Traffic control method and control module of intelligent intersection system and intelligent intersection system
By installing traffic facilities at intersections and adjusting the traffic status in real time, the problem of low traffic safety of driverless vehicles on open roads is solved, and the safe and efficient passage of driverless vehicles is achieved.
Patent Information
- Application Number
- CN202411208283.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-30
- Publication Date
- 2024-12-10
AI Technical Summary
The existing unmanned vehicles have low safety at intersections in open roads, and cannot effectively solve the safety problems of pedestrians, vehicles and unmanned logistics vehicles.
By installing traffic lights, traffic signs, perception modules, roadside communication modules and pedestrian obstruction systems at intersections and communicating with the control module, the driving routes and traffic modes of the target vehicle are detected in real time, and the status of traffic facilities is adjusted to give priority to unmanned traffic. Drive the vehicle to ensure its safe passage.
It improves the safety of driverless vehicles passing through intersections, avoids traffic obstacles, and enhances their traffic efficiency in complex road environments.
Smart Images
Figure CN119107823A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of traffic control technology, and in particular to a traffic control method, a control module and a smart intersection system of an intelligent intersection system. Background Art
[0002] With the continuous development of technology, unmanned vehicles, such as intelligent unmanned logistics vehicles, play an increasingly important role in the logistics industry. In order to further promote unmanned vehicles in smart logistics parks, unmanned vehicles need to be able to travel on open roads.
[0003] However, existing driverless vehicles ensure high delivery efficiency and accuracy by planning specific driving routes in industrial parks. Since industrial parks adopt closed roads through planning, pedestrians and other vehicles are prohibited from entering, driverless vehicles cannot solve the traffic safety problems of pedestrians, vehicles, and intelligent driverless logistics vehicles during driving on open roads, especially complex intersections, and the safety of driverless vehicles passing through intersections is low. Summary of the invention
[0004] In view of this, the embodiments of the present application at least provide a traffic control method, a control module and an intelligent intersection system for an intelligent intersection system, which adjusts the passage of other vehicles and pedestrians by controlling the traffic facilities at the intersection, avoids obstruction to the passage of unmanned vehicles, and improves the safety of unmanned vehicles passing through intersections.
[0005] This application mainly includes the following aspects:
[0006] In a first aspect, an embodiment of the present application provides a traffic control method of an intelligent intersection system, which is applied to a control module of the intelligent intersection system, wherein the intelligent intersection system further comprises a traffic light, a traffic sign, a perception module, a roadside communication module, and a pedestrian blocking system installed at each intersection of the intersection; the traffic light, the traffic sign, the perception module, the roadside communication module, and the pedestrian blocking system at each intersection are respectively connected to the control module in communication; the method comprises:
[0007] If a first signal is received from any of the sensing modules when the target vehicle is detected to enter a preset detection range, it is determined that the target vehicle is about to drive to the intersection corresponding to the sensing module; the target vehicle is an unmanned vehicle;
[0008] Acquire the driving route information sent by the target vehicle collected by the roadside communication module of the intersection; and determine the target passage mode of the target vehicle through the intersection based on the driving route information; the target passage mode includes any one of driving straight into the opposite intersection, turning left into the left intersection, and turning right into the right intersection;
[0009] Based on the target traffic mode, determining the target state of each of the traffic lights, pedestrian blocking systems and traffic signs; and generating control signals to adjust the state of each of the traffic lights, pedestrian blocking systems and traffic signs to the target state;
[0010] When each of the perception modules does not detect any vehicle or pedestrian that passes illegally within the corresponding preset detection range, a passage permission signal is sent to the target vehicle through the roadside communication module of the intersection so that the target vehicle can pass through the intersection according to the target passage method.
