedestrian identification information, and the pedestrian traffic information includes at least one of the traffic direction, traffic speed and traffic type of the pedestrian.

[0065] As an optional implementation, in the second aspect of the present invention, for each traffic type in each traffic direction, the specific manner in which the determination module determines the traffic density of the traffic objects of the traffic type in the current time period is:

[0066] For each vehicle type in each direction, the number of vehicles in the current time period corresponding to each vehicle type in each direction is obtained;

[0067] Determine the traffic density of vehicles corresponding to each vehicle traffic type in each traffic direction in the current time period according to the traffic number of the vehicles and the average traffic speed of the vehicles; and / or,

[0068] For each pedestrian type in each direction, the number of pedestrians in the current time period corresponding to each pedestrian type in each direction is obtained;

[0069] The pedestrian density corresponding to each pedestrian traffic type in each traffic direction in the current time period is determined according to the number of pedestrians and the average traffic speed of the pedestrians.

[0070] As an optional implementation, in the second aspect of the present invention, the system further includes:

[0071] A first judgment module is used to judge whether the traffic density of vehicles corresponding to the small vehicle traffic type in each traffic direction determined by the determination module in the current time period is greater than or equal to a preset first density threshold;

[0072] When it is determined that the traffic density of vehicles corresponding to the small vehicle traffic type in each traffic direction in the current time period is greater than or equal to the first density threshold, it is determined that the vehicles corresponding to the small vehicle traffic type in the traffic direction are in a congested state; and / or,

[0073] Determine whether the traffic density of vehicles corresponding to the medium-sized vehicle traffic type in each traffic direction in the current time period is greater than or equal to a preset second density threshold;

[0074] When it is determined that the traffic density of vehicles corresponding to the medium-sized vehicle traffic type in each traffic direction in the current time period is greater than or equal to the second density threshold, it is determined that the vehicles corresponding to the medium-sized vehicle traffic type in the traffic direction are in a congested state; and / or,

[0075] Determine whether the traffic density of vehicles corresponding to the large vehicle traffic type in each traffic direction in the current time period is greater than or equal to a preset third density threshold;

[0076] When it is determined that the traffic density of vehicles corresponding to the large vehicle traffic type in each traffic direction in the current time period is greater than or equal to the third density threshold, it is determined that the vehicles corresponding to the large vehicle traffic type in the traffic direction are in a congested state; and / or,

[0077] Determine whether the traffic density of vehicles corresponding to the non-motor vehicle traffic type in each traffic direction in the current time period is greater than or equal to a preset fourth density threshold;

[0078] When it is determined that the traffic density of vehicles corresponding to the non-motor vehicle traffic type in each traffic direction in the current time period is greater than or equal to the fourth density threshold, it is determined that the vehicles corresponding to the non-motor vehicle traffic type in the traffic direction are in a congested state.

[0079] As an optional implementation, in the second aspect of the present invention, for each travel direction, the specific manner in which the acquisition module acquires the preceding traffic conditions of the preceding traffic intersection corresponding to the current travel direction and the following traffic conditions of the following traffic intersection corresponding to the current travel direction is:

[0080] For each vehicle in each direction of travel, obtain the preceding travel time of each vehicle at the preceding traffic intersection corresponding to the travel direction, and the following travel time of each vehicle at the following traffic intersection corresponding to the travel direction; and / or,

[0081] For each pedestrian in each direction of travel, obtain the current length of time each pedestrian has been in the front traffic intersection corresponding to the travel direction, and the current length of time each pedestrian has been in the rear traffic intersection corresponding to the travel direction;

[0082] The system further comprises:

[0083] a calculation module, configured to calculate the average preceding passage time and the average following passage time of the vehicle according to the preceding passage time and the following passage time of all vehicles acquired by the acquisition module; and / or,

[0084] The average length of time that the pedestrian passes in front and the average length of time that the pedestrian passes behind are calculated based on the length of time that all pedestrians pass in front and the length of time that the pedestrian passes behind.

[0085] As an optional implementation, in the second aspect of the present invention, the system further includes:

[0086] A second judgment module is used to judge whether the numerical difference between the average duration of the preceding passage and the average duration of the following passage of the vehicle calculated by the calculation module is greater than or equal to a preset first difference threshold;

[0087] When it is determined that the numerical difference between the average duration of the preceding passage of the vehicle and the average duration of the succeeding passage of the vehicle is greater than or equal to the first difference threshold, determining that the preceding traffic intersection corresponding to the passage direction of the vehicle is in a congested state;

[0088] When it is determined that the numerical difference between the average duration of the preceding passage and the average duration of the following passage of the vehicle is not greater than the first difference threshold, it is determined whether the numerical difference between the average duration of the preceding passage and the average duration of the following passage of the vehicle is less than or equal to a preset second difference threshold;

[0089] When it is determined that the numerical difference between the average duration of the preceding passage and the average duration of the succeeding passage of the vehicle is less than or equal to the second difference threshold, determining that the succeeding traffic intersection corresponding to the passage direction of the vehicle is in a congested state; and / or,

[0090] Determine whether the numerical difference between the average duration of the pedestrian's preceding passage and the average duration of the pedestrian's following passage is greater than or equal to a preset third difference threshold;

[0091] When it is determined that the numerical difference between the average duration of the pedestrian's preceding passage and the average duration of the pedestrian's following passage is greater than or equal to the third difference threshold, determining that the preceding traffic intersection corresponding to the passage direction of the pedestrian is in a congested state;

[0092] When it is determined that the numerical difference between the average duration of the pedestrian's preceding passage and the average duration of the pedestrian's following passage is not greater than the third difference threshold, it is determined whether the numerical difference between the average duration of the pedestrian's preceding passage and the average duration of the pedestrian's following passage is less than or equal to a preset fourth difference threshold;

[0093] When it is determined that the numerical difference between the average duration of the pedestrian's preceding passage and the average duration of the pedestrian's following passage is less than or equal to the fourth difference threshold, it is determined that the following traffic intersection corresponding to the passage direction of the pedestrian is in a congested state.

[0094] As an optional implementation, in the second aspect of the present invention, the specific manner in which the generation module generates the traffic control signal corresponding to the passage direction according to the passage density of the passage objects of the passage type in the current time period, the preceding passage conditions of the preceding traffic intersection corresponding to the passage direction, and the following passage conditions of the following traffic intersection corresponding to the passage direction is:

[0095] When it is determined that the vehicles corresponding to the small vehicle traffic type in the traffic direction are in a congested state, the duration of the no-travel signal corresponding to the traffic direction is shortened to a preset first duration value;

[0096] When it is determined that the vehicles corresponding to the medium-sized vehicle traffic type in the traffic direction are in a congested state, the duration of the no-entry signal corresponding to the traffic direction is shortened to a preset second duration value;

[0097] When it is determined that the vehicles corresponding to the large vehicle traffic type in the traffic direction are in a congested state, the duration of the no-travel signal corresponding to the traffic direction is shortened to a preset third duration value;

[0098] When it is determined that the vehicles corresponding to the non-motor vehicle traffic type in the traffic direction are in a congested state, the duration of the no-travel signal corresponding to the traffic direction is shortened to a preset fourth duration value;

[0099] And, when it is determined that the preceding traffic intersection corresponding to the travel direction of the vehicle is in a congested state, the duration of the no-entry signal corresponding to the travel direction is shortened to a preset fifth duration value, and the duration of the clear signal corresponding to the travel direction is extended to a preset sixth duration value;

[0100] When it is determined that the rear traffic intersection corresponding to the traffic direction in which the vehicle is located is in a congested state, the duration of the no-entry signal corresponding to the traffic direction is extended to a preset sixth duration value, and the duration of the release signal corresponding to the traffic direction is shortened to a preset fifth duration value;

[0101] When it is determined that the preceding traffic intersection corresponding to the direction of travel where the pedestrian is located is in a congested state, the duration of the no-entry signal corresponding to the direction of travel is shortened to a preset seventh duration value, and the duration of the clear signal corresponding to the direction of travel is extended to a preset eighth duration value;

[0102] When it is determined that the traffic intersection behind the pedestrian's direction of travel is in a congested state, the duration of the no-entry signal corresponding to the direction of travel is extended to a preset eighth duration value, and the duration of the release signal corresponding to the direction of travel is shortened to a preset seventh duration value.

