Method, device, equipment and medium for controlling traffic signal to execute control scheme

Abstract

The present application discloses a method, device, equipment and medium for controlling a traffic signal to execute a control scheme, so as to realize a smooth, fast and accurate transition of the control scheme of the traffic signal. The method comprises: determining the start time of the transition scheme that the traffic signal needs to execute, wherein the transition scheme comprises: between the first control scheme currently executed by the traffic signal and the second control scheme that needs to be executed, at least one transition scheme that the traffic signal needs to execute; determining the cycle duration of each transition scheme, and for each transition scheme, determining the duration of each phase of the transition scheme according to the cycle duration of the transition scheme, and generating the transition scheme using the duration of each phase of the transition scheme; controlling the traffic signal to execute each transition scheme in sequence at the start time; and when the traffic signal completes the execution of each transition scheme, controlling the traffic signal to execute the second control scheme.

Description

Technical Field

[0001] The present application relates to the field of information technology, and in particular to a method, device, equipment and medium for controlling a traffic signal to execute a control scheme. Background Art

[0002] With the continuous improvement of the level of intelligent urban traffic, intersections, as traffic hubs, have increasingly diverse control strategies for traffic lights, gradually evolving from point control (single intersection control strategy) to line control (single trunk line control) and surface control (multiple trunk line control). As a major traffic artery, coordinated control is a widely implemented and effective control strategy. Traffic demand varies greatly at different times of the day, and traffic lights at each intersection on the trunk line need to be configured with multiple control schemes for switching. Summary of the invention

[0003] The embodiments of the present application provide a method, apparatus, device and medium for controlling a traffic signal to execute a control scheme, which are used to achieve a smooth, fast and accurate transition of the control scheme of the traffic signal by executing a transition scheme in advance.

[0004] A method for controlling a traffic signal to execute a control scheme provided in an embodiment of the present application includes:

[0005] Determine a start time of a transition scheme that the traffic signal needs to execute, wherein the transition scheme includes: between a first control scheme currently executed by the traffic signal and a second control scheme that needs to be executed, at least one transition scheme that the traffic signal needs to execute;

[0006] Determine the cycle duration of each of the transition schemes, and, for each of the transition schemes, determine the duration of each phase of the transition scheme according to the cycle duration of the transition scheme, and generate the transition scheme using the duration of each phase of the transition scheme;

[0007] Control the traffic signal to sequentially execute each of the transition schemes at the start time;

[0008] When the traffic signal completes each of the transition schemes, the traffic signal is controlled to execute the second control scheme.

[0009] The method of the embodiment of the present application determines the start time of the transition scheme between the first control scheme currently executed by the traffic signal and the second control scheme that needs to be executed, and determines the cycle duration of each transition scheme, so that for each transition scheme, according to the cycle duration of the transition scheme, the duration of each phase of the transition scheme can be determined, and the transition scheme is generated using the duration of each phase of the transition scheme; and then the traffic signal can be controlled to execute each transition scheme in sequence at the start time, and when the traffic signal completes the execution of each transition scheme, the traffic signal is controlled to execute the second control scheme, and finally a smooth, fast and precise transition of the control scheme of the traffic signal is achieved, which can ensure that the switching time of the control schemes in different time periods can achieve a coordinated effect. For example, for the green wave trunk line, the green wave effect can be achieved on time after the switching period.

[0010] In some embodiments, determining the start time of the transition scheme that the traffic signal needs to execute includes:

[0011] Determine the start time of the second control scheme according to the phase difference of the second control scheme and the start time of the preset time period to which the second control scheme belongs;

[0012] Based on the start time of the second control scheme, a start time of the transition scheme is determined.

[0013] In some embodiments, determining the start time of the transition scheme based on the start time of the second control scheme includes:

[0014] Determine a time point of a preset time before the start time of the second control scheme;

[0015] At the time point, determining an end time of a current cycle of a first control scheme executed by the traffic signal;

[0016] The start time of the transition scheme is determined according to the end time of the current cycle, the cycle length of the first control scheme, and the start time of the second control scheme.

[0017] In some embodiments, for each of the transition schemes, determining the duration of each phase of the transition scheme according to the cycle duration of the transition scheme includes:

[0018] For each of the transition options described:

[0019] For each phase in the transition scheme, the duration of the phase in the transition scheme is determined by using the ratio of the duration of the phase in the second control scheme to the cycle duration of the second control scheme and the cycle duration of the transition scheme.

[0020] In some embodiments, for each of the transition schemes, determining the duration of each phase of the transition scheme according to the cycle duration of the transition scheme further includes:

[0021] If the duration of the currently determined phase is greater than a first preset threshold, the difference between the duration of the currently determined phase and the first preset threshold is allocated to other phases in the same transition scheme, and the duration of the currently determined phase is made equal to the first preset threshold;

[0022] If the duration of the currently determined phase is less than a second preset threshold, the difference between the second preset threshold and the duration of the currently determined phase is allocated to other phases in the same transition scheme, and the duration of the currently determined phase is made equal to the second preset threshold;

[0023] Wherein, the first preset threshold is greater than the second preset threshold.

[0024] In some embodiments, determining the cycle duration of each transition scheme includes:

[0025] The cycle duration of each transition scheme is determined using the following parameters:

[0026] The maximum cycle duration and the minimum cycle duration of the traffic signal;

[0027] The cycle duration of the first control scheme;

[0028] the cycle duration of the second control scheme;

[0029] A preset periodic change threshold;

[0030] The idle time between the end time of the first control scheme and the start time of the second control scheme.

[0031] In some embodiments, determining the cycle duration of each transition scheme includes:

[0032] Assuming that a transition scheme is executed, the cycle duration x of the transition scheme that satisfies the following first preset condition is solved:

[0033] ;

[0034] ;

[0035] ;

[0036] ;

[0037] Among them, C max Indicates the maximum cycle length, C minIndicates the minimum cycle length, C old represents the cycle length of the first control scheme, C new represents the cycle duration of the second control scheme, T H represents a preset periodic variation threshold; W represents the free time between the end time of the first control scheme and the start time of the second control scheme; , n is the preset value;

[0038] When a solution for x is obtained by traversing the values ​​of k, the obtained solution is used as the cycle duration of the transition solution.

[0039] In some embodiments, determining the cycle duration of each transition scheme further includes:

[0040] When no solution for x can be obtained by traversing the values ​​of k, it is assumed that two transition schemes are executed, and the cycle lengths of the two transition schemes are respectively: x and x+a, and a solution for x that satisfies the following second preset condition is obtained:

[0041] ;

[0042] ;

[0043] ;

[0044] ;

[0045] ;

[0046] ;

[0047] ;

[0048] ;

[0049] When traversing the value of k, and a=-T H , -T H +1, ..., T H When the solution of x is obtained, the cycle lengths of the two transition schemes are determined respectively using the obtained solutions.

[0050] In some embodiments, determining the cycle duration of each transition scheme further includes:

[0051] When traversing the value of k, and a=-T H , -T H +1, ..., T HWhen the value of x cannot be obtained, it is assumed that m transition schemes are executed, where m is an integer greater than or equal to 3, and the cycle lengths of the m transition schemes are respectively: x, x+a, ..., x+(m-1)a, and a solution is obtained for x that satisfies the following third preset condition:

[0052] ;

[0053] ;

[0054] ;

[0055] ;

[0056] ;

[0057] ;

[0058] ;

[0059] ;

[0060] When traversing m=3,4,..., , and a=-T H , -T H +1, ..., T H When the solution of x is obtained, the cycle lengths of the m transition schemes are determined respectively using the obtained solution.

[0061] In some embodiments, determining the cycle duration of each transition scheme further includes:

[0062] When a solution to x cannot be obtained by traversing the values ​​of m, k, and a, the first preset condition, and / or the second preset condition, and / or the third preset condition are adjusted, and x is solved using the adjusted conditions, and so on, until a solution to x is obtained using the adjusted preset conditions, and the obtained solution is used to determine the cycle duration of each transition scheme.

