Regional traffic signal light phase timing method, device and medium

Abstract

The present application discloses a method, device and medium for phase timing of regional traffic lights, the method comprising: generating full-time adaptive phase timing of traffic lights for each intersection in the target area based on a traffic light collaborative adaptive control model, including N phase sub-durations of time domain continuity; generating at least one phase duration unit for each intersection based on full-time adaptive phase timing, each phase duration unit including M phase sub-durations, M<N, and each direction of traffic at the intersection has at least one right of way within the phase duration unit; combining the phase duration units of each intersection to generate multiple target phase timing groups that meet a preset matching degree; generating full-time phase timing based on multiple target phase timing groups to collaboratively control the lights at each intersection. The present application can perform spatiotemporal collaborative control of each intersection based on the full-time phase timing of the region, thereby improving the control efficiency of traffic lights.

Description

Technical Field

[0001] The present invention relates to a method, device and medium for phase timing of regional traffic lights. Background Art

[0002] The phase timing of regional traffic signals plays an important role in the control of traffic flow and can improve the efficiency of traffic flow control.

[0003] At present, traffic flow data is mainly obtained based on traffic flow collection equipment, and the phase timing of each traffic light is coordinated and controlled in real time based on the traffic flow data. However, the above method relies on the real-time collection of traffic flow by the traffic flow collection equipment. If the traffic flow collection equipment is abnormal, it may cause the phase timing synchronization of each traffic light to be abnormal, affecting the control of the traffic lights. Summary of the invention

[0004] The embodiments of the present application provide a method, device and medium for phase timing of regional traffic lights, thereby performing spatiotemporal coordinated control of each intersection based on the full-time phase timing of the region, at least to a certain extent, to improve the control efficiency of regional traffic lights.

[0005] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by the practice of the present application.

[0006] According to a first aspect of an embodiment of the present application, a method for phase timing of regional traffic lights is provided, comprising:

[0007] Input the traffic network and historical traffic flow of the target area into the traffic light collaborative adaptive control model to generate the full-time adaptive signal light phase timing for each intersection in the target area, wherein the full-time adaptive phase timing includes N phase sub-durations that are continuous in the time domain, where N is a positive integer;

[0008] For each of the intersections, at least one phase duration unit is generated based on the full-time adaptive phase timing, each of the phase duration units includes M phase sub-durations that are continuous in the time domain, M is a positive integer, M<N, wherein each direction of travel at the intersection has at least one right of way within the phase duration unit;

[0009] The phase duration units of different intersections are combined to generate multiple phase timing groups, and the phase timing groups that meet the preset matching degree are used as target phase timing groups, wherein each target phase timing group includes the phase timing of each intersection within the target time period;

[0010] The full-time phase timing of the target area is generated according to the multiple target phase timings, so as to coordinately control the traffic lights at the intersections in the target area based on the full-time phase timing.

[0011] In some embodiments of the present application, based on the above-mentioned solution, generating at least one phase duration unit based on the full-time adaptive phase timing includes:

[0012] For each of the phase sub-durations:

[0013] According to the time domain order, the current phase sub-duration and each subsequent phase sub-duration are traversed in sequence, wherein when a certain phase sub-duration is traversed, if the phase sub-duration includes the passage duration of the target passage direction indicated by the first signal light, it is determined that the target passage direction has the right of way within the corresponding phase sub-duration;

[0014] The phase sub-duration corresponding to the last traffic direction with the right of way is taken as the target phase sub-duration, and the phase duration unit is determined according to the current phase sub-duration, the target phase sub-duration, and the (M-2) phase sub-durations between the current phase sub-duration and the target phase sub-duration, where M≥2.

[0015] In some embodiments of the present application, based on the above scheme, the phase duration units of different intersections are combined to generate multiple phase timing groups, and the phase timing group that meets the preset matching degree is used as the target phase timing group, including:

[0016] Cartesian product is performed on the at least one phase duration unit of different intersections to generate a plurality of phase timing groups;

[0017] For each of the phase timing groups, the time period median variance of the phase timing group is obtained. If the time period median variance is less than a variance threshold, the phase timing group is used as the target phase timing group.

[0018] In some embodiments of the present application, based on the above solution, generating the full-time phase timing of the target area according to the multiple target phase timings includes:

[0019] Deduplication processing is performed on the multiple target phase timing groups to generate the full-time phase timing of the target area, wherein in the full-time phase timing, there is no time overlap between two target phase timing groups that are adjacent in the time domain.

[0020] In some embodiments of the present application, based on the above solution, the target phase timing groups include G groups, and the deduplication processing of the multiple target phase timing groups includes:

[0021] In the time domain order, starting from i=1, i∈G, the i-th target phase timing group is compared with the i+1-th target phase timing group; if there is an overlap in the time periods between the two, the i+1-th target phase timing group is removed, and the i-th target phase timing group is compared with the i+2-th target phase timing group; if there is no overlap in the time periods between the two, let i=i+1, and compare the i-th target phase timing group with the i+1-th target phase timing group; and so on, complete the time period comparison of the G-1-th or G-2-th target phase timing group with the G-th target phase timing group.

[0022] In some embodiments of the present application, based on the above solution, after generating the full-time phase timing of the target area according to the plurality of target phase timing groups, the method further includes:

[0023] If there is a time period gap between two target phase timing groups that are adjacent in the time domain in the full-time phase timing, the time period gap between the two target phase timing groups is filled with phase timing.

[0024] In some embodiments of the present application, based on the above solution, the phase timing filling of the time interval between the two target phase timing groups includes:

[0025] Obtaining the total period and end time of the preceding target phase timing group, and the start time of the succeeding target phase timing group;

[0026] Determine a time interval between the end time and the start time, and a first ratio between the time interval and the total period;

[0027] If the phases of the start time and the end time are the same, the time interval is filled according to the phase timing corresponding to the total cycle of the first ratio;

[0028] If the phases of the starting moment and the end moment are different and the first ratio is less than 1, a target difference between the time interval and the preset phase duration of the second signal light is obtained, a second ratio between the target difference and the total cycle is determined, and a preceding time period of the time interval is filled according to the phase timing corresponding to the total cycle of the second ratio, and a subsequent time period of the time interval is filled according to the preset phase duration of the second signal light, wherein the phase of the second signal light is different from the phase of the starting moment and the phase of the end moment;

[0029] If the starting moment and the end moment have different phases and the first ratio is greater than or equal to 1, the preceding time period of the time interval is filled according to the phase timing corresponding to the total cycle according to the integer part of the first ratio, and the succeeding time period of the time interval is filled according to the phase transition rule, wherein the phase transition rule is used to make the succeeding time period of the time interval have at least a partial phase different from the starting moment and the end moment.