[0011] In a second aspect, the embodiment of the present application further provides a control module, which is applied to an intelligent intersection system, wherein the intelligent intersection system further includes a traffic light, a traffic sign, a perception module, a roadside communication module, and a pedestrian blocking system installed at each intersection of the intersection; the traffic light, the traffic sign, the perception module, the roadside communication module, and the pedestrian blocking system at each intersection are respectively connected to the control module in communication; the control module includes:
[0012] A first determination unit is configured to determine that the target vehicle is about to drive to the intersection corresponding to the perception module upon receiving a first signal sent by any of the perception modules when the perception module detects that the target vehicle is driving into a preset detection range; the target vehicle is an unmanned vehicle;
[0013] A second determination unit is used to obtain the driving route information sent by the target vehicle collected by the roadside communication module of the intersection; and determine the target passage mode of the target vehicle through the intersection based on the driving route information; the target passage mode includes any one of driving straight into the opposite intersection, turning left into the left intersection, and turning right into the right intersection;
[0014] A first execution unit is used to determine the target state of each of the traffic lights, pedestrian blocking systems and traffic signs based on the target traffic mode; and generate a control signal to adjust the state of each of the traffic lights, pedestrian blocking systems and traffic signs to the target state;
[0015] The second execution unit is used to send a passage permission signal to the target vehicle through the roadside communication module of the intersection when none of the perception modules detects any vehicle or pedestrian that passes illegally within the corresponding preset detection range, so that the target vehicle passes through the intersection according to the target passage method.
[0016] In a third aspect, the embodiment of the present application further provides a smart intersection system, the smart intersection system comprising:
[0017] Traffic lights, traffic signs, perception modules, roadside communication modules, pedestrian blocking systems and the control module as described above are installed at each intersection at the intersection; the traffic lights, traffic signs, perception modules, roadside communication modules and pedestrian blocking systems at each intersection are respectively communicated with the control module.
[0018] The embodiment of the present application provides a traffic control method, a control module and an intelligent intersection system of an intelligent intersection system, wherein the method is applied to the control module of the intelligent intersection system, and the intelligent intersection system also includes traffic lights, traffic signs, perception modules, roadside communication modules and pedestrian blocking systems installed at each intersection of the intersection; the traffic lights, traffic signs, perception modules, roadside communication modules and pedestrian blocking systems at each intersection are respectively connected to the control module for communication; the method includes: if a first signal sent by any perception module when detecting that a target vehicle is driving into a preset detection range is received, it is determined that the target vehicle is about to drive to the intersection corresponding to the perception module; the target vehicle is an unmanned vehicle; and the roadside communication module at the intersection collects the first signal. The target vehicle sends the driving route information; and based on the driving route information, the target traffic mode of the target vehicle through the intersection is determined; the target traffic mode includes driving straight into the opposite intersection, turning left into the left intersection, and turning right into the right intersection; based on the target traffic mode, the target state of each traffic light, pedestrian blocking system, and traffic sign is determined; and a control signal is generated to adjust the state of each traffic light, pedestrian blocking system, and traffic sign to the target state; when each perception module does not detect a vehicle or pedestrian that passes illegally within the corresponding preset detection range, a permission signal is sent to the target vehicle through the roadside communication module of the intersection, so that the target vehicle passes through the intersection according to the target traffic mode. In this way, the traffic facilities at the intersection are controlled to adjust the passage of other vehicles and pedestrians, avoid obstruction to the passage of unmanned vehicles, and improve the safety of unmanned vehicles passing through intersections.
[0019] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.
[0021] Figure 1 A schematic diagram of the structure of an intelligent intersection system provided in an embodiment of the present application is shown;
[0022] Figure 2 A schematic diagram showing the location of the intelligent intersection system provided in an embodiment of the present application at an intersection;
[0023] Figure 3 A flow chart of a traffic control method for an intelligent intersection system provided in an embodiment of the present application is shown;
[0024] Figure 4 A flow chart showing another traffic control method of an intelligent intersection system provided in an embodiment of the present application is shown;
[0025] Figure 5 One of the functional module diagrams of a control module provided in an embodiment of the present application is shown;
[0026] Figure 6 A second functional module diagram of a control module provided in an embodiment of the present application is shown;
[0027] Figure 7 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown.
[0028] Description of main component symbols:
[0029] In the figure: 100-intelligent intersection system; 101-traffic light; 102-traffic sign; 103-perception module; 104-roadside communication module; 105-pedestrian blocking system; 106-control module; 107-traffic light pole; 1031-millimeter wave radar; 1032-camera; 1061-first determination unit; 1062-second determination unit; 1063-first execution unit; 1064-second execution unit; 1065-third execution unit; 1066-fourth execution unit; 1067-fifth execution unit; 700-electronic device; 710-processor; 720-memory; 730-bus. DETAILED DESCRIPTION
[0030] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application usually described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.