[0063] An embodiment of the present application provides a device for controlling a traffic signal to execute a control scheme, comprising:

[0064] A first unit is used to determine a start time of a transition scheme that needs to be executed by a traffic signal, wherein the transition scheme includes: between a first control scheme currently executed by the traffic signal and a second control scheme that needs to be executed, at least one transition scheme that needs to be executed by the traffic signal;

[0065] The second unit is used to determine the cycle duration of each of the transition schemes, and for each of the transition schemes, determine the duration of each phase of the transition scheme according to the cycle duration of the transition scheme, and generate the transition scheme using the duration of each phase of the transition scheme;

[0066] A third unit is used to control the traffic signal to sequentially execute each of the transition schemes at the start time;

[0067] The fourth unit is used to control the traffic signal to execute the second control scheme when the traffic signal completes executing each of the transition schemes.

[0068] Another embodiment of the present application provides an electronic device, which includes a memory and a processor, wherein the memory is used to store program instructions, and the processor is used to call the program instructions stored in the memory and execute any of the above methods according to the obtained program.

[0069] Another embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable the computer to execute any of the above methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0071] Figure 1 A schematic diagram of the phase difference provided in the embodiment of the present application;

[0072] Figure 2 A schematic diagram of the overall flow of a method for controlling a traffic signal to execute a control scheme provided in an embodiment of the present application;

[0073] Figure 3 A schematic diagram of the time relationship between the control scheme and the transition scheme provided in the embodiment of the present application;

[0074] Figure 4 Schematic diagram of different time periods provided for the embodiments of the present application;

[0075] Figure 5 A schematic diagram of the start time of the transition scheme and the start time of the new scheme provided in the embodiment of the present application;

[0076] Figure 6 A schematic diagram of the cycle durations of m transition schemes provided in an embodiment of the present application;

[0077] Figure 7 A schematic diagram of a specific flow chart of a method for controlling a traffic signal to execute a control scheme provided in an embodiment of the present application;

[0078] Figure 8 A schematic diagram of a process for determining an optimal transition start time provided in an embodiment of the present application;

[0079] Fig. 9 A schematic diagram of a process for calculating the phase duration of each transition scheme provided in an embodiment of the present application;

[0080] Fig.10 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application;

[0081] Fig.11 A schematic diagram of the structure of a device for controlling a traffic signal to execute a control scheme provided in an embodiment of the present application. DETAILED DESCRIPTION

[0082] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0083] The embodiments of the present application provide a method, apparatus, device and medium for controlling a traffic signal to execute a control scheme, which are used to achieve a smooth, fast and accurate transition of the control scheme of the traffic signal by executing a transition scheme in advance.

[0084] Among them, the method and the device, equipment, and medium are based on the same application concept. Since the principles of solving problems by the method and the device, equipment, and medium are similar, the implementation of the device, equipment, medium, and method can refer to each other, and the repeated parts will not be repeated.

[0085] The terms "first", "second", etc. (if any) in the specification and claims of the embodiments of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments described herein can be implemented in a sequence other than the content illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0086] The following examples and embodiments are to be understood as illustrative examples only. Although this specification may refer to "one", "an" or "some" examples or embodiments in several places, this does not mean that each such reference relates to the same example or embodiment, nor does it mean that the feature applies only to a single example or embodiment. Individual features of different embodiments may also be combined to provide other embodiments. In addition, terms such as "including" and "comprising" should be understood as not limiting the described embodiments to consist only of those features that have been mentioned; such examples and embodiments may also include features, structures, units, modules, etc. that are not specifically mentioned.

[0087] The following is a detailed description of each embodiment of the present application in conjunction with the accompanying drawings. It should be noted that the display order of the embodiments of the present application only represents the order of the embodiments, and does not represent the advantages and disadvantages of the technical solutions provided by the embodiments.

[0088] First, the following explanations are given for the technical terms involved in the embodiments of the present application.

[0089] Traffic light: refers to a traffic signal control machine controlled by a microprocessor, which has strong control and communication functions, and its hardware circuit and software design adopt modular design. The body of the traffic light is mainly composed of a control box, a power distribution unit and a cabinet.

[0090] Traffic signal control scheme: referred to as control scheme or scheme, that is, the scheme configured in the traffic signal for controlling the changes of traffic lights, including at least one phase arranged in a preset order, and the duration of each phase.

[0091] Phase: The signal display status of one or more traffic flows that obtain the right of way at the same time is called a phase.

[0092] For example, the following control scheme:

[0093] Go straight east-west for 30 seconds → turn left east-west for 25 seconds → go straight north-south for 30 seconds → turn left north-south for 25 seconds.

[0094] Among them, regarding “going straight from east to west for 30 seconds”: going straight from east to west is one phase; 30 seconds is the duration of this phase.

[0095] The same is true for other phase information and will not be repeated here.

[0096] Cycle: the total duration for a complete operation of the scheme configured in the traffic signal. For example, the cycle of the above scheme = 30+25+30+25=110 seconds.

[0097] Phase difference: Phase difference is also called offset, which can be defined in two ways: absolute phase difference and relative phase difference. In a coordinated control signal system, taking a certain signal as the reference signal, the minimum time difference between the green light start time of the coordinated phase of other signals and the green light start time of the reference signal is called the absolute phase difference. The phase difference is the time difference between the phases starting to be released, so that the release of the phases has a fixed interval. In multi-intersection coordinated control, setting the phase difference between the coordinated phases can achieve the purpose of coordinated control.

[0098] The phase difference described in the embodiment of the present application is calculated as follows: the start time of the current cycle is converted into seconds, and then the obtained value is taken as the remainder of the cycle length (in seconds). For example: the cycle starts at 01:02:03 seconds, and the cycle length is 100 seconds, then the phase difference is: (1×3600+2×60+3)%100=23 (seconds).

[0099] For another example, see Figure 1 , assuming that the cycle length of the currently running control scheme is 100 seconds and the phase difference is 30 seconds, then the phase of the cycle start time of the currently running control scheme, and the time difference of 0:0:0:0, that is, the phase difference of the currently running control scheme.

[0100] Coordination scheme: a signal scheme with phase difference. For example, for a target road section with multiple intersections, by configuring appropriate phase difference for each intersection of the target road section, vehicles can pass through each intersection with green lights all the way, which is the green wave scheme.

[0101] Uncoordinated scheme: usually refers to a signal scheme without phase difference. That is, for a target road section including multiple intersections, if the uncoordinated scheme is currently being implemented, there is no connection between the intersections on the road.

[0102] Transition plan: The scheme configured for traffic signals is generally a timing control scheme, that is, the green light time in each direction is fixed during a fixed period (such as the morning rush hour 07:00~09:00). The control scheme of traffic signals can be divided into multiple time periods according to the different traffic flows throughout the day, such as 00:00~07:00, 07:00~09:00, 09:00~17:00, 17:00~19:00, 19:00~24:00. The control scheme of traffic lights in each period is different. For example, during the morning rush hour (07:00~09:00), the traffic flow is large, the cycle time is longer, and the green light time in each direction is longer.

[0103] If the plan for time period 1 (for example, 00:00~07:00) is inconsistent with the plan for time period 2 (for example, 07:00~09:00), and the plan for time period 2 is configured with a phase difference, then when the plan is switched at 07:00, the plan for time period 2 cannot be directly run due to the phase difference. Therefore, the embodiment of the present application proposes that before starting to run the plan for time period 2, a transition plan needs to be run before the plan for time period 2 can be run.

[0104] Especially for the switching control of the coordination scheme, the scheme transition is required to achieve the expected coordination effect (such as green wave coordination). Therefore, how to quickly and punctually transition to the coordination scheme and reduce the coordination time wasted in the scheme transition is an important problem faced by traffic signal control. Of course, the transition scheme provided in the embodiment of the present application is not only for the switching control of the coordination scheme, but can be applied to the switching control of any control scheme of the traffic signal.