[0030] In some embodiments of the present application, based on the aforementioned scheme, the traffic light collaborative adaptive control model includes an intelligent deep Q network model based on reinforcement learning, or a coupled spatiotemporal traffic light adaptive control model based on brain-like computing.

[0031] According to a second aspect of the present application, a regional traffic signal light phase timing device is provided, comprising:

[0032] A first generating unit is used to input the traffic road network and historical traffic flow of the target area into the traffic light coordinated adaptive control model to generate the full-time adaptive signal light phase timing of each intersection in the target area, wherein the full-time adaptive phase timing includes N phase sub-durations that are continuous in the time domain, and N is a positive integer;

[0033] A second generating unit is used to generate at least one phase duration unit based on the full-time adaptive phase timing for each of the intersections, each of the phase duration units includes M phase sub-durations that are continuous in the time domain, M is a positive integer, M<N, wherein each direction of traffic at the intersection has at least one right of way within the phase duration unit;

[0034] A third generating unit is used to combine the phase duration units of different intersections to generate multiple phase timing groups, and use the phase timing groups that meet the preset matching degree as target phase timing groups, wherein each target phase timing group includes the phase timing of each intersection within a target time period;

[0035] The fourth generating unit is used to generate the full-time phase timing of the target area according to the multiple target phase timings, so as to coordinately control the traffic lights at each of the intersections in the target area based on the full-time phase timing.

[0036] According to a third aspect of an embodiment of the present application, a computer-readable storage medium is provided, in which at least one computer program instruction is stored. The at least one computer program instruction is loaded and executed by a processor to implement the operations performed by any method described in the first aspect.

[0037] According to a fourth aspect of an embodiment of the present application, an electronic device is provided, comprising one or more processors and one or more memories, wherein at least one program code is stored in the one or more memories, and the at least one program code is loaded and executed by the one or more processors to implement the operations performed by any of the methods described in the first aspect.

[0038] One or more technical solutions provided by the embodiments of the present invention achieve at least the following technical effects or advantages:

[0039] In the present application, the traffic road network of the target area and the historical traffic flow are input into the traffic light collaborative adaptive control model to generate the full-time adaptive signal light phase timing for each intersection in the target area, wherein the full-time adaptive phase timing includes N phase sub-durations that are continuous in the time domain, N is a positive integer, and it can be understood that the full-time adaptive signal light phase timings of each intersection have global spatiotemporal coordination; for each intersection, at least one phase duration unit is generated based on the full-time adaptive phase timing, and each phase duration unit includes M phase sub-durations that are continuous in the time domain, M is a positive integer, M<N, wherein each direction of traffic at the intersection has a phase duration. There is at least one right of way in the unit. Since each full-time adaptive traffic light phase timing has spatiotemporal coordination, the phase duration unit generated based on this also has spatiotemporal coordination; the phase duration units of different intersections are combined to generate multiple phase timing groups, and the phase timing groups that meet the preset matching degree are used as target phase timing groups, wherein each target phase timing group includes the phase timing of each intersection in the same target time period, thereby realizing refined grouping of each intersection in the full time period; the full-time phase timing of the target area is generated according to multiple target phase timings, so as to coordinately control the traffic lights at each intersection in the target area based on the full-time phase timing, thereby improving the control efficiency of the traffic lights.

[0040] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0042] Figure 1 A flow chart showing a method for phase timing of regional traffic signal lights according to an embodiment of the present application is shown;

[0043] Figure 2 A flow chart of generating a phase duration unit according to an embodiment of the present application is shown;

[0044] Figure 3 A flow chart showing the combination of each phase duration unit at each intersection of an embodiment of the present application is shown;

[0045] Figure 4 A flowchart of target phase timing group deduplication processing according to an embodiment of the present application is shown;

[0046] Figure 5 A flowchart of performing phase timing filling on the time interval between target phase timing groups in one embodiment of the present application is shown;

[0047] Figure 6 A structural diagram of a phase timing device for regional traffic signal lights according to an embodiment of the present application is shown;

[0048] Figure 7 A schematic diagram of the structure of a computer system suitable for implementing an electronic device of an embodiment of the present application is shown. DETAILED DESCRIPTION

[0049] 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.

[0050] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, known methods, devices, realizations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0051] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0052] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0053] It should also be noted that the terms "first", "second", etc. in the specification and claims 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 objects used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those shown or described.

[0054] See also Figure 1 , shows a flow chart of a method for phase timing of regional traffic lights according to an embodiment of the present application.

[0055] like Figure 1 As shown, according to the first aspect of the embodiment of the present application, a method for phase timing of regional traffic lights is provided, which can be executed on a computer, and the method includes but is not limited to:

[0056] Step S1. Input the traffic network and the historical traffic flow into the traffic light collaborative adaptive control model to generate the full-time adaptive signal light phase timing for each intersection in the target area, wherein the full-time adaptive phase timing includes N phase sub-durations that are continuous in the time domain, where N is a positive integer;

[0057] It should be noted that traffic lights are used to indicate the flow of traffic, and are generally composed of red, green, and yellow lights. Red lights indicate that passage is prohibited, green lights indicate that passage is permitted, and yellow lights indicate warnings. Traffic lights are divided into: motor vehicle lights, non-motor vehicle lights, pedestrian crossing lights, direction indicators (arrow lights), lane lights, flashing warning lights, road and railway level crossing lights, etc.

[0058] Traffic lights are usually set up at various intersections of the traffic network. At a signal-controlled intersection, the display status of the signal group corresponding to one or more traffic flows that obtain the right of way at the same time can be defined as the traffic light phase, that is, within a signal cycle, one or more traffic flows obtain exactly the same signal light color display at any time, so the continuous sequence of them obtaining different light colors (green light, yellow light, all red) is called a signal phase. Phase timing can be the release time set for traffic flows in different directions of travel, and an intersection can set multiple phases according to application requirements.