[0103] The third aspect of the present invention discloses another traffic signal control system applied to an intersection, the system comprising:

[0104] A memory storing executable program code;

[0105] a processor coupled to the memory;

[0106] The processor calls the executable program code stored in the memory to execute the traffic signal control method applied to the intersection disclosed in the first aspect of the present invention.

[0107] The fourth aspect of the present invention discloses a computer storage medium, wherein the computer storage medium stores computer instructions, and when the computer instructions are called, they are used to execute the traffic signal control method applied to intersections disclosed in the first aspect of the present invention.

[0108] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0109] Provided is a traffic signal control method and system for intersections, the method comprising: obtaining object identification information of each passing object in a multi-intersection traffic area, determining the traffic information of each passing object based on the object identification information, which is conducive to a clearer and more comprehensive understanding of the real-time road conditions at each intersection; for each traffic type under each traffic direction, determining the traffic density of the passing objects of the traffic type in the current time period, and for each traffic direction, obtaining the preceding traffic conditions of the preceding traffic intersection corresponding to the current traffic direction, and the following traffic conditions of the following traffic intersection corresponding to the current traffic direction, so as to generate a traffic control signal corresponding to the traffic direction in real time and quickly based on the traffic density of the passing objects of the traffic type in the current time period, the preceding traffic conditions of the preceding traffic intersection corresponding to the traffic direction, and the following traffic conditions of the corresponding following traffic intersection, so as to make the control and dispatching mode of the traffic signal intelligent, avoid serious traffic congestion problems of vehicles and pedestrians at intersections, thereby facilitating reducing the difficulty of controlling traffic signals in intersection traffic scenes, and improving the efficiency and accuracy of controlling vehicle and pedestrian flows. BRIEF DESCRIPTION OF THE DRAWINGS

[0110] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0111] Figure 1 It is a flow chart of a traffic signal control method applied to an intersection disclosed in an embodiment of the present invention;

[0112] Figure 2 It is a flow chart of another traffic signal control method applied to an intersection disclosed in an embodiment of the present invention;

[0113] Figure 3 It is a structural schematic diagram of a traffic signal control system applied to an intersection disclosed in an embodiment of the present invention;

[0114] Figure 4 It is a structural schematic diagram of another traffic signal control system applied to an intersection disclosed in an embodiment of the present invention;

[0115] Figure 5 It is a structural schematic diagram of another traffic signal control system applied to an intersection disclosed in an embodiment of the present invention. DETAILED DESCRIPTION

[0116] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0117] The terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish different objects rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, device, product or end including a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units inherent to these processes, methods, products or ends.

[0118] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0119] The present invention discloses a traffic signal control method and system applied to an intersection, the method comprising: obtaining object identification information of each passing object in a multi-fork traffic area, determining the traffic information of each passing object according to the object identification information, determining the traffic density of the passing objects of the traffic type in the current time period, obtaining the previous traffic situation of the previous traffic intersection corresponding to the current traffic direction, and the subsequent traffic situation of the subsequent traffic intersection corresponding to the current traffic direction for each traffic direction, generating a traffic control signal corresponding to the traffic direction according to the traffic density of the passing objects of the traffic type in the current time period, the previous traffic situation of the previous traffic intersection corresponding to the traffic direction, and the subsequent traffic situation of the corresponding subsequent traffic intersection, and the traffic control signal is used to guide traffic in the intersection area. It can be seen that the implementation of the present invention can generate a traffic control signal corresponding to each vehicle traffic direction in real time according to the traffic conditions of the intersection, so that the control and dispatching mode of the traffic signal is intelligent, avoiding serious traffic congestion problems of vehicles and pedestrians at the intersection, which is conducive to reducing the control difficulty of traffic signals in the traffic scene of the intersection, and improving the efficiency and accuracy of vehicle flow and pedestrian flow control. The following are detailed descriptions of each.

[0120] Embodiment 1

[0121] See also Figure 1 , Figure 1 : is a flow chart of a traffic signal control method applied to an intersection disclosed in an embodiment of the present invention. Figure 1 The described traffic signal control method applied to an intersection can be applied to a traffic signal control system at an intersection, and the system can also be applied to a traffic signal control device at an intersection, which is not limited in the embodiments of the present invention. Optionally, the system can be applied to a local terminal device (for example, a local traffic dispatch host installed in the intersection traffic area, a local traffic dispatch server, etc.), and can also be applied to a cloud device (for example, a cloud traffic dispatch server, a cloud traffic dispatch computer, etc.), which is not limited in the embodiments of the present invention. Figure 1 As shown, the traffic signal control method applied to the intersection may include the following operations:

[0122] 101. Obtain object identification information of each passing object in a multi-intersection traffic area, and determine the passing information of each passing object according to the object identification information.

[0123] In an embodiment of the present invention, optionally, the scene of the multi-fork traffic area can be represented as a traffic area of ​​a flat intersection, and the flat intersection may include: at least one of: a T-intersection, a Y-intersection, a crossroads, a circular multi-fork intersection, etc., and the passing objects may include: at least one of: vehicles and pedestrians in the multi-fork traffic area, and the object identification information may include: at least one of: vehicle identification information of each vehicle, pedestrian identification information of each pedestrian, etc. The object identification information of the passing objects can be measured, identified and acquired by sensing equipment (for example: monitoring camera equipment, radar equipment, ETC equipment, RSU equipment, GPS positioning equipment).

[0124] In the embodiment of the present invention, determining the passing information of each passing object according to the object identification information may include:

[0125] The vehicle traffic information of each vehicle is determined according to the vehicle identification information.

[0126] And / or, pedestrian passage information of each pedestrian is determined according to the pedestrian identification information.

[0127] The vehicle traffic information may include at least one of the vehicle's traffic direction, traffic speed, and vehicle traffic type. The vehicle traffic type includes at least one of small vehicle traffic type, medium vehicle traffic type, large vehicle traffic type, and non-motor vehicle traffic type. The pedestrian traffic information may include at least one of the pedestrian's traffic direction, traffic speed, and pedestrian traffic type. The pedestrian traffic type may be classified by special attributes of pedestrians (e.g., young children, disabled people, elderly people, pregnant women, etc.) through camera equipment. Further, the small vehicle traffic type may include at least one of motorcycles, small cars, and small trucks. The medium vehicle traffic type may include at least one of medium buses and medium trucks. The large vehicle traffic type may include large buses, large trucks, trailers, and large engineering vehicles. The non-motor vehicle traffic type may include at least one of bicycles, electric bicycles, tricycles, and motorized wheelchairs for the disabled. The vehicle traffic type may also include special vehicles (e.g., at least one of ambulances, police cars, and fire trucks). The embodiments of the present invention do not limit this. In this way, the richer the information about passing objects obtained by using multiple sensor devices, the more conducive it is to improving the efficiency and accuracy of controlling vehicle and pedestrian flows in intersection traffic scenes.

[0128] 102. For each traffic type in each traffic direction, determine the traffic density of the traffic objects of the traffic type in the current time period.

[0129] In the embodiment of the present invention, the traveling direction of the vehicle includes at least one of a straight direction, a left turn direction, a right turn direction, a U-turn direction, and the like.

[0130] In the embodiment of the present invention, for each traffic type in each traffic direction, determining the traffic density of traffic objects of the traffic type in the current time period includes:

[0131] For the vehicles corresponding to each vehicle traffic type in each traffic direction, the number of vehicles corresponding to each vehicle traffic type in each traffic direction in the current time period is obtained.