[0105] See also Figure 2 , a method for controlling a traffic signal to execute a control scheme provided by an embodiment of the present application includes:

[0106] S201, determining a start time of a transition scheme that a traffic signal needs to execute, wherein the transition scheme includes: between a first control scheme currently executed by the traffic signal and a second control scheme that needs to be executed, at least one transition scheme that the traffic signal needs to execute;

[0107] For example, see Figure 3 , between the first control scheme currently executed by the traffic signal and the second control scheme to be executed, the embodiment of the present application proposes to execute one or more transition schemes.

[0108] It should be noted that the first control scheme and the second control scheme described in the embodiment of the present application may be the same control scheme or different control schemes. That is to say, the first control scheme and the second control scheme may belong to the same time period and be the control schemes corresponding to the same time period; or, the first control scheme and the second control scheme may belong to different time periods and be the control schemes corresponding to different time periods.

[0109] For example Figure 4 As shown, the first control scheme currently executed by the traffic signal belongs to the first time period, and the second control scheme to be executed by the traffic signal belongs to the second time period.

[0110] That is to say, the method described in the embodiment of the present application is applicable to the following scenarios:

[0111] Scenario 1: Switching of control schemes of traffic signals at different time periods, i.e. switching between old and new schemes, requires executing the control scheme corresponding to the next time period of the current time period;

[0112] Scenario 2: Change of the control scheme of the traffic signal in the current period, that is, adjusting the old scheme, but continuing to implement the control scheme corresponding to the current period;

[0113] Scenario 3: Traffic signal timing, i.e. calibration time. After adjusting the reference time of the traffic signal, continue to execute the control plan corresponding to the current period.

[0114] S202, determining the cycle duration of each of the transition schemes, and, for each of the transition schemes, determining the duration of each phase of the transition scheme according to the cycle duration of the transition scheme, and generating the transition scheme using the duration of each phase of the transition scheme;

[0115] The generation of the transition scheme includes determining the order of each phase in the transition scheme and the duration of each phase, for example:

[0116] Go straight east-west for 30 seconds → turn left east-west for 25 seconds → go straight north-south for 30 seconds → turn left north-south for 25 seconds.

[0117] S203, controlling the traffic signal to sequentially execute each of the transition schemes at the start time;

[0118] That is, if there are multiple transition schemes, the traffic signal is controlled to execute each transition scheme in sequence at the start time of the first transition scheme according to the execution order of the multiple transition schemes.

[0119] S204: When the traffic signal completes executing each of the transition schemes, control the traffic signal to execute the second control scheme.

[0120] The following uses the second control scheme, which is a coordination scheme, as an example for explanation.

[0121] The technical solution provided by the embodiment of the present application can independently transition the coordination scheme for each intersection of the trunk line, and finally achieve the transition of the entire trunk line; and the trunk line can transition on time, for example, the trunk line needs to run the coordination scheme at time t, then the embodiment of the present application can transition before time t, and the transition is completed at time t, and the new coordination scheme starts to run; in addition, the embodiment of the present application can achieve the purpose of smooth transition and reduce the impact on the traffic flow at the intersection by constraining the periodic variation amplitude of each transition scheme. The embodiment of the present application supports the scheme transition of various scenarios, for example: switching from a non-coordinated scheme to a coordinated scheme, switching from a coordinated scheme to another coordinated scheme, and so on.

[0122] In an embodiment of the present application, the first control scheme currently being executed may also be referred to as an old scheme, which may be a coordinated scheme or an uncoordinated scheme; the second control scheme that needs to be executed next may be referred to as a new scheme, which may be a coordinated scheme (of course, it may also be an uncoordinated scheme), and a transition scheme needs to be executed between the new scheme and the old scheme.

[0123] Before the coordination scheme (i.e., the new scheme) is run, the embodiment of the present application models the transition scheme (i.e., the subsequent process of solving the cycle duration of the transition scheme) based on the new and old schemes and the operating status of the signal machine, and issues it, and finally completes the scheme transition quickly, smoothly, and on time, and runs the new coordination scheme. The operating status of the signal machine, such as the operating status of the signal machine every second, includes: in the current operating cycle, how many seconds the scheme has run, the current operating phase, how many seconds the green light and yellow light have run, and other information.

[0124] The modeling of transition plans includes:

[0125] Based on the operating parameters of the traffic signal at the intersection, the following parameter information is determined:

[0126] The cycle length of the control scheme currently running, that is, the cycle C of the old scheme old ;

[0127] The duration of the coordination plan to be issued, that is, the cycle of the new plan C new ;

[0128] The maximum cycle time of the signal scheme C max , minimum cycle length C min ;

[0129] The end time of the control scheme of the current signal machine operation, that is, the end time of the old scheme T i, the end time of the old plan can be obtained through the running status of the signal light;

[0130] The start time of the time period to which the coordination plan to be issued belongs, that is, the time period switching time T begin ; Assume that t is the start time of the coordination scheme to be issued, and the phase difference of the coordination scheme is Offset, then t=T begin + Offset; if Offset is zero, then t=T begin ;

[0131] The preset advance transition time is n minutes, that is, the optimal transition start time is determined starting from time point tn, for example Figure 3 as shown in .

[0132] The free time W between the end time of the old plan and the start time of the new plan;

[0133] The period change threshold T between the new and old schemes H (It is used to constrain the periodic variation range of each transition scheme, so as to achieve the purpose of smooth transition and reduce the impact on traffic flow at the intersection).

[0134] in:

[0135] Regarding the advance transition time, assuming that the green wave effect needs to be achieved at t=09:00:00, that is, to run the set coordination plan, it is necessary to determine the optimal transition start time n minutes before time t, and start executing the transition plan at the determined optimal transition start time to ensure that the transition can be completed at time t.

[0136] For example, if the old solution has a phase difference of 20 seconds and a cycle length of 60 seconds, and the new solution has a phase difference of 0 seconds and a cycle length of 60 seconds, then the cycle needs to end at time t and the new solution needs to run at the first second. Since the old solution has a phase difference of 20, if no early transition is performed, the cycle end time is 09:00:20. Therefore, a transition needs to be performed before time t. One 40-second cycle solution can be run (i.e., the early transition time is 40 seconds), or two 50-second cycle solutions (i.e., the early transition time is 1 minute and 40 seconds). Then, the new solution can be run at time t with a phase difference of 0.

[0137] Then, regarding the free time W between the end time of the old plan and the start time of the new plan, as above, assuming that the switching time between the old and new plans is 09:00:00, if the current cycle end time is 08:58:20 (phase difference is 20), if no transition is performed and the cycle duration of the new plan is directly run, then the end time of the old plan is: 08:58:20+60s+60s=09:00:20, the phase difference is 20, and there is a deviation of 20 seconds from the phase difference of 0 of the new plan, that is, W=W%C new, which means that if the transition scheme is not run, the phase difference (for example, 20) after the new scheme is run will deviate from the expected phase difference (for example, 0) (for example, 20).

[0138] In some embodiments, in order to comply with the principle of smooth transition between the new and old schemes, after each scheme switch, the period change between the new and old schemes does not exceed T H , that is, the difference between the period of the new solution and the period of the old solution does not exceed T H , so there are situations where one transition is completed, two transitions are completed, or multiple transitions are required.

[0139] Regarding the number of transitions, that is, the number of transition plans that need to be executed, assuming that the switching time between the old and new plans is 09:00:00, if the cycle end time of the current plan is 08:58:20 (the phase difference is 20). If the transition is completed once, the transition period is 40s, that is, 08:58:20+40s to start the new plan; if the transition is completed twice, the transition period is 50s, that is, 08:58:20+50s+50s to start the new plan. However, due to preset constraints, such as the preset minimum cycle value of 45s, it is impossible to transition in one time, and multiple transitions are required. The following are examples:

[0140] About a transition:

[0141] Assume that only one transition scheme needs to be executed, and the cycle duration of the transition scheme is x, for example, the above 40 s is the cycle duration of the transition scheme, that is, after the old scheme is run, a transition scheme with a cycle of 40 seconds is run, that is, the transition is completed and the new scheme is started.