[0059] The target area can be defined according to application requirements. For example, the target area can be defined based on cities, counties, or trunk lines, which are not limited here.

[0060] The traffic network includes but is not limited to lanes and directions, speed limits, lengths, etc. It is understandable that intersections are usually set between lanes, and traffic lights are usually set at intersections.

[0061] Historical traffic flow can be the traffic flow data of the target area in the past day, week or month. It is understandable that, usually, the traffic flow of a target area over a period of time usually shows regularity. For example, the traffic distribution during the morning rush hour and the evening rush hour usually shows consistency or small changes over a period of time.

[0062] It can be understood that by obtaining the traffic network and historical traffic flow, the traffic scene in the target area can be modeled. For example, modeling and simulation can be performed using simulation engines such as SUMO (Simulation of Urban Mobility). The traffic network and historical traffic flow are input into the traffic light collaborative adaptive control model to generate full-time adaptive signal light phase timing for each intersection in the target area, where the full time period can be 24 hours.

[0063] In some embodiments, the traffic light collaborative adaptive control model can be trained by forming a training sample set through the first traffic flow data of the target area and the historical actual phase timing data of each intersection, and inputting the training sample set into the network model to be trained, wherein the data formation time of the first traffic flow data is earlier than the above-mentioned historical traffic flow, wherein the network model to be trained includes but is not limited to an intelligent deep Q network model (IDQN, Intelligent Deep Q Network) based on reinforcement learning, or a coupled spatio-temporal traffic light self-adaptive control model (CSTC, Coupled Spatio-Temporal Traffic Light Self-Adaptive Control) based on brain-like computing.

[0064] For example, the construction process of the intelligent deep Q network model based on reinforcement learning can be: preprocessing the traffic network and historical traffic flow data in the target area; building a model using the Multi-step DQN algorithm based on the preprocessed data; accumulating the experience of n single steps, and then using the accumulated experience for learning; updating the network parameters of the Multi-step DQN; combining Attentive experience replay with the DQN network to build a deep reinforcement learning model; importing the traffic network data and traffic flow data set into the deep reinforcement learning model, and recording the experimental results. It is understandable that further details of the above principles can be referred to related technologies and will not be repeated here.

[0065] For example, the construction process of the coupled spatiotemporal traffic light adaptive control model based on brain-like computing can be: use historical traffic load information and historical traffic signals to train the neural network model, and generate a spiking neural network model that integrates brain glial cells; the spiking neural network model that integrates brain glial cells can include a road load encoding neural cell population, a positive error encoding neural cell population, a negative error encoding neural cell population, a road network spatiotemporal load expression neural cell population, a road network spatiotemporal load analysis and scheduling glial cell population, and a traffic controller spatiotemporal switching logic neural population, the road load encoding neural cell population converts historical traffic load information into an average pulse firing rate, and the positive error encoding neural cell population and the negative error encoding neural cell population are used to generate a change in road load based on the average pulse firing rate;

[0066] The road network spatiotemporal load expression neuron population is used to generate road load information based on the change in road load; the road network spatiotemporal load analysis and scheduling glial cell population is used to generate decision output results based on road load information; the traffic controller spatiotemporal switching logic neural population is used to convert the decision output results into traffic control signals. It is understandable that further details of the above principles can be referred to related technologies and will not be repeated here.

[0067] Of course, the traffic light collaborative adaptive control model adopted in the embodiment of the present application may also be a model in other related technologies, which will not be listed one by one here.

[0068] For example, in Table 1, the phase timing of the full-time adaptive signal lights at each intersection is shown as follows:

[0069] Table 1 Phase timing of all-time adaptive traffic lights at each intersection

[0070]

[0071] As shown in Table 1, the full-time adaptive phase timing of each intersection includes N phase sub-durations that are continuous in the time domain, where N is a positive integer, and the phase sub-duration includes the phase and the timing corresponding to the phase, for example: phase sub-duration 1 includes phase A and the duration of phase A, and phase sub-duration 2 includes phase B and the duration of phase B. In addition, the full time period may refer to 24 hours a day, and the full-time adaptive phase timing may include a total duration of 24 hours for each phase sub-duration, and the time of each phase sub-duration is continuous, for example, phase sub-duration 1 includes phase A and the timing of phase A is 0-60 seconds, and phase sub-duration 1 includes phase B and the timing of phase B is 60-150 seconds, etc.

[0072] It can be understood that due to the use of a traffic light adaptive control model with regional coordinated regulation, the full-time adaptive signal light phase timing generated for each intersection during the full-time traffic control process has global spatiotemporal coordination.

[0073] It should be noted that the traffic light collaborative adaptive control model calculates the historical traffic flow of the target area as the real-time traffic flow in a simulation environment. Therefore, the generated full-time adaptive signal light phase timing for each intersection has real-time and dynamic adaptability. Therefore, the above-mentioned full-time adaptive signal light phase timing for each intersection cannot be directly applicable to the traffic flow control of the target area in the future. However, it is understandable that the traffic flow data of the target area over a period of time shows regularity. Therefore, the embodiment of the present application extracts features or rules from the full-time adaptive signal light phase timing for each intersection through at least the following steps S2 to S4, thereby realizing collaborative control of the future traffic flow of the target area based on the collaborative adaptive control of historical traffic flow data, which will be explained in detail below.

[0074] Step S2. For each of the intersections, at least one phase duration unit is generated based on the full-time adaptive phase timing, each of the phase duration units includes M phase sub-durations that are continuous in the time domain, M is a positive integer, M<N, wherein each direction of traffic at the intersection has at least one right of way within the phase duration unit;

[0075] It can be understood that if each direction of traffic at an intersection has at least one right of way within a phase duration unit, for example, the signal indicator light for each direction of traffic displays a green light at least once, all directions of traffic at the intersection can be coordinated and controlled in the time domain within the phase duration unit, that is, the phase duration unit is a complete phase timing.