[0132] The average travel speed of vehicles corresponding to each vehicle travel type is calculated according to the travel speeds of all vehicles corresponding to each vehicle travel type in each travel direction.

[0133] Determine the traffic density of vehicles corresponding to each type of vehicle traffic in each traffic direction in the current time period according to the number of vehicles passing and the average traffic speed of the vehicles. And / or,

[0134] For the pedestrians corresponding to each pedestrian traffic type in each traffic direction, the number of pedestrians corresponding to each pedestrian traffic type in each traffic direction in the current time period is obtained.

[0135] The average travel speed of pedestrians corresponding to each pedestrian travel type is calculated according to the travel speeds of all pedestrians corresponding to each pedestrian travel type in each travel direction.

[0136] The pedestrian density corresponding to each pedestrian traffic type in each traffic direction in the current time period is determined according to the number of pedestrians and their average traffic speed.

[0137] Among them, the calculation formula of vehicle traffic density in the current period is expressed as:

[0138]

[0139] The calculation formula of pedestrian density in the current period is expressed as:

[0140]

[0141] For example, if the number of vehicles passing through the current time period is 50, the duration of the current time period is 30 seconds, and the average speed of vehicles is 12.5 m / s, then the traffic density of vehicles in the current time period is 0.13.

[0142] In this way, the traffic density of each traffic type in each traffic direction during the current period can be determined, which can provide a clearer understanding of the vehicle and pedestrian flow at the intersection, thereby helping to improve the efficiency and accuracy of vehicle and pedestrian flow control in intersection traffic scenes.

[0143] 103. For each travel direction, obtain the preceding travel situation of the preceding traffic intersection corresponding to the current travel direction, and the following travel situation of the following traffic intersection corresponding to the current travel direction.

[0144] In the embodiment of the present invention, the front traffic intersection may be represented as the previous intersection before the traffic light in the multi-intersection traffic area, and the rear traffic intersection may be represented as the next intersection after the traffic light in the multi-intersection traffic area.

[0145] In the embodiment of the present invention, for each traffic direction, obtaining the preceding traffic situation of the preceding traffic intersection corresponding to the current traffic direction and the following traffic situation of the following traffic intersection corresponding to the current traffic direction includes:

[0146] For each vehicle in each direction of travel, obtain the preceding travel time of each vehicle at the preceding traffic intersection corresponding to the current travel direction, and the following travel time of each vehicle at the following traffic intersection corresponding to the current travel direction. And / or,

[0147] For each pedestrian in each travel direction, obtain the preceding travel time of each pedestrian at the preceding traffic intersection corresponding to the travel direction, and the following travel time of each pedestrian at the following traffic intersection corresponding to the travel direction.

[0148] In this way, by determining the average travel time of the traffic objects of each traffic type in the current time period according to each traffic type in each traffic direction, the traffic conditions at the intersection can be understood more clearly, which is conducive to improving the efficiency and accuracy of controlling the vehicle and pedestrian flow in the intersection traffic scene.

[0149] 104. Generate a traffic control signal corresponding to the travel direction according to the travel density of the travel objects of the travel type in the current time period, the preceding traffic situation at the preceding traffic intersection corresponding to the travel direction, and the following traffic situation at the following traffic intersection corresponding to the travel direction.

[0150] In the embodiment of the present invention, optionally, the traffic control signal can be used to control the display of traffic lights or traffic signs, and to guide traffic in the intersection area.

[0151] In the embodiment of the present invention, for each traffic direction, obtaining the preceding traffic situation of the preceding traffic intersection corresponding to the current traffic direction and the following traffic situation of the following traffic intersection corresponding to the current traffic direction may include:

[0152] For each vehicle in each direction of travel, obtain the preceding travel time of each vehicle at the preceding traffic intersection corresponding to the travel direction, and the following travel time of each vehicle at the following traffic intersection corresponding to the travel direction. And / or,

[0153] For each pedestrian in each travel direction, obtain the current length of time each pedestrian has been in the front traffic intersection corresponding to the travel direction, and the current length of time each pedestrian has been in the rear traffic intersection corresponding to the travel direction.

[0154] In the embodiment of the present invention, generating a traffic control signal corresponding to the passage direction according to the passage density of the passage objects of the passage type in the current time period, the preceding passage situation of the preceding traffic entrance corresponding to the passage direction, and the following passage situation of the following traffic entrance corresponding to the passage direction may include:

[0155] When it is determined that the vehicles corresponding to the small vehicle traffic type in the traffic direction are in a congested state, the duration of the no-entry signal corresponding to the traffic direction is shortened to a preset first duration value (for example: the preset duration of the no-entry signal corresponding to the traffic direction is 20s, and the preset first duration value can be set to half of the preset duration of the no-entry signal, that is, 10s).

[0156] When it is determined that the vehicles corresponding to the medium-sized vehicle traffic type in the traffic direction are in a congested state, the duration of the no-entry signal corresponding to the traffic direction is shortened to a preset second duration value.

[0157] When it is determined that the vehicles corresponding to the large vehicle traffic type in the traffic direction are in a congested state, the duration of the no-travel signal corresponding to the traffic direction is shortened to a preset third duration value.

[0158] When it is determined that the vehicles corresponding to the non-motor vehicle traffic type in the traffic direction are in a congested state, the duration of the no-entry signal corresponding to the traffic direction is shortened to a preset fourth duration value.

[0159] And, when it is determined that the preceding traffic intersection corresponding to the direction of travel of the vehicle is in a congested state, the duration of the no-go signal corresponding to the direction of travel is shortened to a preset fifth duration value, and the duration of the release signal corresponding to the direction of travel is extended to a preset sixth duration value. (For example, the preset fifth duration value can be set to half of the preset duration of 30s of the no-go signal, i.e., 15s; the preset sixth duration value can be set to twice the preset duration of 15s of the release signal, i.e., 30s).

[0160] When it is determined that the traffic intersection behind the vehicle corresponding to the direction of travel is in a congested state, the duration of the no-entry signal corresponding to the direction of travel is extended to a preset sixth duration value, and the duration of the release signal corresponding to the direction of travel is shortened to a preset fifth duration value.

[0161] When it is determined that the preceding traffic intersection corresponding to the direction of travel of the pedestrian is in a congested state, the duration of the prohibition signal corresponding to the direction of travel is shortened to the preset seventh duration value, and the duration of the release signal corresponding to the direction of travel is extended to the preset eighth duration value. (For example, the preset seventh duration value can be set to half of the preset duration of 20s of the prohibition signal, i.e., 10s; the preset sixth duration value can be set to twice the preset duration of 10s of the release signal, i.e., 20s).

[0162] When it is determined that the following traffic intersection corresponding to the direction of travel of the pedestrian is in a congested state, the duration of the no-entry signal corresponding to the direction of travel is extended to the preset eighth duration value, and the duration of the release signal corresponding to the direction of travel is shortened to the preset seventh duration value.

[0163] In this way, the traffic density and traffic conditions in the current direction of travel of vehicles or pedestrians can be used to determine whether the traffic status of vehicles or pedestrians is in a congested state, thereby generating a release signal or a no-entry signal corresponding to the current direction of travel, making the control and dispatching of traffic signals intelligent, avoiding serious traffic congestion problems of vehicles and pedestrians at intersections, and thus helping to reduce the difficulty of controlling traffic signals in intersection traffic scenes.

[0164] In an optional embodiment, after executing step 102, the method further includes the following operations:

[0165] It is determined whether the traffic density of vehicles corresponding to the small vehicle traffic type in each traffic direction in the current time period is greater than or equal to a preset first density threshold (for example, the first density threshold is 0.6).

[0166] When it is determined that the traffic density of vehicles corresponding to the small vehicle traffic type in each traffic direction in the current time period is greater than or equal to the first density threshold, it is determined that the vehicles corresponding to the small vehicle traffic type in the traffic direction are in a congested state. And / or,

[0167] It is determined whether the traffic density of vehicles corresponding to the medium-sized vehicle traffic type in each traffic direction in the current time period is greater than or equal to a preset second density threshold.