[0142] Then, x needs to satisfy the following first precondition:

[0143] Condition 1: ;

[0144] Condition 2: ;

[0145] Condition 3: ;

[0146] Condition 4: .

[0147] Among them, condition 1 is the constraint of the maximum and minimum cycle duration of the traffic signal. Since the traffic lights in each direction cannot be increased or decreased infinitely, it is necessary to ensure the crossing time of pedestrians and motor vehicles, so it is necessary to add such constraints.

[0148] Regarding conditions 2 and 3: The cycle lengths of the two consecutively running schemes cannot differ too much to ensure the smooth operation of the signal machine. That is, the cycle lengths of the new and old schemes and the transitional scheme cannot deviate too much.

[0149] Regarding condition 4: When k=0, it means that after one transition cycle, the transition phase difference is exactly the phase difference of the new scheme. k>0 means that after one transition cycle, the switching time is not reached (such as 09:00:00 in the above example), and the transition is completed in advance. It is necessary to run k transition schemes to reach the switching time of the coordinated scheme.

[0150] Then, the solution for x is:

[0151] According to the order of k value from small to large, traverse in sequence , determine whether x has a solution. If so (i.e., the solution satisfies all the conditions in the first preset condition above), then If there is no solution, the second transition is performed to determine the cycle length of the transition solution.

[0152] Among them, the maximum value of k is , because the transition is performed n minutes in advance, and the reserved time is 60 times n. Therefore, if k is greater than this value, the transition cannot be completed within the reserved time.

[0153] About the secondary transition:

[0154] Assuming that two transition schemes need to be executed, the cycle lengths of the two transition schemes are x and x+a respectively, where x+a is an integer and a is also an integer, the following second preset condition needs to be met:

[0155] ;

[0156] ;

[0157] ;

[0158] ;

[0159] ;

[0160] ;

[0161] ;

[0162] .

[0163] Then, the solution for x is:

[0164] For example, you can traverse the values ​​of k and a in ascending order. and a=-T H , -T H +1, ..., T H, where T H is a preset value. Specifically, for example, when k=0, traverse a=[-T H , -T H +1, ..., T H ], when k=1, traverse a=[-T H , -T H +1, ..., T H ]… and so on, and finally determine whether x has a solution. If there is a solution (that is, the solution of x satisfies all the conditions in the second preset condition above), then the cycle durations of the two transition schemes can be determined to be x and x+a respectively. If there is no solution, then the process of solving the cycle duration of the transition scheme with more transitions (more than three times) is performed.

[0165] More transitions:

[0166] Assume that more than three transitions are required, that is, m (m is greater than or equal to 3) transition schemes need to be executed, and the cycle lengths of the m transition schemes are x, x+a, ..., x+(m-1)a, respectively, then the following third preset condition needs to be met:

[0167] ;

[0168] ;

[0169] ;

[0170] …

[0171] ;

[0172] ;

[0173] ;

[0174] ;

[0175] .

[0176] Then, the solution for x is:

[0177] For example, we can traverse m=3, 4, ..., in the order of k, m, and a from small to large.

[0178] and a=-T H , -T H +1, ..., T H, where m, k, and a are used in any combination, that is, traversing the combination of each value of m, k, and a to determine whether x has a solution. If there is a solution (that is, the solution of x satisfies each condition in the third preset condition above), it can be determined that the cycle duration of the transition scheme executed m times is x, x+a, ..., x+(m-1)a respectively.

[0179] Finally, regarding the scenario where x has no solution:

[0180] If there is no solution for x in the above process of solving x, one or more of the above constraints of the transition scheme model can be adjusted, that is, the first preset condition, and / or the second preset condition, and / or the third preset condition can be adjusted, and the adjusted conditions can be used to perform the above process of solving x again to solve x, and so on, until a solution for x is obtained using the adjusted preset conditions, and the obtained solution can be used to determine the cycle duration of each transition scheme (at least one transition scheme).

[0181] Specifically, for example, the values ​​of the parameters in the above conditions are adjusted, for example:

[0182] T H =T H +i·10, i=1,2,3,…

[0183] Then, try to solve x again in the order of single transition, double transition, and multiple transitions.

[0184] If there is still no solution, one or more of the above constraints of the transition solution model are further relaxed, for example:

[0185] C max =C max +i·10, i=1,2,3,…

[0186] Alternatively, you can also consider adjusting the maximum period, for example, initially setting the minimum period C min , Maximum cycle C max are 50 and 60 respectively, then the maximum period C max The constraint can be changed to 70.

[0187] Then, try to solve x again in the order of single transition, double transition, multiple transitions, and so on, until a solution for x is found.

[0188] In some embodiments, determining a start time of a transition scheme that a traffic signal needs to execute includes:

[0189] Determine the start time of the second control scheme according to the phase difference of the second control scheme and the start time of the preset time period to which the second control scheme belongs;

[0190] Based on the start time of the second control scheme, a start time of the transition scheme is determined.

[0191] For example: See Figure 5 , the phase difference of the second control scheme is Offset, and the start time of the preset time period of the second control scheme is T begin , then the start time of the second control scheme is t=T begin + Offset.

[0192] In some embodiments, determining the start time of the transition scheme based on the start time of the second control scheme includes:

[0193] Determine a time point (e.g., time tn) that is a preset time (e.g., n minutes) before the start time of the second control scheme;

[0194] At the time point, determining an end time (for example, represented as T1) of a current cycle of the first control scheme executed by the traffic signal;

[0195] The start time of the transition scheme is determined according to the end time of the current cycle, the cycle length of the first control scheme, and the start time of the second control scheme.

[0196] For example, if it is determined that after T1, i-1 first control schemes are executed, then the transition scheme is started. If i first control schemes are executed after T1, the transition end time will exceed the start time t of the second control scheme, that is, see Figure 5 , T1+(i-1)C old is the optimal transition start time.

[0197] Further, for example, if m transition schemes need to be executed, see Figure 6 , from T1+(i-1)C old At the beginning, after executing m transition schemes, the second control scheme is executed.

[0198] In some embodiments, for each of the transition schemes, determining the duration of each phase of the transition scheme according to the cycle duration of the transition scheme includes:

[0199] For each of the transition options described:

[0200] For each phase in the transition scheme, the duration of the phase in the transition scheme is determined by using the ratio of the duration of the phase in the second control scheme to the cycle duration of the second control scheme and the cycle duration of the transition scheme.

[0201] For example: for any transition scheme i, for any phase j in the transition scheme, if the duration of the phase in the second control scheme is P j,new , the cycle length of the second control scheme is C new , the cycle length of this transition scheme is C i , the duration P of the phase j in the transition scheme i j for:

[0202] .

[0203] In some embodiments, for each of the transition schemes, determining the duration of each phase of the transition scheme according to the cycle duration of the transition scheme further includes:

[0204] If the duration of the currently determined phase is greater than a first preset threshold (e.g., maximum green), the difference between the duration of the currently determined phase and the first preset threshold is allocated to other phases in the same transition scheme, and the duration of the currently determined phase is made equal to the first preset threshold;

[0205] If the duration of the currently determined phase is less than a second preset threshold (e.g., minimum green), the difference between the second preset threshold and the duration of the currently determined phase is allocated to other phases in the same transition scheme, and the duration of the currently determined phase is made equal to the second preset threshold;

[0206] Wherein, the first preset threshold is greater than the second preset threshold.

[0207] See also Figure 7 , the transition of the coordination solution provided in the embodiment of the present application specifically includes:

[0208] S701: Determine the optimal transition start time.

[0209] See also Figure 8 , step S701 specifically includes:

[0210] S801, determining the phase difference of the new solution;

[0211] S802, determining the start time of the time period to which the new plan belongs;

[0212] S803, determining the start time of the new plan;

[0213] For example: The start time of the coordinated plan (i.e. the new plan) is t=T begin + Offset;

[0214] Among them, T begin is the start time of the time period to which the coordination scheme belongs, and Offset is the coordination time difference (i.e., phase difference) of the coordination scheme.