[0031] The following will be combined Figure 1 as well as Figure 2 The implementation method of the embodiment of the present application is described in detail; the traffic control method of the intelligent intersection system provided by the embodiment of the present application is applied to the control module of the intelligent intersection system.
[0032] See also Figure 1 , Figure 1 A schematic diagram of the structure of an intelligent intersection system provided in an embodiment of the present application. The traffic control method of the intelligent intersection system provided in an embodiment of the present application can be applied to Figure 1 The control module 106 of the smart intersection system 100 shown may include: a traffic light 101, a traffic sign 102, a perception module 103, a roadside communication module 104, a pedestrian blocking system 105 and a control module 106 installed at each intersection of the intersection; the traffic light 101, the traffic sign 102, the perception module 103, the roadside communication module 104 and the pedestrian blocking system 105 at each intersection are respectively communicated with the control module 106.
[0033] Traffic light 101 is used to indicate whether vehicles entering the intersection can pass; a green light allows passage, and a red light prohibits passage.
[0034] The traffic sign 102 is used to output prompt information to inform vehicles entering the intersection of the traffic conditions of the intersection.
[0035] The perception module 103 is used to detect unmanned vehicles, other vehicles and pedestrians entering the intersection.
[0036] The roadside communication module 104 is used to communicate with the unmanned vehicle.
[0037] The pedestrian blocking system 105 is used to prevent pedestrians from passing when the intersection prohibits pedestrians from passing.
[0038] Specifically, see Figure 2 , Figure 2 This is a schematic diagram of the location of the intelligent intersection system provided in the embodiment of the present application at an intersection. Figure 2 As shown, the traffic light 101, traffic sign 102, perception module 103 and roadside communication module 104 at any intersection are installed on the traffic light pole 107 of the corresponding intersection; wherein the perception module 103 includes a millimeter wave radar 1031 and a camera 1032; the pedestrian blocking system 105 at any intersection is installed at the intersections on both sides of the crosswalk of the corresponding intersection, including indicator lights and blocking cables. When the pedestrian blocking system 105 prohibits pedestrians from passing, the indicator light turns red and the blocking cable rises to block the pedestrians; when the pedestrian blocking system 105 allows pedestrians to pass, the indicator light turns green and the blocking cable drops.
[0039] A traffic control method for an intelligent intersection system provided in an embodiment of the present application is described in detail below. The traffic control method can be applied to the control module of the above-mentioned intelligent intersection system.
[0040] See also Figure 3 , Figure 3 This is a flow chart of a traffic control method for an intelligent intersection system provided in an embodiment of the present application. Figure 3 As shown, the traffic control method of the intelligent intersection system provided in the embodiment of the present application includes the following steps:
[0041] S301, if a first signal is received from any of the perception modules when the perception module detects that the target vehicle is about to drive to the intersection corresponding to the perception module; the target vehicle is an unmanned vehicle.
[0042] In the embodiment of the present application, the target vehicle is an unmanned vehicle, and the preset detection range is set to 80 meters. Figure 2 As shown, when the millimeter wave radar 1031 in the perception module 103 detects that the unmanned vehicle is driving into the preset detection range of 80 meters, the first signal is sent to the control module 106. After receiving the first signal, the control module 106 determines that the unmanned vehicle is about to drive to the intersection corresponding to the millimeter wave radar 1031. The control module 106 is an edge computing (EC) installed on the roadside of the intersection.
[0043] S302, obtaining the driving route information sent by the target vehicle collected by the roadside communication module of the intersection; and based on the driving route information, determining the target passage mode of the target vehicle through the intersection; the target passage mode includes any one of driving straight into the opposite intersection, turning left into the left intersection, and turning right into the right intersection.