[0168] When it is determined that the traffic density of vehicles corresponding to the medium-sized vehicle traffic type in each traffic direction in the current time period is greater than or equal to the preset second density threshold, it is determined that the vehicles corresponding to the medium-sized vehicle traffic type in the traffic direction are in a congested state. And / or,

[0169] It is determined whether the traffic density of vehicles corresponding to the large vehicle traffic type in each traffic direction in the current time period is greater than or equal to a preset third density threshold.

[0170] When it is determined that the traffic density of the vehicles corresponding to the large vehicle traffic type in each traffic direction in the current time period is greater than or equal to the preset third density threshold, it is determined that the vehicles corresponding to the large vehicle traffic type in the traffic direction are in a congested state. And / or,

[0171] Determine whether the traffic density of vehicles corresponding to the non-motor vehicle traffic type in each traffic direction in the current time period is greater than or equal to a preset fourth density threshold.

[0172] When it is determined that the traffic density of vehicles corresponding to the non-motor vehicle traffic type in each traffic direction in the current time period is greater than or equal to the preset fourth density threshold, it is determined that the vehicles corresponding to the non-motor vehicle traffic type in the traffic direction are in a congested state.

[0173] It can be seen that this optional embodiment can determine whether the traffic density of vehicles corresponding to each type of vehicle traffic in each traffic direction in the current time period is greater than or equal to the preset density threshold, so as to determine whether the traffic status of vehicles or pedestrians is in a congested state, which is beneficial to improve the efficiency and accuracy of vehicle and pedestrian flow control in intersection traffic scenes.

[0174] In an optional embodiment, after executing step 103, the method further includes the following operations:

[0175] The average length of time that the vehicle passes in front and the average length of time that the vehicle passes behind are calculated based on the length of time that the vehicle passes in front and the length of time that the vehicle passes behind. And / or,

[0176] The average time that pedestrians travel in front and the average time that pedestrians travel behind are calculated based on the time that all pedestrians travel in front and the time that pedestrians travel behind.

[0177] In this optional embodiment, it is further optional to determine whether the numerical difference between the average preceding passage time and the average following passage time of all vehicles is greater than or equal to a preset first difference threshold.

[0178] When it is determined that the numerical difference between the average duration of the preceding passage and the average duration of the following passage of all vehicles is greater than or equal to the first difference threshold (for example, the first difference threshold is +10s, that is, the average duration of the preceding passage of the vehicle is greater than the average duration of the following passage), it is determined that the preceding traffic intersection corresponding to the direction of passage of the vehicle is in a congested state.

[0179] When it is determined that the numerical difference between the average duration of the vehicle's preceding passage and the average duration of the vehicle's following passage is not greater than the first difference threshold, determine whether the numerical difference between the average duration of the vehicle's preceding passage and the average duration of the vehicle's following passage is less than or equal to a preset second difference threshold (for example, the second difference threshold is -10s, i.e., the average duration of the vehicle's preceding passage is less than the average duration of the vehicle's following passage).

[0180] When it is determined that the numerical difference between the average duration of the preceding traffic and the average duration of the following traffic of the vehicle is less than or equal to the second difference threshold, it is determined that the following traffic intersection corresponding to the traffic direction of the vehicle is in a congested state. And / or,

[0181] Determine whether the numerical difference between the average time of the pedestrian's preceding passage and the average time of the pedestrian's following passage is greater than or equal to a preset third difference threshold (for example, the third difference threshold is +30s, i.e., the average time of the pedestrian's preceding passage is greater than the average time of the pedestrian's following passage).

[0182] When it is determined that the numerical difference between the average duration of the pedestrian's preceding passage and the average duration of the pedestrian's following passage is greater than or equal to a third difference threshold, it is determined that the preceding traffic intersection corresponding to the pedestrian's passage direction is in a congested state.

[0183] When it is determined that the numerical difference between the average time for pedestrians to pass in front and the average time for pedestrians to pass behind is not greater than the third difference threshold, determine whether the numerical difference between the average time for pedestrians to pass in front and the average time for pedestrians to pass behind is less than or equal to the preset fourth difference threshold (for example, the fourth difference threshold is -30s, that is, the average time for pedestrians to pass in front is less than the average time for pedestrians to pass behind).

[0184] When it is determined that the numerical difference between the average duration of the pedestrian's preceding passage and the average duration of the pedestrian's following passage is less than or equal to a fourth difference threshold, it is determined that the following traffic intersection corresponding to the pedestrian's passage direction is in a congested state.

[0185] It can be seen that this optional embodiment can determine whether the traffic status of vehicles or pedestrians is in a congested state based on the difference in the numerical value of the average passage time in front and the average passage time in the back of all vehicles or pedestrians, which is beneficial to improving the efficiency and accuracy of vehicle and pedestrian flow control in intersection traffic scenes.

[0186] Embodiment 2

[0187] See also Figure 2, Figure 2 : is a flow chart of a traffic signal control method applied to an intersection disclosed in an embodiment of the present invention. Figure 2 The described traffic signal control method applied to an intersection can be applied to a traffic signal control system at an intersection, and the system can also be applied to a traffic signal control device at an intersection, which is not limited in the embodiments of the present invention. Optionally, the system can be applied to a local terminal device (for example, a local traffic dispatch host installed in the intersection traffic area, a local traffic dispatch server, etc.), and can also be applied to a cloud device (for example, a cloud traffic dispatch server, a cloud traffic dispatch computer, etc.), which is not limited in the embodiments of the present invention. Figure 2 As shown, the traffic signal control method applied to the intersection may include the following operations:

[0188] 201. Obtain object identification information of each passing object in a multi-intersection traffic area, and determine the passing information of each passing object according to the object identification information.

[0189] 202. For each travel direction, obtain the preceding travel status of each travel object at the preceding traffic intersection corresponding to the current travel direction, and the following travel status of each travel object at the following traffic intersection corresponding to the current travel direction.

[0190] 203. Generate a traffic control signal corresponding to the current traveling direction according to the traffic conditions corresponding to the associated traveling directions having a traffic impact relationship with the current traveling direction among all traveling directions in the multi-intersection traffic area.

[0191] In the embodiment of the present invention, optionally, generating a traffic control signal corresponding to the current traveling direction according to the traffic conditions corresponding to the associated traveling directions having a traffic impact relationship with the current traveling direction among all traveling directions in the multi-fork traffic area may include:

[0192] The traffic condition images in the current multi-intersection traffic area are obtained through the camera equipment.

[0193] Based on the traffic condition image and the preset image recognition algorithm, it is determined whether there is any sudden traffic accident in the current traffic direction.

[0194] When it is determined that there is a sudden traffic accident in the current direction of travel, the duration of the release signal corresponding to the current direction of travel is extended to the preset release duration value, and the duration of the prohibition signal corresponding to other directions of travel except the current direction of travel is extended to the preset prohibition duration value. And / or,

[0195] Based on the traffic condition image and the preset image recognition algorithm, it is determined whether there are special vehicles in the current traffic direction.

[0196] When it is determined that there is a special vehicle in the current direction of travel, a corresponding release signal is immediately generated for the current direction of travel, and the duration of the prohibition signal corresponding to other directions of travel except the current direction of travel is extended to the preset prohibition duration value. And / or,

[0197] Based on the traffic condition image and the preset image recognition algorithm, it is determined whether there are pedestrians with special attributes in the current traffic direction.

[0198] When it is determined that there is a pedestrian with special attributes in the current pedestrian's direction of travel, the duration of the release signal corresponding to the current pedestrian's direction of travel is extended to the preset release duration value, and the duration of the no-entry signal corresponding to the travel directions of other pedestrians except the current pedestrian's direction of travel is extended to the preset no-entry duration value.