[0076] Among them, for each intersection, there may be multiple phase duration units, for example, including 3 phase duration units, wherein the first phase duration unit includes the 1st phase sub-duration to the 8th phase sub-duration, that is, from the first phase sub-duration to the 8th phase sub-duration, it can be ensured that each direction of passage has at least one right of way; similarly, the second phase duration unit may include the 2nd phase sub-duration to the 9th phase sub-duration, and the third phase duration unit may include the 3rd phase sub-duration to the 10th phase sub-duration. It can be seen that the above-mentioned phase duration units may overlap in time periods.

[0077] For example, Table 2 shows the phase duration units of each intersection, as follows:

[0078] Table 2 The duration units of each phase at each intersection

[0079]

[0080] See also Figure 2 , shows a flow chart for generating a phase duration unit in an embodiment of the present application.

[0081] like Figure 2 As shown, in some embodiments, generating at least one phase duration unit based on the full-time adaptive phase timing includes:

[0082] For each of the phase sub-durations:

[0083] Step S21. In accordance with the time domain order, the current phase sub-duration and each subsequent phase sub-duration are traversed in sequence, wherein when a certain phase sub-duration is traversed, if the phase sub-duration includes the duration of the target traffic direction indicated by the first signal light, it is determined that the target traffic direction has the right of way within the corresponding phase sub-duration;

[0084] according to Figure 2 As shown, for each intersection, the number K of phase sub-durations of the current intersection is obtained, all traffic directions of the current intersection are marked as 0, and J=0, where J represents the current phase sub-duration of the current intersection. If J is not equal to K, the current phase sub-duration is taken as the starting point, S=J, E=J, where S represents the index of the current phase sub-duration, and E represents the index of a phase sub-duration after the current phase sub-duration. The traffic direction of the green light in the phase sub-duration pointed to by index E is marked as 1, and E=E+1, that is, continue to traverse the next phase sub-duration. When all traffic directions are marked as 1, the phase sub-duration corresponding to the last traffic direction with the right of way is obtained as the target phase sub-duration.

[0085] For example, for intersection 1 in Table 1, it is assumed that intersection 1 has three different traffic directions, which are defined as traffic direction 1, traffic direction 2, and traffic direction 3. In the first round of traversal, the current phase sub-duration is phase sub-duration 1. Starting from phase sub-duration 1, phase sub-duration 2, phase sub-duration 3, ... are traversed in sequence. Specifically, if phase sub-duration 1 includes the phase period of the green light of traffic direction 1, traffic direction 1 is marked, and it is considered that traffic direction 1 has the right of way in phase sub-duration 1, and then the traversal of phase sub-duration 2 continues. If there are no phase periods of green lights for each traffic direction in phase sub-duration 2, the traversal of phase sub-duration 3 continues, and so on, until it is determined that the last traffic direction (for example, traffic direction 3) has a phase period of the green light in a certain phase sub-duration (for example, phase sub-duration 8), and then the first round of traversal is stopped. Then, with phase sub-duration 2 as the traversal starting point, phase sub-duration 2 and the phase sub-durations after phase sub-duration 2 are traversed in sequence. The principle is the same as the first round of traversal, which will not be repeated here. By analogy, multiple rounds of traversal of each phase sub-duration of intersection 1 are finally completed.

[0086] Step S22. Take the phase sub-duration corresponding to the last traffic direction with the right of way as the target phase sub-duration, and determine the phase duration unit according to the current phase sub-duration, the target phase sub-duration, and the (M-2) phase sub-durations between the current phase sub-duration and the target phase sub-duration, where M≥2.

[0087] For example: start traversing with phase sub-duration 1 of intersection 1 as the current phase sub-duration, and finally determine that each direction of traffic has the right of way at phase sub-duration 8, that is, the target phase sub-duration = M = 8, then the phase duration unit = phase sub-duration 1 + phase sub-duration 2 + phase sub-duration 3, ..., + phase sub-duration 8.

[0088] Step S3. Combine the phase duration units of different intersections to generate multiple phase timing groups, and use the phase timing groups that meet the preset matching degree as target phase timing groups, wherein each target phase timing group includes the phase timing of each intersection within the target time period;

[0089] It can be understood that after processing in step S2, multiple phase duration units of each intersection have been obtained. Since each phase duration unit includes the right of way of all directions of passage, that is, each phase duration unit is a complete phase timing scheme. At this time, the phase duration units of each intersection obtained in step S2 are independent of each other. In order to further realize the coordinated control between each intersection, each phase duration unit is further processed based on step S3, which is specifically described below.

[0090] It can be understood that in order to achieve the spatiotemporal coordination of each intersection, the target time periods of each intersection corresponding to the target phase timing group should be the same or as close as possible. For example, the target phase timing group includes the phase timing of each of the intersections within the same target time period. Taking Table 2 as an example, the target phase timing group includes: phase duration unit 11, phase duration unit 21, ...., and phase duration unit n1, where the target time periods of each phase duration unit are the same or basically close.

[0091] See also Figure 3 , showing a flow chart of combining various phase duration units of various intersections in an embodiment of the present application.

[0092] In some embodiments, the phase duration units of different intersections are combined to generate multiple phase timing groups, and the phase timing groups that meet the preset matching degree are used as the target phase timing groups, including:

[0093] Step S31. Cartesian product the at least one phase duration unit of different intersections to generate multiple phase timing groups;

[0094] It can be understood that according to the definition of Cartesian product: Cartesian product refers to the Cartesian product (also known as direct product) of two sets X and Y in mathematics, expressed as X × Y, where the first object is a member of X and the second object is a member of all possible ordered pairs of Y.

[0095] Corresponding to the embodiment of the present application, the multiple phase duration units of each intersection are regarded as a set, then, the Cartesian product of each phase duration unit of each intersection means: at each combination, a phase duration unit is extracted from each intersection for combination, for example, in Table 2, phase duration unit 11, phase duration unit 21, ..., and phase duration unit n1 are extracted for combination to generate a corresponding phase timing group, thus, after multiple combinations of each phase duration unit of each intersection, multiple phase timing groups can be obtained;

[0096] Step S32: For each phase timing group, obtain the time period median variance of the phase timing group. If the time period median variance is less than a variance threshold, use the phase timing group as the target phase timing group.

[0097] It is understandable that in order to achieve spatiotemporal coordinated control of each intersection, the time periods of each phase duration unit in each phase timing group should be as close as possible, so that each intersection can be coordinated and controlled in the same close time period.