[0044] In the embodiment of the present application, before the unmanned vehicle enters the intersection, the vehicle-road cooperative communication terminal (On board Unit, OBU) of the unmanned vehicle sends the driving route information of the unmanned vehicle to the roadside communication module 104 entering the intersection, and the roadside communication module 104 forwards the driving route information to the control module 106. The control module 106 determines the target passage mode of the unmanned vehicle through the intersection according to the driving route information, including driving straight into the opposite intersection, turning left into the left intersection, and turning right into the right intersection. Among them, the roadside communication module 104 can be a roadside communication terminal (Road Side Unit, RSU) of vehicle-road cooperation.
[0045] S303, based on the target traffic mode, determining the target state of each of the traffic lights, pedestrian blocking systems and traffic signs; and generating a control signal to adjust the state of each of the traffic lights, pedestrian blocking systems and traffic signs to the target state.
[0046] In the embodiment of the present application, the control module 106 automatically performs traffic control for unmanned vehicles passing through intersections based on the target traffic mode determined by the driving route information provided by the roadside communication module 104, determines the target state of the traffic lights 101, pedestrian blocking system 105 and traffic signs 102 at each intersection, and generates a control signal to send to each traffic light 101, pedestrian blocking system 105 and traffic sign 102, so that each traffic light 101, pedestrian blocking system 105 and traffic sign 102 adjusts the state to the target state according to the control signal. Specifically, the control signal includes the control duration of the traffic light, the duration of the rise / lowering of the pedestrian blocking system, and the sound and light prompt content of the traffic sign.
[0047] S304: When each of the perception modules does not detect any vehicle or pedestrian that passes illegally within the corresponding preset detection range, a passage permission signal is sent to the target vehicle through the roadside communication module of the intersection so that the target vehicle can pass through the intersection according to the target passage method.
[0048] In an embodiment of the present application, after each traffic light 101, pedestrian blocking system 105 and traffic sign 102 are adjusted to the target state, the millimeter wave radar 1031 of each perception module 103 detects whether there are any vehicles or pedestrians illegally passing within a range of 80 meters. If not, the control module 106 sends a passage permission signal to the OBU of the unmanned vehicle through the roadside communication module 104 at the intersection where the unmanned vehicle enters. After receiving the passage permission signal, the unmanned vehicle enters the intersection and passes through the intersection according to the target passage method.
[0049] Furthermore, if the millimeter-wave radar 1031 of the perception module 103 detects vehicles or pedestrians that pass illegally within a range of 80 meters, the control module 106 sends a waiting-for-pass signal to the OBU of the unmanned vehicle through the roadside communication module 104 at the intersection where the unmanned vehicle enters. After receiving the waiting-for-pass signal, the unmanned vehicle stops at the stop line at the entrance to the intersection until the control module 106 sends a permission-to-pass signal to the OBU of the unmanned vehicle through the roadside communication module 104 at the intersection where the unmanned vehicle enters.
[0050] In a possible implementation manner, when the target traffic mode is driving straight into the opposite intersection, S303 specifically includes:
[0051] Step a1, when the target passage mode is driving straight into the opposite intersection, determine that the target state of the traffic lights at the intersection where the target vehicle enters and the opposite intersection is a green light state, and the target state of the traffic lights at the left intersection and the right intersection where the target vehicle enters is a red light state; the target state of the pedestrian blocking system at the intersection where the target vehicle enters and the opposite intersection is a red light blocking state, and the target state of the pedestrian blocking system at the left intersection and the right intersection where the target vehicle enters is a green light release state; the target state of the traffic sign at the intersection where the target vehicle enters is a first prompt information output state; the first prompt information is used to prompt that an unmanned vehicle has entered the intersection.