[0199] In the embodiment of the present invention, for other descriptions of step 201-step 202, please refer to the detailed description of step 102-step 102 in the first embodiment, and the embodiment of the present invention will not be repeated.

[0200] It can be seen that the implementation of the embodiment of the present invention can generate a traffic control signal corresponding to the current direction of travel according to the traffic conditions corresponding to the associated directions of travel that have a traffic impact relationship with the current direction of travel among all the directions of travel in the multi-fork traffic area, thereby making the control and scheduling method of the traffic signal intelligent, avoiding serious traffic congestion problems of vehicles and pedestrians at intersections, and thus helping to reduce the difficulty of controlling traffic signals in intersection traffic scenes.

[0201] It can be seen that implementation Figure 2 The described traffic signal control method applied to intersections can generate traffic control signals corresponding to each vehicle's travel direction in real time according to the travel density and travel direction of travel objects in a multi-intersection traffic area, as well as the traffic conditions corresponding to associated travel directions among all travel directions that have a traffic impact relationship with the current travel direction, thereby making the control and scheduling of traffic signals intelligent, avoiding serious traffic congestion problems of vehicles and pedestrians at intersections, and helping to reduce the difficulty of controlling traffic signals in intersection traffic scenes, as well as improving the efficiency and accuracy of controlling vehicle and pedestrian flows.

[0202] Embodiment 3

[0203] See also Figure 3 , Figure 3 : is a schematic diagram of a traffic signal control system applied to an intersection disclosed in an embodiment of the present invention. Figure 3The described traffic signal control system applied to an intersection can execute the above-mentioned traffic signal control method applied to an intersection. The system can also be applied to a traffic signal control device at an intersection, which is not limited in the embodiments of the present invention. Optionally, the system can be applied to a local terminal device (for example, a local traffic dispatch host installed in the intersection traffic area, a local traffic dispatch server, etc.), or to a cloud device (for example, a cloud traffic dispatch server, a cloud traffic dispatch computer, etc.), which is not limited in the embodiments of the present invention. Figure 3 As shown, the traffic signal control system applied to the intersection may include: an acquisition module 301, a determination module 302, and a generation module 303, wherein:

[0204] The acquisition module 301 is used to acquire the object identification information of each passing object in the multi-intersection traffic area.

[0205] The determination module 302 is used to determine the passage information of each passing object according to the object identification information obtained by the acquisition module 301, and the passage information includes: the passage direction and the passage type of each passing object.

[0206] For the target passing objects corresponding to each passing type in each passing direction, the determination module 302 is further used to determine the passing density of the target passing objects in the current time period.

[0207] For each travel direction, the acquisition module 301 is further used to acquire the preceding travel conditions of the preceding traffic intersection corresponding to the current travel direction, and the following travel conditions of the following traffic intersection corresponding to the current travel direction.

[0208] The generation module 303 is used to generate a traffic control signal corresponding to the travel direction according to the traffic density of the target travel object determined by the determination module 302 in the current time period, the front traffic situation of the front traffic intersection corresponding to the travel direction obtained by the acquisition module 301, and the rear traffic situation of the rear traffic intersection corresponding to the travel direction. The traffic control signal is used to guide traffic in the intersection area.

[0209] It can be seen that implementation Figure 3 The described traffic signal control system applied to intersections can generate traffic control signals corresponding to each vehicle's travel direction in real time according to the traffic conditions at the intersection, making the control and dispatching method of traffic signals intelligent, avoiding serious traffic congestion problems of vehicles and pedestrians at intersections, and helping to reduce the difficulty of controlling traffic signals in intersection traffic scenes, as well as improving the efficiency and accuracy of controlling vehicle and pedestrian flows.

[0210] In an optional embodiment, the passing objects include: at least one of vehicles and pedestrians in a multi-intersection traffic area.

[0211] The object identification information includes at least one of vehicle identification information of each vehicle and pedestrian identification information of each pedestrian.

[0212] And, if Figure 4 As shown, the specific manner in which the determination module 302 determines the passing information of each passing object according to the object identification information is:

[0213] Determine the vehicle traffic information of each vehicle according to the vehicle identification information, the vehicle traffic information includes: at least one of the vehicle's traffic direction, traffic speed, and vehicle traffic type, the vehicle traffic type includes: at least one of small vehicle traffic type, medium vehicle traffic type, large vehicle traffic type, and non-motor vehicle traffic type. And / or,

[0214] The pedestrian traffic information of each pedestrian is determined according to the pedestrian identification information, and the pedestrian traffic information includes at least one of the pedestrian's traffic direction, traffic speed, and pedestrian traffic type.

[0215] It can be seen that implementation Figure 4 The described traffic signal control system applied to an intersection can utilize a variety of sensor devices to obtain more information about passing objects, which is more conducive to improving the efficiency and accuracy of controlling the vehicle and pedestrian flow in the intersection traffic scene.

[0216] In another optional embodiment, Figure 4 As shown, for each traffic type under each traffic direction, the specific manner in which the determination module 302 determines the traffic density of the traffic objects of the traffic type in the current time period is:

[0217] For the vehicles corresponding to each vehicle traffic type in each traffic direction, the number of vehicles corresponding to each vehicle traffic type in each traffic direction in the current time period is obtained.

[0218] Determine the traffic density of vehicles corresponding to each type of vehicle traffic in each traffic direction in the current time period according to the number of vehicles passing and the average traffic speed of the vehicles. And / or,

[0219] For the pedestrians corresponding to each pedestrian traffic type in each traffic direction, the number of pedestrians corresponding to each pedestrian traffic type in each traffic direction in the current time period is obtained.

[0220] The pedestrian density corresponding to each pedestrian traffic type in each traffic direction in the current time period is determined according to the number of pedestrians and their average traffic speed.

[0221] It can be seen that implementation Figure 4The described traffic signal control system applied to intersections can determine the traffic density of traffic objects of each traffic type in the current time period according to each traffic type in each traffic direction, and can more clearly understand the vehicle and pedestrian flow conditions at the intersection, thereby helping to improve the efficiency and accuracy of vehicle and pedestrian flow control in intersection traffic scenes.

[0222] In yet another optional embodiment, Figure 4 As shown, the system also includes:

[0223] The first judgment module 304 is used to judge whether the traffic density of vehicles corresponding to the small vehicle traffic type in each traffic direction determined by the determination module 302 in the current time period is greater than or equal to a preset first density threshold.

[0224] When it is determined that the traffic density of vehicles corresponding to the small vehicle traffic type in each traffic direction in the current time period is greater than or equal to the first density threshold, it is determined that the vehicles corresponding to the small vehicle traffic type in the traffic direction are in a congested state. And / or,

[0225] It is determined whether the traffic density of vehicles corresponding to the medium-sized vehicle traffic type in each traffic direction in the current time period is greater than or equal to a preset second density threshold.

[0226] When it is determined that the traffic density of vehicles corresponding to the medium-sized vehicle traffic type in each traffic direction in the current time period is greater than or equal to the second density threshold, it is determined that the vehicles corresponding to the medium-sized vehicle traffic type in the traffic direction are in a congested state. And / or,

[0227] It is determined whether the traffic density of vehicles corresponding to the large vehicle traffic type in each traffic direction in the current time period is greater than or equal to a preset third density threshold.

[0228] When it is determined that the traffic density of vehicles corresponding to the large vehicle traffic type in each traffic direction in the current time period is greater than or equal to the third density threshold, it is determined that the vehicles corresponding to the large vehicle traffic type in the traffic direction are in a congested state. And / or,

[0229] Determine whether the traffic density of vehicles corresponding to the non-motor vehicle traffic type in each traffic direction in the current time period is greater than or equal to a preset fourth density threshold.

[0230] When it is determined that the traffic density of vehicles corresponding to the non-motor vehicle traffic type in each traffic direction in the current time period is greater than or equal to the fourth density threshold, it is determined that the vehicles corresponding to the non-motor vehicle traffic type in the traffic direction are in a congested state.