[0098] The median of a time period refers to the middle value of each phase duration unit in the time domain. For example, if a phase duration unit includes a time period from time 0 to time 100 seconds, then the median of the time period is: time 50 seconds.

[0099] The median variance of each period can reflect the difference between the median of each period and the overall mean. It is the average of the sum of the squares between the median and the mean of each period. It is used to measure the degree of dispersion of the median of each period, that is, the degree of proximity of the median of each period.

[0100] Therefore, the median variance of the time period can characterize whether the time periods of each phase duration unit are close. If the median variance of the time period is less than the variance threshold, for example, the variance threshold is 1000, 800, etc., it means that the time periods of each phase duration unit of the phase timing group are close and meet the requirements of collaborative control. Then the phase timing group is retained as the target phase timing group.

[0101] Step S4. Generate a full-time phase timing for the target area according to the plurality of target phase timings, so as to coordinately control the traffic lights at the intersections in the target area based on the full-time phase timing.

[0102] It can be understood that each target phase timing group corresponds to one of the phase duration units of each intersection, and the time periods of each phase duration unit are close. Therefore, the full-time phase timing composed of multiple target phase timing groups can obtain the phase timing of each intersection in the full time period.

[0103] For example: assuming that the full-time period control includes the first time period to the nth time period, taking Table 2 as an example, the first target phase timing group includes phase duration unit 11 to phase duration unit n1, corresponding to the first time period, the second target phase timing group includes phase duration unit 12 to phase duration unit n2, corresponding to the second time period, and so on. The nth target phase timing group includes phase duration unit 1x to phase duration unit nz. Thus, the phase timing of each intersection in the full time period can be obtained, and since each target phase timing group includes one phase duration unit of each intersection in the same time period, the phase timing of each intersection has temporal and spatial coordination.

[0104] In some embodiments, generating the full-time phase timing according to the plurality of target phase timing groups includes:

[0105] Deduplication processing is performed on the multiple target phase timing groups to generate the full-time phase timing of the target area, wherein in the full-time phase timing, there is no time overlap between two target phase timing groups that are adjacent in the time domain.

[0106] It can be understood that, from the above, since each phase duration unit of each intersection may have an intersecting period, there may also be an intersecting period between each target phase timing group, resulting in overlap in the time domain and inability to perform continuous collaborative control. On this basis, the embodiment of the present application further performs deduplication processing on the multiple target phase timing groups to generate the full-time phase timing. In the full-time phase timing, there is no time period intersection between two target phase timing groups that are adjacent in the time domain, thereby ensuring continuity in the time domain.

[0107] In some embodiments, the target phase timing groups include G groups, and performing deduplication processing on the plurality of target phase timing groups includes:

[0108] In time domain order, starting from i=1, compare the time periods of the i-th target phase timing group with the i+1-th target phase timing group; if there is an overlap in the time periods between the two, remove the i+1-th target phase timing group and compare the i-th target phase timing group with the i+2-th target phase timing group; if there is no overlap in the time periods between the two, let i=i+1, and compare the i-th target phase timing group with the i+1-th target phase timing group; and so on, complete the time period comparison between the G-th target phase timing group and the G-1-th or G-2-th target phase timing group.

[0109] See also Figure 4 , shows a flowchart of target phase timing group deduplication processing in an embodiment of the present application.

[0110] like Figure 4 As shown, assuming that there are K target phase timing groups, let S=0, E=1, S represents the index of the current target phase timing group, E represents the index of the target phase timing group to be compared with S, if S is not equal to K, then the target phase timing group corresponding to S is compared with the target phase timing group corresponding to E to determine whether there is a time period overlap between the two. If so, the target phase timing group corresponding to E is deleted, and S=E+1, E=E+2 are set to continue the comparison of the two target phase timing groups; if not, S=E, E=E+1 are set to continue the comparison of the two target phase timing groups.

[0111] For example: suppose there are four target phase timing groups A, B, C, and D. The time period corresponding to A is 0-8, the time period corresponding to B is 1-9, the time period corresponding to C is 8-20, and the time period corresponding to D is 20-28. First, A is compared with B. The overlapping time period between A and B is 1-8, so B is removed and A is compared with C. There is no overlapping time period between A and C. Then C is compared with D. There is no overlapping time period between the two. Then, the full-time phase timing group after deduplication processing includes the three target phase timing groups A, C, and D.

[0112] In some embodiments, after generating the full-time phase timing of the target area according to the plurality of target phase timing groups, the method further includes:

[0113] Step S5. If there is a time period gap between two target phase timing groups that are adjacent in the time domain in the full-time phase timing, then phase timing is filled in the time period gap between the two target phase timing groups.

[0114] It is understandable that if the full-time phase timing has been deduplicated, two target phase timing groups adjacent in the time domain may be discontinuous, that is, there is a time interval. For example, for two target phase timing groups A and B, the time period corresponding to A is 0-8, and the time period corresponding to B is 16-30, then there is a time interval of 8-16 between A and B. Therefore, in order to further ensure the coordinated control of each intersection during the full time period, the embodiment of the present application fills the time interval between the two target phase timing groups with phase timing, for example, setting the phase timing in the time period of 8-16.

[0115] It can be understood that each target phase timing group includes a phase duration unit for each intersection. Therefore, when determining whether there is a time interval between two target phase timing groups that are adjacent in the time domain in the full-time phase timing, it is essentially determining whether there is a time interval between adjacent phase duration units corresponding to the same intersection in the two target phase timing groups. For example: the first target phase timing group includes phase duration units 11 to phase duration units n1, and the second target phase timing group includes phase duration units 12 to phase duration units n2. When determining the time interval, phase duration units 11 and 12 are compared, and phase duration units 21 and 22 are compared, and so on, to complete the comparison between phase duration units n1 and n2.

[0116] In order to simplify the description below, the target phase timing group is used as the comparison unit of the time period interval to illustrate the phase timing filling method of the time period interval.