[0215] For example, the period from 07:00 to 09:00 is the first period, and the control scheme executed in this period is the first control scheme; the period from 09:00 to 17:00 is the second period, and the control scheme executed in this period is the second control scheme; if the current period is the first period, and the transition scheme to be executed belongs to the second period, then the start time of the second period is T begin It is 09:00. If the phase difference Offset configured for the transition scheme to be executed is 20 seconds, the start time t of the transition scheme is 09:00:20.

[0216] S804, determining the time point n minutes before t;

[0217] That is, determine the time point of the preset time before the start time of the new plan;

[0218] That is, at a time point n minutes before t, the start time of the transition plan is determined, that is, step S805 is executed.

[0219] S805, at the time point, start initializing i=1;

[0220] In addition, the following parameters need to be obtained to determine the optimal transition start time:

[0221] The cycle duration of the current operation plan C old ;

[0222] The cycle time of the coordination plan to be issued C new ;

[0223] Based on the minimum green of each phase of the coordination scheme to be issued (the minimum green is the minimum duration of a green light signal), the minimum cycle duration C of the coordination scheme to be issued is calculated. min ; For example, directly sum the minimum green of each phase and use the sum as C min ;

[0224] Based on the maximum green of each phase of the coordination scheme to be issued (the maximum green is the maximum duration of a green light signal), the maximum cycle duration C of the coordination scheme to be issued is calculated. max For example, directly sum the maximum green values ​​of each phase and use the sum as C max .

[0225] S806, assuming that after the current cycle of the current old solution ends, the i-th cycle begins to transition;

[0226] S807, calculate transition end time T i ;

[0227] S808, judge Ti Is it less than t? If so, execute step S809; otherwise, execute step S810.

[0228] S809. Let i=i+1;

[0229] S810: Determine the (i-1)th cycle execution end time after the current cycle of the current old solution ends, which is the start time of the transition solution.

[0230] Specifically, for example, if the phase difference of the new solution is zero, then it can be obtained from T begin -n time starts, for example: if T begin If the time is 09:00 and n is 5 minutes, then the transition plan trial calculation starts from 08:55. Suppose the end time of the current cycle of the old plan currently running by the signal is T1, then the end time of the transition plan is T i The calculation process includes:

[0231] If the current cycle of the old solution ends, the transition will be carried out directly, that is, T i = T1, conduct transition scheme modeling and solution (i.e. the above process of solving x);

[0232] If the current cycle of the old solution ends, the old solution will continue to run for one cycle, and then transition will be performed, that is, T i =T1+C old , model and solve the transition scheme;

[0233] If the current cycle of the old solution ends, the old solution will continue to run for 2 cycles, and then transition will be performed, that is, T i =T1+2C old , model and solve the transition scheme;

[0234] …

[0235] Until there is no transition solution.

[0236] Assume that after the current cycle of the old solution ends, i old solutions are run and there is no solution for the transition solution, then determine T1+(i-1)C old is the optimal transition start time, and records the modeling and solution results: x, x+a,…, x+(m-1)a.

[0237] Special scenario: If the old scheme currently in operation is modified (i.e., scenario 2 above), or the signal is timed (i.e., scenario 3 above), there is a T begin When the time is less than T1, that is, the currently running scheme and the next scheme to be run belong to the same period and are both control schemes corresponding to the same period, so T beginIf it is less than T1, there is no need to traverse the trial calculation (i.e., there is no need to consider the phase difference of the next scheme to be run), and the transition time of the new scheme is directly set to the end time of the current cycle of the old scheme, that is, T i = T1.

[0238] For example: before time t, the phase difference of the old solution is 20, and the cycle length is 60. After time t, the phase difference of the new solution is 0, and the cycle length is 60. The switching time between the old and new solutions is 09:00:00. If the current cycle ends at 08:58:20 (phase difference is 20). Assuming that two transitions are required, and the cycle length of each transition is 50s, then: 08:58:20+50s+50s=09:00:00. Therefore, the transition start time is 08:58:20, and the transition end time is 09:00:00.

[0239] S702: Determine the cycle duration and phase duration of the transition solution.

[0240] See also Fig. 9 In some embodiments, step S702 specifically includes:

[0241] S901. Determine the cycle duration C of each transition scheme i .

[0242] For example, based on step S701, the cycle durations of various transition schemes are:

[0243] C1= x、C2= x +a,……,C m-1 =x + (m-1)a.

[0244] S902, initialize i=1;

[0245] S903、C i Allocate phase duration proportionally;

[0246] That is to say, for each transition scheme, the cycle length C of the transition scheme is i , allocated to each phase of the transition scheme according to the proportion of each phase time in the coordination scheme to the cycle length of the coordination scheme, where i=1,2,…,m-1.

[0247] For example, for each transition scheme, if the period duration of the transition scheme is 200 seconds, the coordination scheme has four phases, and the period duration of the coordination scheme is 100 seconds, then the duration of each phase of the transition scheme is P j :

[0248]

[0249] Wherein, j represents the phase number of the current transition scheme, such as the east straight phase, the west straight phase, etc. For example, if the coordination scheme has four phases, then j=0,1,2,3.

[0250] P j,new Indicates the phase duration of the coordination solution to be issued.

[0251] Assume P j,new is 25 seconds, then the duration of each phase of the transition scheme is P j It's 50 seconds.

[0252] S904, determine whether the duration of the currently determined phase is greater than the maximum green or less than the minimum green, if so, execute step S905, otherwise, execute step S906.

[0253] S905, the excess portion is distributed to other phases in proportion;

[0254] S906, combining the durations of each phase according to the order of each phase to generate a transition plan;

[0255] Among them, the maximum green is a constraint condition set inside the signal machine, that is, it needs to be met. If it is exceeded, the excess time needs to be added to other phases to ensure that the entire cycle length is the transition cycle length. That is:

[0256] If P j Greater than P j,max , then P j,max -P j Allocate to other phases according to the proportion of other phase time; and let P j Equal to P j,max , where P j,max Indicates maximum green; for example, P j It is 50 seconds. j,max is 40 seconds, then P j,max -P j The difference is 10 seconds, which is evenly distributed to other phases.

[0257] If P j Less than P j,min , then P j,min -P j Allocate to other phases according to the proportion of other phase time; and let P j Equal to P j,min , where P j,min Indicates minimum green.

[0258] For each transition scheme, the execution order of each phase in the transition scheme is determined, and finally the transition scheme is obtained by combining the order and duration of each phase in the transition scheme.

[0259] For example, for each transition plan, the phase release order of the old plan or the new plan can be combined into the transition plan, that is, the release order of the intersection phase (that is, the traffic light), for example: go straight from the east, go straight from the west → turn left from the east, turn left from the west → go straight from the south, go straight from the north → turn left from the south, turn left from the north.

[0260] S907: Determine whether all transition plans have been generated. If yes, execute step S909; otherwise, execute step S908.

[0261] S908, let i=i+1;

[0262] S909: Determine that the transition solution calculation is completed.

[0263] That is to say, the duration of each phase of each transition scheme is calculated in sequence, and finally the cycle duration and phase duration of each transition scheme are determined.

[0264] S703: Control the traffic signal to execute the transition plan.

[0265] That is, the traffic signal is controlled to start the transition scheme at the time T1+(i-1)C determined in step S701. old , and run each transition plan in the order of each transition plan.

[0266] S704: Control the traffic signal to execute the coordination plan.

[0267] After all transition plans have been completed, the coordination plan (i.e., the new plan) can be run by controlling the traffic signal.