[0231] It can be seen that implementation Figure 4The described traffic signal control system applied to intersections can determine whether the traffic density of vehicles corresponding to each type of vehicle traffic in each direction of traffic in the current time period is greater than or equal to a preset density threshold, thereby determining whether the traffic status of vehicles or pedestrians is in a congested state, which is conducive to improving the efficiency and accuracy of vehicle and pedestrian flow control in intersection traffic scenes.

[0232] In yet another optional embodiment, Figure 4 As shown, for each travel direction, the specific manner in which the acquisition module 301 acquires the preceding travel situation of the preceding traffic intersection corresponding to the current travel direction, and the following travel situation of the following traffic intersection corresponding to the current travel direction is:

[0233] For each vehicle in each direction of travel, obtain the preceding travel time of each vehicle at the preceding traffic intersection corresponding to the current travel direction, and the following travel time of each vehicle at the following traffic intersection corresponding to the current travel direction. And / or,

[0234] For each pedestrian in each travel direction, obtain the preceding travel time of each pedestrian at the preceding traffic intersection corresponding to the travel direction, and the following travel time of each pedestrian at the following traffic intersection corresponding to the travel direction.

[0235] The system also includes:

[0236] The calculation module 305 is used to calculate the average length of the vehicle's preceding passage and the average length of the vehicle's following passage according to the preceding passage and the following passage of all vehicles acquired by the acquisition module 301. And / or,

[0237] The average time that pedestrians travel in front and the average time that pedestrians travel behind are calculated based on the time that all pedestrians travel in front and the time that pedestrians travel behind.

[0238] It can be seen that implementation Figure 4 The described traffic signal control system applied to intersections can determine the average travel time of the traffic objects of each traffic type in the current time period according to each traffic type in each traffic direction, and can more clearly understand the traffic conditions at the intersection, which is conducive to improving the efficiency and accuracy of the control of vehicle and pedestrian flow in the intersection traffic scene.

[0239] In yet another optional embodiment, Figure 4 As shown, the second judgment module 306 is used to judge whether the numerical difference between the average duration of the preceding passage and the average duration of the following passage of the vehicle calculated by the calculation module 305 is greater than or equal to a preset first difference threshold.

[0240] When it is determined that the numerical difference between the average duration of the preceding passage and the average duration of the succeeding passage of the vehicle is greater than or equal to the first difference threshold, it is determined that the preceding traffic intersection corresponding to the passage direction of the vehicle is in a congested state.

[0241] When it is determined that the numerical difference between the average duration of the preceding passage and the average duration of the following passage of the vehicle is not greater than the first difference threshold, it is determined whether the numerical difference between the average duration of the preceding passage and the average duration of the following passage of the vehicle is less than or equal to a preset second difference threshold.

[0242] When it is determined that the numerical difference between the average duration of the preceding traffic and the average duration of the following traffic of the vehicle is less than or equal to the second difference threshold, it is determined that the following traffic intersection corresponding to the traffic direction of the vehicle is in a congested state. And / or,

[0243] Determine whether the numerical difference between the average duration of the pedestrian's preceding passage and the average duration of the pedestrian's following passage is greater than or equal to a preset third difference threshold.

[0244] When it is determined that the numerical difference between the average duration of the pedestrian's preceding passage and the average duration of the pedestrian's following passage is greater than or equal to a third difference threshold, it is determined that the preceding traffic intersection corresponding to the pedestrian's passage direction is in a congested state.

[0245] When it is determined that the numerical difference between the average duration of pedestrian passage in front and the average duration of pedestrian passage behind is not greater than the third difference threshold, it is determined whether the numerical difference between the average duration of pedestrian passage in front and the average duration of pedestrian passage behind is less than or equal to the preset fourth difference threshold.

[0246] When it is determined that the numerical difference between the average duration of the pedestrian's preceding passage and the average duration of the pedestrian's following passage is less than or equal to a fourth difference threshold, it is determined that the following traffic intersection corresponding to the pedestrian's passage direction is in a congested state.

[0247] It can be seen that implementation Figure 4 The described traffic signal control system applied to intersections can determine whether the traffic status of vehicles or pedestrians is in a congested state based on the difference in the numerical value of the average passage time of all vehicles or pedestrians in front and the average passage time of all vehicles or pedestrians behind, which is conducive to improving the efficiency and accuracy of vehicle and pedestrian flow control in intersection traffic scenes.

[0248] In yet another optional embodiment, Figure 4 As shown, the specific manner in which the generation module 303 generates the traffic control signal corresponding to the travel direction according to the travel density of the travel objects of the travel type in the current time period, the preceding travel situation of the preceding traffic entrance corresponding to the travel direction, and the following travel situation of the following traffic entrance corresponding to the travel direction is:

[0249] When it is determined that the vehicles corresponding to the small vehicle traffic type in the traffic direction are in a congested state, the duration of the no-entry signal corresponding to the traffic direction is shortened to a preset first duration value.

[0250] When it is determined that the vehicles corresponding to the medium-sized vehicle traffic type in the traffic direction are in a congested state, the duration of the no-entry signal corresponding to the traffic direction is shortened to a preset second duration value.

[0251] When it is determined that the vehicles corresponding to the large vehicle traffic type in the traffic direction are in a congested state, the duration of the no-travel signal corresponding to the traffic direction is shortened to a preset third duration value.

[0252] When it is determined that the vehicles corresponding to the non-motor vehicle traffic type in the traffic direction are in a congested state, the duration of the no-entry signal corresponding to the traffic direction is shortened to a preset fourth duration value.

[0253] Furthermore, when it is determined that the preceding traffic intersection corresponding to the direction of travel of the vehicle is in a congested state, the duration of the no-entry signal corresponding to the direction of travel is shortened to a preset fifth duration value, and the duration of the release signal corresponding to the direction of travel is extended to a preset sixth duration value.

[0254] When it is determined that the traffic intersection behind the vehicle corresponding to the direction of travel is in a congested state, the duration of the no-entry signal corresponding to the direction of travel is extended to a preset sixth duration value, and the duration of the release signal corresponding to the direction of travel is shortened to a preset fifth duration value.

[0255] When it is determined that the preceding traffic intersection corresponding to the direction of travel of the pedestrian is in a congested state, the duration of the no-entry signal corresponding to the direction of travel will be shortened to the preset seventh duration value, and the duration of the release signal corresponding to the direction of travel will be extended to the preset eighth duration value.

[0256] When it is determined that the following traffic intersection corresponding to the direction of travel of the pedestrian is in a congested state, the duration of the no-entry signal corresponding to the direction of travel is extended to the preset eighth duration value, and the duration of the release signal corresponding to the direction of travel is shortened to the preset seventh duration value.

[0257] It can be seen that implementation Figure 4 The described traffic signal control system applied to intersections can determine whether the traffic status of vehicles or pedestrians is in a congested state based on the traffic density and traffic conditions in the current traffic direction of vehicles or pedestrians, thereby generating a release signal or a no-entry signal corresponding to the current traffic direction, making the control and scheduling of traffic signals intelligent, avoiding serious traffic congestion problems of vehicles and pedestrians at intersections, and thus helping to reduce the difficulty of controlling traffic signals in intersection traffic scenes.

[0258] Embodiment 4

[0259] See also Figure 5 , Figure 5 is a schematic diagram of the structure of another traffic signal control system applied to an intersection disclosed in an embodiment of the present invention. Figure 5 The described traffic signal control system applied to an intersection can execute the above-mentioned traffic signal control method applied to an intersection. The system can also be applied to a traffic signal control device at an intersection, which is not limited in the embodiments of the present invention. Optionally, the system can be applied to a local terminal device (for example, a local traffic dispatch host installed in the intersection traffic area, a local traffic dispatch server, etc.), or to a cloud device (for example, a cloud traffic dispatch server, a cloud traffic dispatch computer, etc.), which is not limited in the embodiments of the present invention. Figure 5 As shown, the traffic signal control system applied to the intersection may include:

[0260] A memory 401 storing executable program codes;

[0261] a processor 402 coupled to the memory 401;

[0262] The processor 402 calls the executable program code stored in the memory 401 to execute the steps of the traffic signal control method applied to the intersection described in the first embodiment of the present invention or the second embodiment of the present invention.