[0117] In some embodiments, the phase timing filling of the time interval between the two target phase timing groups includes:

[0118] Step S51. Obtain the total period and end time of the preceding target phase timing group, and the start time of the succeeding target phase timing group;

[0119] For example, two adjacent target phase timing groups in the time domain are A and B, and the time period corresponding to A is 0-40 seconds, then the total cycle is 40 seconds, and the end time is the 40th second. The time period corresponding to B is 50-80 seconds, and the start time is the 50th second.

[0120] Step S52. Determine a time interval between the end moment and the start moment, and a first ratio between the time interval and the total period;

[0121] For example, for the two target phase timing groups A and B, the time interval between the end time of A and the start time of B is 40-50 seconds, a total of 10 seconds, and the first ratio of the time interval to the total period is 1 / 4.

[0122] Step S53. If the phases of the start time and the end time are the same, the time interval is filled according to the phase timing corresponding to the total cycle of the first ratio;

[0123] For example: the end moment of A mentioned above is the red light phase, and the starting moment of B is the red light phase; or the end moment of A mentioned above is the green light phase, and the starting moment of B is also the green light phase, then the two phases are the same, and no phase transition is required between the two, then the time period interval is filled according to the phase timing corresponding to the first 1 / 4 period of A.

[0124] Step S54. If the phases of the starting moment and the end moment are different and the first ratio is less than 1, obtain the target difference between the time interval and the preset phase duration of the second signal light, determine the second ratio between the target difference and the total cycle, fill the preceding time period of the time interval according to the phase timing corresponding to the total cycle of the second ratio, and fill the following time period of the time interval according to the preset phase duration of the second signal light, wherein the phase of the second signal light is different from the phase of the starting moment and the phase of the end moment;

[0125] It can be understood that, assuming that two adjacent target phase timing groups in the time domain are A and B, if the end moment phase of A is the red light phase, and the starting moment phase of B is the green light phase, since in actual applications, the red light phase will not directly jump to the green light phase, there is a transition phase such as the yellow light phase between the two. Therefore, in the embodiment of the present application, when the end moment phase of A is different from the starting moment phase of B, a phase transition is filled in the time period between the two, wherein the second signal light can be a yellow light, and the preset phase duration of the yellow light can be 3 seconds.

[0126] For example: if the time period corresponding to A is 0-40 seconds, the total cycle is 40 seconds, and the end time is the 40th second. The time period corresponding to B is 77-120 seconds, and the start time is the 77th second. The time interval between the two is 37 seconds, and the first ratio is 37 / 40. Specifically, the difference between the time interval 37 between A and B and the preset phase duration of 3 seconds of the yellow light is 34 seconds, and the second ratio between the difference 34 seconds and the total cycle of 40 seconds is 34 / 40. The first 34 seconds of the time interval are filled with the last 34 seconds of the time period corresponding to A, and then the 3 seconds of the time interval are filled with the 3 seconds of the yellow light, so that the phase transition from red light to yellow light to green light can be achieved.

[0127] Step S55. If the starting moment and the end moment have different phases and the first ratio is greater than or equal to 1, the former time period of the time interval is filled according to the phase timing corresponding to the total cycle of the integer part of the first ratio, and the latter time period of the time interval is filled according to the phase transition rule, wherein the phase transition rule is used to make the latter time period of the time interval have at least a partial phase different from the starting moment and the end moment.

[0128] It can be understood that the phase transition rule may be: red-yellow-green-yellow-red phase transition rule, so as to achieve phase transition between various target phase timing groups.

[0129] For example, two adjacent target phase timing groups in the time domain are A and B, and the time period corresponding to A is 0-40 seconds, then the total cycle is 40 seconds, and the end moment is the 40th second moment; the time period corresponding to B is 163-200 seconds, and the start moment is the 163th second moment. The time period interval between the two is 123 seconds, and the first ratio is 123 / 40. The integer part of the first ratio is 4, and the remainder is 3. Then, first use the time period corresponding to A to fill the time period interval 4 times. At this time, there are still 3 seconds left in the time period interval that have not been filled. Since the phase of the end moment of A is different from the phase of the start moment of B, for example, the phase of the end moment of A is the red light phase, and the phase of the start moment of B is the green light phase, then the end moment of the time period interval filled with the time period corresponding to A is also the red light phase. Based on the red-yellow-green and other phase transition rules, the remaining 3 seconds of the time period interval can be filled with the yellow light phase, thereby realizing the phase transition from red light, yellow light to green light.

[0130] For another example: when the time period corresponding to B is 168-200 seconds, the time period interval between A and B is filled as follows: first, the time period corresponding to A is used to fill the time period interval 4 times. At this time, there are still 8 seconds left in the time period interval that have not been filled. If the phase at the end moment of A is the red light phase, and the phase at the starting moment of B is the green light phase, then based on the red-yellow-green and other phase transition rules, a 3-second yellow light phase and a 5-second green light phase can be filled in the remaining 8 seconds, so that it can be connected with the green light phase at the starting moment of B.

[0131] See also Figure 5 , shows a flowchart of one of the embodiments of the present application for phase timing filling of time period intervals between target phase timing groups.

[0132] For example: Assume that there are K target phase timing groups, let S=0, M=number of intersections, where S represents the index of the current target phase timing group. If S is not equal to K, let N=0, N is the index of the current intersection. If N is not equal to M, the total period of the phase duration unit of intersection N in the target phase timing group corresponding to S is recorded as TS and the end time is recorded as te, and the starting time of the phase duration unit of intersection N in the target phase timing group corresponding to S+1 is recorded as ts. The time interval (ts-te) between S and S+1 is the number of periods, that is, (ts-te) / TS, and the remainder is recorded as L. If (ts-te) / TS is greater than 1, after filling the time interval based on the total period of the phase duration unit of intersection N of S, at the end of the filling, it transitions to the starting phase of S+1 according to the phase transition rule of green light-yellow light-red light, let N=N+1, and continue to fill the time intervals between each phase duration unit of the next intersection.