[0268] In summary, the embodiment of the present application provides a modeling and solving process of the transition scheme model. The transition scheme model models and solves the primary transition, the secondary transition, and the multiple transitions in sequence, which not only ensures the smooth transition of the new scheme, but also takes into account the rapid transition of the new scheme, and the transition model can support multiple scenarios: scheme switching, scheme optimization and adjustment, and signal light timing. In terms of the accuracy of the transition scheme, the embodiment of the present application first calculates the optimal transition moment before the time period switching to obtain the optimal transition moment, and then calculates the period and phase duration of each transition scheme in sequence, so that the coordination effect can be achieved quickly and punctually at the time of time period switching. For example, for the green wave trunk line, the green wave effect can be achieved on time after the switching time period.

[0269] The following is an introduction to the equipment or device provided in the embodiments of the present application, in which the explanations or examples of technical features that are the same or corresponding to those described in the above method will not be repeated later.

[0270] An electronic device provided in an embodiment of the present application may be any device for controlling a traffic signal. Fig.10, the electronic device includes, for example:

[0271] The processor 600 is used to read the program in the memory 620 and execute the following process:

[0272] Determine a start time of a transition scheme that the traffic signal needs to execute, wherein the transition scheme includes: between a first control scheme currently executed by the traffic signal and a second control scheme that needs to be executed, at least one transition scheme that the traffic signal needs to execute;

[0273] Determine the cycle duration of each of the transition schemes, and, for each of the transition schemes, determine the duration of each phase of the transition scheme according to the cycle duration of the transition scheme, and generate the transition scheme using the duration of each phase of the transition scheme;

[0274] Control the traffic signal to sequentially execute each of the transition schemes at the start time;

[0275] When the traffic signal completes each of the transition schemes, the traffic signal is controlled to execute the second control scheme.

[0276] In some embodiments, determining the start time of the transition scheme that the traffic signal needs to execute includes:

[0277] Determine the start time of the second control scheme according to the phase difference of the second control scheme and the start time of the preset time period to which the second control scheme belongs;

[0278] Based on the start time of the second control scheme, a start time of the transition scheme is determined.

[0279] In some embodiments, determining the start time of the transition scheme based on the start time of the second control scheme includes:

[0280] Determine a time point of a preset time before the start time of the second control scheme;

[0281] At the time point, determining an end time of a current cycle of a first control scheme executed by the traffic signal;

[0282] The start time of the transition scheme is determined according to the end time of the current cycle, the cycle length of the first control scheme, and the start time of the second control scheme.

[0283] In some embodiments, for each of the transition schemes, determining the duration of each phase of the transition scheme according to the cycle duration of the transition scheme includes:

[0284] For each of the transition options described:

[0285] For each phase in the transition scheme, the duration of the phase in the transition scheme is determined by using the ratio of the duration of the phase in the second control scheme to the cycle duration of the second control scheme and the cycle duration of the transition scheme.

[0286] In some embodiments, for each of the transition schemes, determining the duration of each phase of the transition scheme according to the cycle duration of the transition scheme further includes:

[0287] If the duration of the currently determined phase is greater than a first preset threshold, the difference between the duration of the currently determined phase and the first preset threshold is allocated to other phases in the same transition scheme, and the duration of the currently determined phase is made equal to the first preset threshold;

[0288] If the duration of the currently determined phase is less than a second preset threshold, the difference between the second preset threshold and the duration of the currently determined phase is allocated to other phases in the same transition scheme, and the duration of the currently determined phase is made equal to the second preset threshold;

[0289] Wherein, the first preset threshold is greater than the second preset threshold.

[0290] In some embodiments, determining the cycle duration of each transition scheme includes:

[0291] The cycle duration of each transition scheme is determined using the following parameters:

[0292] The maximum cycle duration and the minimum cycle duration of the traffic signal;

[0293] The cycle duration of the first control scheme;

[0294] the cycle duration of the second control scheme;

[0295] A preset periodic change threshold;

[0296] The idle time between the end time of the first control scheme and the start time of the second control scheme.

[0297] In some embodiments, determining the cycle duration of each transition scheme includes:

[0298] Assuming that a transition scheme is executed, the cycle duration x of the transition scheme that satisfies the following first preset condition is solved:

[0299] ;

[0300] ;

[0301] ;

[0302] ;

[0303] Among them, C max Indicates the maximum cycle length, C min Indicates the minimum cycle length, C old represents the cycle length of the first control scheme, C new represents the cycle duration of the second control scheme, T H represents a preset periodic variation threshold; W represents the free time between the end time of the first control scheme and the start time of the second control scheme; , n is the preset value;

[0304] When a solution for x is obtained by traversing the values ​​of k, the obtained solution is used as the cycle duration of the transition solution.

[0305] In some embodiments, determining the cycle duration of each transition scheme further includes:

[0306] When no solution for x can be obtained by traversing the values ​​of k, it is assumed that two transition schemes are executed, and the cycle lengths of the two transition schemes are respectively: x and x+a, and a solution for x that satisfies the following second preset condition is obtained:

[0307] ;

[0308] ;

[0309] ;

[0310] ;

[0311] ;

[0312] ;

[0313] ;

[0314] ;

[0315] When traversing the value of k, and a=-T H , -T H +1, ..., T H When the solution of x is obtained, the cycle lengths of the two transition schemes are determined respectively using the obtained solutions.

[0316] In some embodiments, determining the cycle duration of each transition scheme further includes:

[0317] When traversing the value of k, and a=-T H , -T H +1, ..., T H When the value of x cannot be obtained, it is assumed that m transition schemes are executed, where m is an integer greater than or equal to 3, and the cycle lengths of the m transition schemes are respectively: x, x+a, ..., x+(m-1)a, and a solution is obtained for x that satisfies the following third preset condition:

[0318] ;

[0319] ;

[0320] ;

[0321] …

[0322] ;

[0323] ;

[0324] ;

[0325] ;

[0326] ;

[0327] When traversing m=3,4,..., , and a=-T H , -T H +1, ..., T H When the solution of x is obtained, the cycle lengths of the m transition schemes are determined respectively using the obtained solution.

[0328] In some embodiments, determining the cycle duration of each transition scheme further includes:

[0329] When a solution to x cannot be obtained by traversing the values ​​of m, k, and a, the first preset condition, and / or the second preset condition, and / or the third preset condition are adjusted, and x is solved using the adjusted conditions, and so on, until a solution to x is obtained using the adjusted preset conditions, and the obtained solution is used to determine the cycle duration of each transition scheme.

[0330] The transceiver 610 is configured to receive and send data under the control of the processor 600 .

[0331] Among them, Fig.10In the embodiment, the bus architecture may include any number of interconnected buses and bridges, specifically one or more processors represented by processor 600 and various circuits of memory represented by memory 620 are linked together. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface. The transceiver 610 may be a plurality of components, namely, a transmitter and a receiver, providing a unit for communicating with various other devices on a transmission medium, including wireless channels, wired channels, optical cables, and other transmission media. For different user devices, the user interface 630 may also be an interface capable of externally and internally connecting required devices, and the connected devices include but are not limited to a keypad, a display, a speaker, a microphone, a joystick, and the like.

[0332] The processor 600 is responsible for managing the bus architecture and general processing, and the memory 620 can store data used by the processor 600 when performing operations.

[0333] In some embodiments, the processor 600 may be a CPU (central processing unit), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array) or a CPLD (Complex Programmable Logic Device), and the processor may also adopt a multi-core architecture.

[0334] The processor calls the computer program stored in the memory to execute any of the methods provided in the embodiments of the present application according to the obtained executable instructions. The processor and the memory can also be arranged physically separately.

[0335] It should be noted here that the above-mentioned device provided in the embodiment of the present application can implement all the method steps implemented in the above-mentioned method embodiment, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as those in the method embodiment will not be described in detail here.

[0336] See also Fig.11 , a device provided in an embodiment of the present application includes:

[0337] The first unit 11 is used to determine the start time of a transition scheme that the traffic signal needs to execute, wherein the transition scheme includes: between a first control scheme currently executed by the traffic signal and a second control scheme that needs to be executed, at least one transition scheme that the traffic signal needs to execute;

[0338] The second unit 12 is used to determine the cycle duration of each of the transition schemes, and for each of the transition schemes, determine the duration of each phase of the transition scheme according to the cycle duration of the transition scheme, and generate the transition scheme using the duration of each phase of the transition scheme;

[0339] The third unit 13 is used to control the traffic signal to sequentially execute each of the transition schemes at the start time;

[0340] The fourth unit 14 is configured to control the traffic signal to execute the second control scheme when the traffic signal completes executing each of the transition schemes.