[0263] Embodiment 5

[0264] An embodiment of the present invention discloses a computer storage medium storing computer instructions. When the computer instructions are called, they are used to execute the steps of the traffic signal control method applied to an intersection described in Embodiment 1 or Embodiment 2 of the present invention.

[0265] Embodiment 6

[0266] An embodiment of the present invention discloses a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to enable a computer to execute the steps of the traffic signal control method applied to an intersection described in Embodiment 1 or Embodiment 2.

[0267] The device embodiments described above are only illustrative, wherein the modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, i.e., they may be located in one place, or they may be distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative work.

[0268] Through the specific description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the above technical solution can be essentially or partly contributed to the prior art in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable rewritable read-only memory (EEPROM), a compact disc (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0269] Finally, it should be noted that the traffic signal control method and system for intersections disclosed in the embodiments of the present invention are only preferred embodiments of the present invention, which are only used to illustrate the technical solution of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, it should be understood by those skilled in the art that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features therein can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A traffic signal control method applied to an intersection, characterized in that: The method comprises: Obtaining object identification information of each passing object in a multi-intersection traffic area; Determine the traffic information of each passing object according to the object identification information, wherein the traffic information includes: the traffic direction and traffic type of each passing object; For each traffic type under each traffic direction, determine the traffic density of traffic objects of the traffic type in the current time period; For each direction of travel, obtain the preceding traffic conditions of the preceding traffic intersection corresponding to the current direction of travel, and the following traffic conditions of the following traffic intersection corresponding to the current direction of travel; Generate a traffic control signal corresponding to the traffic direction according to the traffic density of the traffic objects of the traffic type in the current time period, the preceding traffic situation of the preceding traffic intersection corresponding to the traffic direction, and the following traffic situation of the following traffic intersection corresponding to the traffic direction, wherein the traffic control signal is used to guide traffic in the intersection area; The passing objects include: at least one of vehicles and pedestrians in the multi-intersection traffic area; The object identification information includes at least one of vehicle identification information of each vehicle and pedestrian identification information of each pedestrian; The determining the passage information of each passage object according to the object identification information includes: Determine the vehicle traffic information of each vehicle according to the vehicle identification information, and / or, Determine pedestrian traffic information of each pedestrian according to the pedestrian identification information; The vehicle traffic information includes: at least one of the traffic direction, traffic speed and traffic type of the vehicle; the vehicle traffic type includes: at least one of the traffic type of small vehicles, the traffic type of medium vehicles, the traffic type of large vehicles and the traffic type of non-motor vehicles; the pedestrian traffic information includes: at least one of the traffic direction, traffic speed and traffic type of pedestrians; For each traffic type in each traffic direction, determining the traffic density of traffic objects of the traffic type in the current time period includes: For each vehicle type in each direction, the number of vehicles in the current time period corresponding to each vehicle type in each direction is obtained; Determine the traffic density of vehicles corresponding to each vehicle traffic type in each traffic direction in the current time period according to the traffic number of the vehicles and the average traffic speed of the vehicles; and / or, For each pedestrian type in each direction, the number of pedestrians in the current time period corresponding to each pedestrian type in each direction is obtained; Determine the pedestrian density corresponding to each pedestrian traffic type in each traffic direction in the current time period according to the number of pedestrians and the average traffic speed of the pedestrians; The calculation formula of the vehicle traffic density in the current period is expressed as: The calculation formula of the pedestrian traffic density in the current time period is expressed as: The generating of the traffic control signal corresponding to the passage direction according to the passage density of the passage objects of the passage type in the current time period, the preceding passage condition of the preceding traffic entrance corresponding to the passage direction, and the following passage condition of the following traffic entrance corresponding to the passage direction comprises: When it is determined that the vehicles corresponding to the small vehicle traffic type in the traffic direction are in a congested state, the duration of the no-travel signal corresponding to the traffic direction is shortened to a preset first duration value; When it is determined that the vehicles corresponding to the medium-sized vehicle traffic type in the traffic direction are in a congested state, the duration of the no-entry signal corresponding to the traffic direction is shortened to a preset second duration value; When it is determined that the vehicles corresponding to the large vehicle traffic type in the traffic direction are in a congested state, the duration of the no-travel signal corresponding to the traffic direction is shortened to a preset third duration value; When it is determined that the vehicles corresponding to the non-motor vehicle traffic type in the traffic direction are in a congested state, the duration of the no-travel signal corresponding to the traffic direction is shortened to a preset fourth duration value; And, when it is determined that the preceding traffic intersection corresponding to the travel direction of the vehicle is in a congested state, the duration of the no-entry signal corresponding to the travel direction is shortened to a preset fifth duration value, and the duration of the clear signal corresponding to the travel direction is extended to a preset sixth duration value; When it is determined that the rear traffic intersection corresponding to the traffic direction in which the vehicle is located is in a congested state, the duration of the no-entry signal corresponding to the traffic direction is extended to a preset sixth duration value, and the duration of the release signal corresponding to the traffic direction is shortened to a preset fifth duration value; When it is determined that the preceding traffic intersection corresponding to the direction of travel where the pedestrian is located is in a congested state, the duration of the no-entry signal corresponding to the direction of travel is shortened to a preset seventh duration value, and the duration of the clear signal corresponding to the direction of travel is extended to a preset eighth duration value; When it is determined that the traffic intersection behind the pedestrian's direction of travel is in a congested state, the duration of the no-entry signal corresponding to the direction of travel is extended to a preset eighth duration value, and the duration of the release signal corresponding to the direction of travel is shortened to a preset seventh duration value.

2. The traffic signal control method applied to an intersection according to claim 1, characterized in that: The method further comprises: Determine whether the traffic density of vehicles corresponding to the small vehicle traffic type in each traffic direction in the current time period is greater than or equal to a preset first density threshold; When it is determined that the traffic density of vehicles corresponding to the small vehicle traffic type in each traffic direction in the current time period is greater than or equal to the first density threshold, it is determined that the vehicles corresponding to the small vehicle traffic type in the traffic direction are in a congested state; and / or, Determine whether the traffic density of vehicles corresponding to the medium-sized vehicle traffic type in each traffic direction in the current time period is greater than or equal to a preset second density threshold; When it is determined that the traffic density of vehicles corresponding to the medium-sized vehicle traffic type in each traffic direction in the current time period is greater than or equal to the second density threshold, it is determined that the vehicles corresponding to the medium-sized vehicle traffic type in the traffic direction are in a congested state; and / or, Determine whether the traffic density of vehicles corresponding to the large vehicle traffic type in each traffic direction in the current time period is greater than or equal to a preset third density threshold; When it is determined that the traffic density of vehicles corresponding to the large vehicle traffic type in each traffic direction in the current time period is greater than or equal to the third density threshold, it is determined that the vehicles corresponding to the large vehicle traffic type in the traffic direction are in a congested state; and / or, Determine whether the traffic density of vehicles corresponding to the non-motor vehicle traffic type in each traffic direction in the current time period is greater than or equal to a preset fourth density threshold; When it is determined that the traffic density of vehicles corresponding to the non-motor vehicle traffic type in each traffic direction in the current time period is greater than or equal to the fourth density threshold, it is determined that the vehicles corresponding to the non-motor vehicle traffic type in the traffic direction are in a congested state.