[0133] Based on the above disclosed content, the embodiment of the present application inputs the traffic road network of the target area and the historical traffic flow into the traffic light collaborative adaptive control model to generate the full-time adaptive signal light phase timing for each intersection in the target area, wherein the full-time adaptive phase timing includes N phase sub-durations that are continuous in the time domain, N is a positive integer, and it can be understood that the full-time adaptive signal light phase timings of each intersection have global spatiotemporal coordination; for each intersection, at least one phase duration unit is generated based on the full-time adaptive phase timing, and each phase duration unit includes M phase sub-durations that are continuous in the time domain, M is a positive integer, M<N, wherein each direction of traffic at the intersection There is at least one right of way within the phase duration unit. Since each full-time adaptive traffic light phase timing has time-space coordination, the phase duration unit generated based on this also has time-space coordination; the phase duration units of different intersections are combined to generate multiple phase timing groups, and the phase timing groups that meet the preset matching degree are used as target phase timing groups, wherein each target phase timing group includes the phase timing of each intersection within the same target time period, thereby realizing refined grouping of each intersection in the full time period; the full-time phase timing of the target area is generated according to multiple target phase timings, so as to coordinately control the traffic lights at each intersection in the target area based on the full-time phase timing, thereby improving the control efficiency of the traffic lights.

[0134] See also Figure 6 , shows a structural diagram of a regional traffic signal light phase timing device according to an embodiment of the present application.

[0135] like Figure 6 As shown, according to the second aspect of the embodiment of the present application, a regional traffic signal light phase timing device 200 is provided, comprising:

[0136] The first generating unit 201 is used to obtain the traffic network and historical traffic flow of the target area, input the traffic network and the historical traffic flow into the traffic light coordinated adaptive control model, and generate the full-time adaptive signal light phase timing of each intersection in the target area, wherein the full-time adaptive phase timing includes N phase sub-durations that are continuous in the time domain, and N is a positive integer;

[0137] A second generating unit 202 is used to generate at least one phase duration unit for each of the intersections based on the full-time adaptive phase timing, each of the phase duration units includes M phase sub-durations that are continuous in the time domain, M is a positive integer, M<N, wherein each traffic direction of the intersection has at least one right of way within the phase duration unit;

[0138] The third generating unit 203 is used to combine the phase duration units of different intersections to generate multiple phase timing groups, and use the phase timing groups that meet the preset matching degree as the target phase timing groups, wherein each of the target phase timing groups includes the phase timings of each of the intersections within the same target time period;

[0139] The fourth generating unit 204 is configured to generate a full-time phase timing of the target area according to the plurality of target phase timings, so as to coordinately control the traffic lights at the intersections in the target area based on the full-time phase timing.

[0140] According to a third aspect of an embodiment of the present application, a computer-readable storage medium is provided, in which at least one computer program instruction is stored. The at least one computer program instruction is loaded and executed by a processor to implement the operations performed by any method described in the first aspect.

[0141] The computer readable storage medium may be a portable compact disk read-only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the computer readable storage medium of the present application is not limited thereto, and in the present application, the readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, apparatus, or device.

[0142] The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection with one or more conductors, 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 thereof.

[0143] Program code for performing the operations of the present application may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0144] According to a fourth aspect of an embodiment of the present application, an electronic device is provided, comprising one or more processors and one or more memories, wherein at least one program code is stored in the one or more memories, and the at least one program code is loaded and executed by the one or more processors to implement the operations performed by any of the methods described in the first aspect.

[0145] See also Figure 7 , which is a schematic diagram of the structure of a computer system suitable for implementing an electronic device of an embodiment of the present application.

[0146] According to the fourth aspect of an embodiment of the present application, an electronic device is provided, comprising one or more processors and one or more memories, wherein at least one program code is stored in the one or more memories, and the at least one program code is loaded and executed by the one or more processors to implement operations performed by any method of the first aspect.

[0147] like Figure 7 As shown, the electronic device 400 is in the form of a general computing device. The components of the electronic device 400 may include but are not limited to: at least one processing unit 410, at least one storage unit 420, and a bus 430 connecting different system components (including the storage unit 420 and the processing unit 410).

[0148] The storage unit stores program codes, which can be executed by the processing unit 410, so that the processing unit 410 executes the steps described in the above “Embodiment Method” section of this specification according to various exemplary implementations of the present application.

[0149] The storage unit 420 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 421 and / or a cache 422 , and may further include a read-only memory unit (ROM) 423 .

[0150] The storage unit 420 may also include a program / utility 424 having a set (at least one) of program modules 425, such program modules 425 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0151] Bus 430 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0152] The electronic device 400 may also communicate with one or more external devices 500 (e.g., keyboards, pointing devices, Bluetooth devices, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 400, and / or communicate with any device that enables the electronic device 400 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed through an I / O (input / output) interface 450, wherein the I / O interface 450 may also be connected to a display unit 440, and the communication content may be displayed through the display unit 440. In addition, the electronic device 400 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through a network adapter 460. As shown in the figure, the network adapter 460 communicates with other modules of the electronic device 400 through a bus 430. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 400, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0153] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored as one or more instructions or codes on a computer-readable medium or transmitted via a computer-readable medium. Other examples and implementations are within the scope and spirit of the present invention and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hard wiring, or a combination of any of these. In addition, each functional unit may be integrated into a processing unit, each unit may exist physically separately, or two or more units may be integrated into one unit.

[0154] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0155] The units described as separate components may or may not be physically separated, and the components of the control device may or may not be physical units, that is, they may be located in one place or distributed in multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0156] 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 invention, in essence, 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, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk, etc., which can store program code.

[0157] The above description is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of the claims of the present application.