[0052] In the embodiment of the present application, when the target passage mode is to drive straight into the opposite intersection, if the current state of the traffic light 101 at the entrance to the intersection is green, the traffic lights 101 at the intersection where the unmanned vehicle enters and the opposite intersection are controlled to remain in the green light state, and the traffic lights 101 at the left and right intersections where the unmanned vehicle enters are controlled to remain in the red light state; and the indicator lights of the pedestrian blocking system 105 at the intersection where the unmanned vehicle enters and the opposite intersection are controlled to remain red, and the blocking rope is raised, and the indicator lights of the pedestrian blocking system 105 at the left and right intersections where the unmanned vehicle enters are controlled to remain green, and the blocking rope is lowered; the control module 106 outputs a prompt message to the traffic sign 102 at the intersection where the unmanned vehicle enters, so that the traffic sign 102 gives an audible and visual prompt of "Be careful when entering the unmanned logistics vehicle." If the current state of the traffic light 101 entering the intersection is red, the traffic lights 101 at the left and right intersections where the unmanned vehicle enters the intersection are controlled to change from green to red after a 5-second countdown, and the traffic lights 101 at the intersections and opposite intersections where the unmanned vehicle enters the intersection are controlled to change from red to green after a 5-second countdown; and the indicator lights of the pedestrian blocking system 105 at the intersections and opposite intersections where the unmanned vehicle enters the intersection are controlled to change from green to red, and the blocking rope is raised, and the indicator lights of the pedestrian blocking system 105 at the left and right intersections where the unmanned vehicle enters the intersection are controlled to change from red to green, and the blocking rope is lowered; the control module 106 outputs a prompt message to the traffic sign 102 at the intersection where the unmanned vehicle enters, so that the traffic sign 102 gives a sound and light prompt of "Unmanned logistics vehicles enter with caution". In this way, when the unmanned vehicle enters the intersection, the unmanned vehicle is given priority to pass, and the unmanned vehicle can master the right of way as much as possible, thereby improving the traffic efficiency of the unmanned vehicle.
[0053] In a possible implementation manner, when the target traffic mode is to turn left into the left intersection, S303 specifically includes:
[0054] Step b1, when the target passage mode is to turn left into the left intersection, determine that the target state of the traffic light at the intersection where the target vehicle enters is the green light state, and the target state of the traffic lights at the opposite intersection, the left intersection and the right intersection where the target vehicle enters is the red light state; the target state of the pedestrian blocking system at the intersection where the target vehicle enters and the left intersection and the opposite intersection where the target vehicle enters is the red light blocking state, and the target state of the pedestrian blocking system at the right intersection where the target vehicle enters is the green light release state; the target state of the traffic sign at the intersection where the target vehicle enters is the state of outputting the first prompt information; the first prompt information is used to prompt that an unmanned vehicle has entered the intersection.
[0055] In the embodiment of the present application, when the target traffic mode is to turn left into the left intersection, if the current state of the traffic light 101 entering the intersection is green, the traffic light 101 entering the intersection by the unmanned vehicle is controlled to maintain the green light state, and the traffic light 101 at the opposite intersection changes from green light to red light after entering the 5-second countdown, and the traffic lights 101 at the left intersection and the right intersection of the unmanned vehicle entering the intersection maintain the red light state; and the indicator lights of the pedestrian blocking system 105 at the intersection entering the intersection and the opposite intersection of the unmanned vehicle are controlled to maintain the red light, and the blocking rope is raised, the indicator light of the pedestrian blocking system 105 at the left intersection of the unmanned vehicle entering the intersection changes from green to red, and the blocking rope is raised, and the indicator light of the pedestrian blocking system 105 at the right intersection maintains the green light, and the blocking rope is lowered; the control module 106 outputs a prompt message to the traffic sign 102 at the intersection entering the unmanned vehicle, so that the traffic sign 102 gives an audible and visual prompt of "Unmanned logistics vehicles entering with caution". If the current state of the traffic light 101 at the entrance is red, the traffic lights 101 at the left and right intersections where the unmanned vehicle enters the intersection are controlled to change from green to red after entering a 5-second countdown, and the traffic light 101 at the intersection where the unmanned vehicle enters the intersection is controlled to change from red to green after entering a 5-second countdown, and the traffic light 101 at the opposite intersection remains in the red state; and the indicator lights of the pedestrian blocking system 105 at the intersection where the unmanned vehicle enters and the opposite intersection are controlled to remain red, and the blocking rope is raised, the indicator light of the pedestrian blocking system 105 at the right intersection where the unmanned vehicle enters the intersection is controlled to remain green, and the blocking rope is lowered, and the indicator light of the pedestrian blocking system 105 at the left intersection is changed from green to red, and the blocking rope is raised; the control module 106 outputs a prompt message to the traffic sign 102 at the entrance of the unmanned vehicle, so that the traffic sign 102 gives an audible and visual prompt of "Be careful when unmanned logistics vehicles enter". In this way, when an unmanned vehicle enters an intersection, priority is given to the unmanned vehicle to pass, and the unmanned vehicle can control the right of way as much as possible, thereby improving the traffic efficiency of the unmanned vehicle.