3. The traffic signal control method applied to an intersection according to any one of claims 1-2, characterized in that: For each traffic direction, obtaining the preceding traffic situation of the preceding traffic intersection corresponding to the current traffic direction, and the following traffic situation of the following traffic intersection corresponding to the current traffic direction, includes: For each vehicle in each direction of travel, obtain the preceding travel time of each vehicle at the preceding traffic intersection corresponding to the travel direction, and the following travel time of each vehicle at the following traffic intersection corresponding to the travel direction; and / or, For each pedestrian in each direction of travel, obtain the current length of time each pedestrian has been in the front traffic intersection corresponding to the travel direction, and the current length of time each pedestrian has been in the rear traffic intersection corresponding to the travel direction; The method further comprises: The average length of time for the vehicle to pass in front and the average length of time for the vehicle to pass behind are calculated based on the length of time for the vehicle to pass in front and the length of time for the vehicle to pass behind; and / or, The average length of time that the pedestrian passes in front and the average length of time that the pedestrian passes behind are calculated based on the length of time that all pedestrians pass in front and the length of time that the pedestrian passes behind.

4. The traffic signal control method applied to an intersection according to claim 3, characterized in that: The method further comprises: Determine whether the numerical difference between the average duration of the preceding passage and the average duration of the following passage of the vehicle is greater than or equal to a preset first difference threshold; When it is determined that the numerical difference between the average duration of the preceding passage of the vehicle and the average duration of the succeeding passage of the vehicle is greater than or equal to the first difference threshold, determining that the preceding traffic intersection corresponding to the passage direction of the vehicle is in a congested state; When it is determined that the numerical difference between the average duration of the preceding passage and the average duration of the following passage of the vehicle is not greater than the first difference threshold, it is determined whether the numerical difference between the average duration of the preceding passage and the average duration of the following passage of the vehicle is less than or equal to a preset second difference threshold; When it is determined that the numerical difference between the average duration of the preceding passage and the average duration of the succeeding passage of the vehicle is less than or equal to the second difference threshold, determining that the succeeding traffic intersection corresponding to the passage direction of the vehicle is in a congested state; and / or, Determine whether the numerical difference between the average duration of the pedestrian's preceding passage and the average duration of the pedestrian's following passage is greater than or equal to a preset third difference threshold; When it is determined that the numerical difference between the average duration of the pedestrian's preceding passage and the average duration of the pedestrian's following passage is greater than or equal to the third difference threshold, determining that the preceding traffic intersection corresponding to the passage direction of the pedestrian is in a congested state; When it is determined that the numerical difference between the average duration of the pedestrian's preceding passage and the average duration of the pedestrian's following passage is not greater than the third difference threshold, it is determined whether the numerical difference between the average duration of the pedestrian's preceding passage and the average duration of the pedestrian's following passage is less than or equal to a preset fourth difference threshold; When it is determined that the numerical difference between the average duration of the pedestrian's preceding passage and the average duration of the pedestrian's following passage is less than or equal to the fourth difference threshold, it is determined that the following traffic intersection corresponding to the passage direction of the pedestrian is in a congested state.

5. A traffic signal control system applied to an intersection, characterized in that: The system comprises: An acquisition module, used to acquire object identification information of each passing object in a multi-intersection traffic area; A determination module, configured to determine the passage information of each passing object according to the object identification information acquired by the acquisition module, wherein the passage information includes: the passage direction and the passage type of each passing object; For each target traffic object corresponding to each traffic type in each traffic direction, the determination module is further used to determine the traffic density of the target traffic object in the current time period; For each traffic direction, the acquisition module is further used to acquire the traffic conditions of the preceding traffic intersection corresponding to the current traffic direction, and the traffic conditions of the following traffic intersection corresponding to the current traffic direction; A generating module, configured to generate a traffic control signal corresponding to the travel direction according to the travel density of the target travel object determined by the determining module in the current time period, the preceding traffic situation of the preceding traffic intersection corresponding to the travel direction acquired by the acquiring module, and the following traffic situation of the following traffic intersection corresponding to the travel direction, wherein the traffic control signal is used to guide traffic in the intersection area; The passing objects include: at least one of vehicles and pedestrians in the multi-intersection traffic area; The object identification information includes at least one of vehicle identification information of each vehicle and pedestrian identification information of each pedestrian; The specific method in which the determination module determines the passing information of each passing object according to the object identification information is: Determine the vehicle traffic information of each vehicle according to the vehicle identification information, and / or, Determine pedestrian traffic information of each pedestrian according to the pedestrian identification information; The vehicle traffic information includes: at least one of the traffic direction, traffic speed and traffic type of the vehicle; the vehicle traffic type includes: at least one of the traffic type of small vehicles, the traffic type of medium vehicles, the traffic type of large vehicles and the traffic type of non-motor vehicles; the pedestrian traffic information includes: at least one of the traffic direction, traffic speed and traffic type of pedestrians; The specific method in which the determination module determines the traffic density of the traffic objects of each traffic type in each traffic direction in the current time period is: For each vehicle type in each direction, the number of vehicles in the current time period corresponding to each vehicle type in each direction is obtained; Determine the traffic density of vehicles corresponding to each vehicle traffic type in each traffic direction in the current time period according to the traffic number of the vehicles and the average traffic speed of the vehicles; and / or, For each pedestrian type in each direction, the number of pedestrians in the current time period corresponding to each pedestrian type in each direction is obtained; Determine the pedestrian density corresponding to each pedestrian traffic type in each traffic direction in the current time period according to the number of pedestrians and the average traffic speed of the pedestrians; The calculation formula of the vehicle traffic density in the current period is expressed as: The calculation formula of the pedestrian traffic density in the current time period is expressed as: The specific manner in which the generation module generates the traffic control signal corresponding to the passage direction according to the passage density of the passage objects of the passage type in the current time period, the preceding passage situation of the preceding traffic entrance corresponding to the passage direction, and the following passage situation of the following traffic entrance corresponding to the passage direction is: When it is determined that the vehicles corresponding to the small vehicle traffic type in the traffic direction are in a congested state, the duration of the no-travel signal corresponding to the traffic direction is shortened to a preset first duration value; When it is determined that the vehicles corresponding to the medium-sized vehicle traffic type in the traffic direction are in a congested state, the duration of the no-entry signal corresponding to the traffic direction is shortened to a preset second duration value; When it is determined that the vehicles corresponding to the large vehicle traffic type in the traffic direction are in a congested state, the duration of the no-travel signal corresponding to the traffic direction is shortened to a preset third duration value; When it is determined that the vehicles corresponding to the non-motor vehicle traffic type in the traffic direction are in a congested state, the duration of the no-travel signal corresponding to the traffic direction is shortened to a preset fourth duration value; And, when it is determined that the preceding traffic intersection corresponding to the travel direction of the vehicle is in a congested state, the duration of the no-entry signal corresponding to the travel direction is shortened to a preset fifth duration value, and the duration of the clear signal corresponding to the travel direction is extended to a preset sixth duration value; When it is determined that the rear traffic intersection corresponding to the traffic direction in which the vehicle is located is in a congested state, the duration of the no-entry signal corresponding to the traffic direction is extended to a preset sixth duration value, and the duration of the release signal corresponding to the traffic direction is shortened to a preset fifth duration value; When it is determined that the preceding traffic intersection corresponding to the direction of travel where the pedestrian is located is in a congested state, the duration of the no-entry signal corresponding to the direction of travel is shortened to a preset seventh duration value, and the duration of the clear signal corresponding to the direction of travel is extended to a preset eighth duration value; When it is determined that the traffic intersection behind the pedestrian's direction of travel is in a congested state, the duration of the no-entry signal corresponding to the direction of travel is extended to a preset eighth duration value, and the duration of the release signal corresponding to the direction of travel is shortened to a preset seventh duration value.

6. A traffic signal control system applied to an intersection, characterized in that: The system comprises: A memory storing executable program code; a processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the traffic signal control method applied to an intersection as described in any one of claims 1 to 4.

7. A computer storage medium, characterized in that: The computer storage medium stores computer instructions, and when the computer instructions are called, they are used to execute the traffic signal control method applied to an intersection as described in any one of claims 1-4.

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