Claims

1. A method for phase timing of regional traffic signal lights, characterized in that: include: Input the traffic road network and historical traffic flow of the target area into the traffic light collaborative adaptive control model to generate the full-time adaptive signal light phase timing for each intersection in the target area, wherein the full-time adaptive phase timing includes N phase sub-durations that are continuous in the time domain, N is a positive integer, and the traffic light collaborative adaptive control model includes an intelligent deep Q network model based on reinforcement learning, or a coupled spatiotemporal traffic light adaptive control model based on brain-like computing; For each of the intersections, at least one phase duration unit is generated based on the full-time adaptive phase timing, each of the phase duration units includes M phase sub-durations that are continuous in the time domain, M is a positive integer, M<N, wherein each direction of travel at the intersection has at least one right of way within the phase duration unit; The phase duration units of different intersections are combined to generate multiple phase timing groups, and the phase timing groups that meet the preset matching degree are used as target phase timing groups, wherein each target phase timing group includes the phase timing of each intersection within the target time period; A plurality of the target phase timing groups constitute the full-time phase timing of the target area, so as to coordinately control the traffic lights at each of the intersections in the target area based on the full-time phase timing; The generating at least one phase duration unit based on the full-time adaptive phase timing comprises: For each of the phase sub-durations: According to the time domain order, the current phase sub-duration and each subsequent phase sub-duration are traversed in sequence, wherein when a certain phase sub-duration is traversed, if the phase sub-duration includes the passage duration of the target passage direction indicated by the first signal light, it is determined that the target passage direction has the right of way within the corresponding phase sub-duration; The phase sub-duration corresponding to the last traffic direction with the right of way is taken as the target phase sub-duration, and the phase duration unit is determined according to the current phase sub-duration, the target phase sub-duration, and (M-2) phase sub-durations between the current phase sub-duration and the target phase sub-duration, where M≥2; The step of combining the phase duration units of different intersections to generate a plurality of phase timing groups, and taking the phase timing group that satisfies a preset matching degree as a target phase timing group includes: Cartesian product is performed on the at least one phase duration unit of different intersections to generate a plurality of phase timing groups; For each of the phase timing groups, the time period median variance of the phase timing group is obtained. If the time period median variance is less than a variance threshold, the phase timing group is used as the target phase timing group.

2. The method according to claim 1, characterized in that: The multiple target phase timing groups constitute the full-time phase timing of the target area, including: Deduplication processing is performed on the multiple target phase timing groups to generate the full-time phase timing of the target area, wherein in the full-time phase timing, there is no time overlap between two target phase timing groups that are adjacent in the time domain.

3. The method according to claim 2, characterized in that The target phase timing groups include G groups, and performing deduplication processing on the plurality of target phase timing groups includes: In the time domain order, starting from i=1, i∈G, the i-th target phase timing group is compared with the i+1-th target phase timing group; if there is an overlap in the time periods between the two, the i+1-th target phase timing group is removed, and the i-th target phase timing group is compared with the i+2-th target phase timing group; if there is no overlap in the time periods between the two, let i=i+1, and compare the i-th target phase timing group with the i+1-th target phase timing group; and so on, complete the time period comparison of the G-1-th or G-2-th target phase timing group with the G-th target phase timing group.

4. The method according to claim 1, characterized in that: After the plurality of target phase timing groups form the full-time phase timing of the target area, the method further includes: If there is a time period gap between two target phase timing groups that are adjacent in the time domain in the full-time phase timing, the time period gap between the two target phase timing groups is filled with phase timing.

5. The method according to claim 4, characterized in that The phase timing filling of the time interval between the two target phase timing groups includes: Obtaining the total period and end time of the preceding target phase timing group, and the start time of the succeeding target phase timing group; Determine a time interval between the end time and the start time, and a first ratio between the time interval and the total period; If the phases of the start time and the end time are the same, the time interval is filled according to the phase timing corresponding to the total cycle of the first ratio; If the phases of the starting moment and the end moment are different and the first ratio is less than 1, a target difference between the time interval and the preset phase duration of the second signal light is obtained, a second ratio between the target difference and the total cycle is determined, and a preceding time period of the time interval is filled according to the phase timing corresponding to the total cycle of the second ratio, and a subsequent time period of the time interval is filled according to the preset phase duration of the second signal light, wherein the phase of the second signal light is different from the phase of the starting moment and the phase of the end moment; If the starting moment and the end moment have different phases and the first ratio is greater than or equal to 1, the preceding time period of the time interval is filled according to the phase timing corresponding to the total cycle according to the integer part of the first ratio, and the succeeding time period of the time interval is filled according to the phase transition rule, wherein the phase transition rule is used to make the succeeding time period of the time interval have at least a partial phase different from the starting moment and the end moment.

6. A regional traffic signal light phase timing device, characterized in that: include: A first generation unit is used to input the traffic road network and historical traffic flow of the target area into the traffic light collaborative adaptive control model, and generate the full-time adaptive signal light phase timing of each intersection in the target area, wherein the full-time adaptive phase timing includes N phase sub-durations that are continuous in the time domain, N is a positive integer, and the traffic light collaborative adaptive control model includes an intelligent deep Q network model based on reinforcement learning, or a coupled spatiotemporal traffic light adaptive control model based on brain-like computing; A second generating unit is used to generate at least one phase duration unit based on the full-time adaptive phase timing for each of the intersections, each of the phase duration units includes M phase sub-durations that are continuous in the time domain, M is a positive integer, M<N, wherein each direction of traffic at the intersection has at least one right of way within the phase duration unit; A third generating unit is used to combine the phase duration units of different intersections to generate multiple phase timing groups, and use the phase timing groups that meet the preset matching degree as target phase timing groups, wherein each target phase timing group includes the phase timing of each intersection within a target time period; A fourth generating unit, configured to form a full-time phase timing of the target area using a plurality of the target phase timing groups, so as to coordinately control the traffic lights at each of the intersections in the target area based on the full-time phase timing; The generating at least one phase duration unit based on the full-time adaptive phase timing comprises: For each of the phase sub-durations: According to the time domain order, the current phase sub-duration and each subsequent phase sub-duration are traversed in sequence, wherein when a certain phase sub-duration is traversed, if the phase sub-duration includes the passage duration of the target passage direction indicated by the first signal light, it is determined that the target passage direction has the right of way within the corresponding phase sub-duration; The phase sub-duration corresponding to the last traffic direction with the right of way is taken as the target phase sub-duration, and the phase duration unit is determined according to the current phase sub-duration, the target phase sub-duration, and (M-2) phase sub-durations between the current phase sub-duration and the target phase sub-duration, where M≥2; The step of combining the phase duration units of different intersections to generate a plurality of phase timing groups, and taking the phase timing group that satisfies a preset matching degree as a target phase timing group includes: Cartesian product is performed on the at least one phase duration unit of different intersections to generate a plurality of phase timing groups; For each of the phase timing groups, the time period median variance of the phase timing group is obtained. If the time period median variance is less than a variance threshold, the phase timing group is used as the target phase timing group.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores at least one computer program instruction, and the at least one computer program instruction is loaded and executed by a processor to implement the operations performed by any one of the methods according to claims 1-5.

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