[0341] In some embodiments, determining the start time of the transition scheme that the traffic signal needs to execute includes:

[0342] Determine the start time of the second control scheme according to the phase difference of the second control scheme and the start time of the preset time period to which the second control scheme belongs;

[0343] Based on the start time of the second control scheme, a start time of the transition scheme is determined.

[0344] In some embodiments, determining the start time of the transition scheme based on the start time of the second control scheme includes:

[0345] Determine a time point of a preset time before the start time of the second control scheme;

[0346] At the time point, determining an end time of a current cycle of a first control scheme executed by the traffic signal;

[0347] The start time of the transition scheme is determined according to the end time of the current cycle, the cycle length of the first control scheme, and the start time of the second control scheme.

[0348] In some embodiments, for each of the transition schemes, determining the duration of each phase of the transition scheme according to the cycle duration of the transition scheme includes:

[0349] For each of the transition options described:

[0350] For each phase in the transition scheme, the duration of the phase in the transition scheme is determined by using the ratio of the duration of the phase in the second control scheme to the cycle duration of the second control scheme and the cycle duration of the transition scheme.

[0351] In some embodiments, for each of the transition schemes, determining the duration of each phase of the transition scheme according to the cycle duration of the transition scheme further includes:

[0352] If the duration of the currently determined phase is greater than a first preset threshold, the difference between the duration of the currently determined phase and the first preset threshold is allocated to other phases in the same transition scheme, and the duration of the currently determined phase is made equal to the first preset threshold;

[0353] If the duration of the currently determined phase is less than a second preset threshold, the difference between the second preset threshold and the duration of the currently determined phase is allocated to other phases in the same transition scheme, and the duration of the currently determined phase is made equal to the second preset threshold;

[0354] Wherein, the first preset threshold is greater than the second preset threshold.

[0355] In some embodiments, determining the cycle duration of each transition scheme includes:

[0356] The cycle duration of each transition scheme is determined using the following parameters:

[0357] The maximum cycle duration and the minimum cycle duration of the traffic signal;

[0358] The cycle duration of the first control scheme;

[0359] the cycle duration of the second control scheme;

[0360] A preset periodic change threshold;

[0361] The idle time between the end time of the first control scheme and the start time of the second control scheme.

[0362] In some embodiments, determining the cycle duration of each transition scheme includes:

[0363] Assuming that a transition scheme is executed, the cycle duration x of the transition scheme that satisfies the following first preset condition is solved:

[0364] ;

[0365] ;

[0366] ;

[0367] ;

[0368] Among them, C max Indicates the maximum cycle length, C min Indicates the minimum cycle length, C old represents the cycle length of the first control scheme, C newrepresents the cycle duration of the second control scheme, T H represents a preset periodic variation threshold; W represents the free time between the end time of the first control scheme and the start time of the second control scheme; , n is the preset value;

[0369] When a solution for x is obtained by traversing the values ​​of k, the obtained solution is used as the cycle duration of the transition solution.

[0370] In some embodiments, determining the cycle duration of each transition scheme further includes:

[0371] When no solution for x can be obtained by traversing the values ​​of k, it is assumed that two transition schemes are executed, and the cycle lengths of the two transition schemes are respectively: x and x+a, and a solution for x that satisfies the following second preset condition is obtained:

[0372] ;

[0373] ;

[0374] ;

[0375] ;

[0376] ;

[0377] ;

[0378] ;

[0379] ;

[0380] When traversing the value of k, and a=-T H , -T H +1, ..., T H When the solution of x is obtained, the cycle lengths of the two transition schemes are determined respectively using the obtained solutions.

[0381] In some embodiments, determining the cycle duration of each transition scheme further includes:

[0382] When traversing the value of k, and a=-T H , -T H +1, ..., T H When the value of x cannot be obtained, it is assumed that m transition schemes are executed, where m is an integer greater than or equal to 3, and the cycle lengths of the m transition schemes are respectively: x, x+a, ..., x+(m-1)a, and a solution is obtained for x that satisfies the following third preset condition:

[0383] ;

[0384] ;

[0385] ;

[0386] …

[0387] ;

[0388] ;

[0389] ;

[0390] ;

[0391] ;

[0392] When traversing m=3,4,..., , and a=-T H , -T H +1, ..., T H When the solution of x is obtained, the cycle lengths of the m transition schemes are determined respectively using the obtained solution.

[0393] In some embodiments, determining the cycle duration of each transition scheme further includes:

[0394] When a solution to x cannot be obtained by traversing the values ​​of m, k, and a, the first preset condition, and / or the second preset condition, and / or the third preset condition are adjusted, and x is solved using the adjusted conditions, and so on, until a solution to x is obtained using the adjusted preset conditions, and the obtained solution is used to determine the cycle duration of each transition scheme.

[0395] It should be noted that the division of units in the embodiments of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation. In addition, each functional unit in each embodiment of the present application may be integrated into a processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0396] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) or a processor (processor) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program code.

[0397] Any of the devices or apparatuses provided in the embodiments of the present application may specifically be a desktop computer, a portable computer, a smart phone, a tablet computer, a personal digital assistant (PDA), etc. It may include a central processing unit (CPU), a memory, an input / output device, etc. The input device may include a keyboard, a mouse, a touch screen, etc. The output device may include a display device, such as a liquid crystal display (LCD), a cathode ray tube (CRT), etc.

[0398] The memory may include a read-only memory (ROM) and a random access memory (RAM), and provides the processor with program instructions and data stored in the memory. In the embodiment of the present application, the memory may be used to store the program of any of the methods provided in the embodiment of the present application.

[0399] The processor calls the program instructions stored in the memory, and the processor is used to execute any of the methods provided in the embodiments of the present application according to the obtained program instructions.

[0400] The present application embodiment also provides a computer program product or computer program, which includes a computer instruction, which is stored in a computer-readable storage medium. The processor of the computer device reads the computer instruction from the computer-readable storage medium, and the processor executes the computer instruction so that the computer device performs any of the methods described in the above embodiments. The program product can use any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, - but not limited to - an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of readable storage media (non-exhaustive list) include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0401] The embodiment of the present application provides a computer-readable storage medium for storing computer program instructions used by the apparatus provided in the embodiment of the present application, which includes a program for executing any of the methods provided in the embodiment of the present application. The computer-readable storage medium may be a non-transitory computer-readable medium.

[0402] The computer-readable storage medium can be any available medium or data storage device that can be accessed by a computer, including but not limited to magnetic storage (such as floppy disks, hard disks, magnetic tapes, magneto-optical disks (MO), etc.), optical storage (such as CD, DVD, BD, HVD, etc.), and semiconductor storage (such as ROM, EPROM, EEPROM, non-volatile memory (NANDFLASH), solid-state drive (SSD)), etc.

[0403] It should be understood that:

[0404] The access technology through which entities in the communication network transmit traffic can be any suitable current or future technology, such as WLAN (Wireless Local Access Network), WiMAX (Worldwide Interoperability for Microwave Access), LTE, LTE-A, 5G, Bluetooth, infrared, etc.; in addition, the embodiments can also apply wired technology, for example, IP-based access technology, such as a wired network or a fixed line.

[0405] Embodiments suitable for being implemented as software code or a portion thereof and running using a processor or processing functionality are independent of the software code and may be specified using any known or future developed programming language, such as a high-level programming language such as objective-C, C, C++, C#, Java, Python, Javascript, other scripting languages, etc., or a low-level programming language such as machine language or assembler.

[0406] The implementation of the embodiments is hardware independent and may be implemented using any known or future developed hardware technology or any mixture thereof, such as a microprocessor or CPU (central processing unit), MOS (metal oxide semiconductor), CMOS (complementary MOS), BiMOS (bipolar MOS), BiCMOS (bipolar CMOS), ECL (emitter coupled logic) and / or TTL (transistor-transistor logic).

[0407] Embodiments may be implemented as separate devices, apparatuses, units, components, or functions, or in a distributed manner, for example, one or more processors or processing functions may be used or shared in a process, or one or more processing segments or processing portions may be used and shared in a process, wherein one physical processor or more than one physical processor may be used to implement one or more processing portions dedicated to a specific process as described.

[0408] The device may be implemented by a semiconductor chip, a chipset, or a (hardware) module including such a chip or chipset.

[0409] The embodiments may also be implemented as any combination of hardware and software, such as ASIC (Application Specific IC (Integrated Circuit)) components, FPGA (Field Programmable Gate Array) or CPLD (Complex Programmable Logic Device) components or DSP (Digital Signal Processor) components.

[0410] The embodiments may also be implemented as a computer program product including a computer usable medium having computer readable program code embodied therein, the computer readable program code being adapted to perform the processes as described in the embodiments, wherein the computer usable medium may be a non-transitory medium.

[0411] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) containing computer-usable program codes.

[0412] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0413] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0414] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0415] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A method for controlling a traffic signal to execute a control scheme, characterized in that: The method comprises: Determine the start time of a transition scheme that the traffic signal needs to execute, wherein the transition scheme includes: between a first control scheme currently executed by the traffic signal and a second control scheme that needs to be executed, at least one transition scheme that the traffic signal needs to execute; the start time of the transition scheme is before a preset switching time between the first control scheme and the second control scheme; Determine the cycle duration of each of the transition schemes, and, for each of the transition schemes, determine the duration of each phase of the transition scheme according to the cycle duration of the transition scheme, and generate the transition scheme using the duration of each phase of the transition scheme; Control the traffic signal to sequentially execute each of the transition schemes at the start time; When the traffic signal completes each of the transition schemes, controlling the traffic signal to execute the second control scheme; For each of the transition schemes, determining the duration of each phase of the transition scheme according to the cycle duration of the transition scheme includes: For each of the transition options described: For each phase in the transition scheme, determine the duration of the phase in the transition scheme by using the ratio of the duration of the phase in the second control scheme to the cycle duration of the second control scheme and the cycle duration of the transition scheme; If the duration of the currently determined phase is greater than a first preset threshold, the difference between the duration of the currently determined phase and the first preset threshold is allocated to other phases in the same transition scheme, and the duration of the currently determined phase is made equal to the first preset threshold; If the duration of the currently determined phase is less than a second preset threshold, the difference between the second preset threshold and the duration of the currently determined phase is allocated to other phases in the same transition scheme, and the duration of the currently determined phase is made equal to the second preset threshold; Wherein, the first preset threshold is greater than the second preset threshold.

2. The method according to claim 1, characterized in that Determining the start time of the transition scheme that the traffic signal needs to execute includes: Determine the start time of the second control scheme according to the phase difference of the second control scheme and the start time of the preset time period to which the second control scheme belongs; Based on the start time of the second control scheme, a start time of the transition scheme is determined.

3. The method according to claim 2, characterized in that Determining the start time of the transition scheme based on the start time of the second control scheme includes: Determine a time point of a preset time before the start time of the second control scheme; At the time point, determining an end time of a current cycle of a first control scheme executed by the traffic signal; The start time of the transition scheme is determined according to the end time of the current cycle, the cycle length of the first control scheme, and the start time of the second control scheme.

4. The method according to claim 1, characterized in that Determine the duration of each transition plan, including: The cycle duration of each transition scheme is determined using the following parameters: The maximum cycle duration and the minimum cycle duration of the traffic signal; The cycle duration of the first control scheme; the cycle duration of the second control scheme; A preset periodic change threshold; The idle time between the end time of the first control scheme and the start time of the second control scheme.

5. The method according to claim 4, characterized in that Determine the duration of each transition plan, including: Assuming that a transition scheme is executed, the cycle duration x of the transition scheme that satisfies the following first preset condition is solved: ； ； ； ； Among them, C max Indicates the maximum cycle length, C min Indicates the minimum cycle length, C old represents the cycle length of the first control scheme, C new represents the cycle duration of the second control scheme, T H represents a preset periodic variation threshold; W represents the free time between the end time of the first control scheme and the start time of the second control scheme; , n is a preset value; when the solution of x is obtained by traversing the values ​​of k, the obtained solution is used as the cycle length of the transition solution.

6. The method according to claim 5, characterized in that Determining the cycle length of each transition plan also includes: When no solution for x can be obtained by traversing the values ​​of k, it is assumed that two transition schemes are executed, and the cycle lengths of the two transition schemes are respectively: x and x+a, and a solution for x that satisfies the following second preset condition is obtained: ； ； ； ； ； ； ； ； When traversing the value of k, and a=-T H , -T H +1, ..., T H When the solution of x is obtained, the cycle lengths of the two transition schemes are determined respectively using the obtained solutions.

7. The method according to claim 6, characterized in that Determining the cycle length of each transition plan also includes: When traversing the value of k, and a=-T H , -T H +1, ..., T H When the value of x cannot be obtained, it is assumed that m transition schemes are executed, where m is an integer greater than or equal to 3, and the cycle lengths of the m transition schemes are respectively: x, x+a, ..., x+(m-1)a, and a solution is obtained for x that satisfies the following third preset condition: ； ； ； … ； ； ； ； ； When traversing m=3,4,..., , and a=-T H , -T H +1, ..., T H When the solution of x is obtained, the cycle lengths of the m transition schemes are determined respectively using the obtained solution.

8. The method according to claim 7, characterized in that Determining the cycle length of each transition plan also includes: When a solution to x cannot be obtained by traversing the values ​​of m, k, and a, the first preset condition, and / or the second preset condition, and / or the third preset condition are adjusted, and x is solved using the adjusted conditions, and so on, until a solution to x is obtained using the adjusted preset conditions, and the obtained solution is used to determine the cycle duration of each transition scheme.

9. A device for controlling a traffic signal to execute a control scheme, characterized in that: The device comprises: The first unit is used to determine the start time of a transition scheme that the traffic signal needs to execute, wherein the transition scheme includes: between a first control scheme currently executed by the traffic signal and a second control scheme that needs to be executed, at least one transition scheme that the traffic signal needs to execute; the start time of the transition scheme is before a preset switching time between the first control scheme and the second control scheme; The second unit is used to determine the cycle duration of each of the transition schemes, and for each of the transition schemes, determine the duration of each phase of the transition scheme according to the cycle duration of the transition scheme, and generate the transition scheme using the duration of each phase of the transition scheme; A third unit is used to control the traffic signal to sequentially execute each of the transition schemes at the start time; A fourth unit, configured to control the traffic signal to execute the second control scheme when the traffic signal completes executing each of the transition schemes; For each of the transition schemes, determining the duration of each phase of the transition scheme according to the cycle duration of the transition scheme includes: For each of the transition options described: For each phase in the transition scheme, determine the duration of the phase in the transition scheme by using the ratio of the duration of the phase in the second control scheme to the cycle duration of the second control scheme and the cycle duration of the transition scheme; If the duration of the currently determined phase is greater than a first preset threshold, the difference between the duration of the currently determined phase and the first preset threshold is allocated to other phases in the same transition scheme, and the duration of the currently determined phase is made equal to the first preset threshold; If the duration of the currently determined phase is less than a second preset threshold, the difference between the second preset threshold and the duration of the currently determined phase is allocated to other phases in the same transition scheme, and the duration of the currently determined phase is made equal to the second preset threshold; Wherein, the first preset threshold is greater than the second preset threshold.

10. An electronic device, characterized in that: include: A memory for storing program instructions; A processor, configured to call the program instructions stored in the memory, and execute the method according to any one of claims 1 to 8 according to the obtained program.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable the computer to execute the method according to any one of claims 1 to 8.

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