[0056] In a possible implementation manner, when the target traffic mode is to turn right into the right intersection, S303 specifically includes:
[0057] Step c1, when the target passage mode is to turn right into the right intersection, if the current state of the traffic light at the intersection where the target vehicle enters is the green light state, determine that the target state of the traffic lights at the intersection where the target vehicle enters and the opposite intersection is the green light state, and the target state of the traffic lights at the left intersection and the right intersection where the target vehicle enters is the red light state; the target state of the pedestrian blocking system at the intersection where the target vehicle enters and the opposite intersection and the right intersection is the red light blocking state; the target state of the pedestrian blocking system at the left intersection where the target vehicle enters is the green light release state; the target state of the traffic sign at the intersection where the target vehicle enters is the state of outputting the first prompt information; the first prompt information is used to prompt that an unmanned vehicle enters the intersection.
[0058] In the embodiment of the present application, when the target traffic mode is to turn left into the left intersection, if the current state of the traffic light 101 at the entrance to the intersection is green, the traffic lights 101 at the intersection where the unmanned vehicle enters and the opposite intersection are controlled to remain in the green light state, and the traffic lights 101 at the left intersection and the right intersection where the unmanned vehicle enters are controlled to remain in the red light state; and the indicator lights of the pedestrian blocking system 105 at the intersection where the unmanned vehicle enters and the opposite intersection are controlled to remain red, and the blocking rope is raised, the indicator light of the pedestrian blocking system 105 at the left intersection where the unmanned vehicle enters is controlled to remain green, and the blocking rope is lowered, and the indicator light of the pedestrian blocking system 105 at the right intersection changes from green to red, and the blocking rope is raised; the control module 106 outputs a prompt message to the traffic sign 102 at the intersection where the unmanned vehicle enters, so that the traffic sign 102 gives an audible and visual prompt of "Be careful when entering the unmanned logistics vehicle." In this way, when an unmanned vehicle enters an intersection, priority is given to the unmanned vehicle to pass, and the unmanned vehicle can control the right of way as much as possible, thereby improving the traffic efficiency of the unmanned vehicle.
[0059] Furthermore, S303 also includes:
[0060] Step d1, if the current state of the traffic light at the intersection where the target vehicle enters is a red light state, determine that the target state of the traffic light at the right intersection where the target vehicle enters is a green light state, and the target state of the traffic lights at the intersection where the target vehicle enters and the left intersection and the opposite intersection is a red light state; the target state of the pedestrian blocking system at the intersection where the target vehicle enters and the left intersection and the right intersection is a red light blocking state; the target state of the pedestrian blocking system at the opposite intersection where the target vehicle enters is a green light release state; the target state of the traffic sign at the intersection where the target vehicle enters is a first prompt information output state; the first prompt information is used to prompt that an unmanned vehicle has entered the intersection.
[0061] In the embodiment of the present application, when the target passage mode is to turn left into the left intersection, if the current state of the traffic light 101 at the entrance intersection is red, the traffic lights 101 at the entrance intersection and the opposite intersection of the unmanned vehicle are controlled to remain in the red light state, the traffic light 101 at the right intersection of the unmanned vehicle entrance intersection is controlled to remain in the green light state, and the traffic light 101 at the left intersection changes from green light to red light after entering the 5-second countdown; and the indicator light of the pedestrian blocking system 105 at the opposite intersection of the unmanned vehicle is controlled to remain green, the blocking cable is lowered, the indicator light of the pedestrian blocking system 105 entering the intersection changes from green to red, the blocking cable is raised, and the indicator lights of the pedestrian blocking system 105 at the left intersection and the right intersection of the unmanned vehicle entrance intersection remain red, and the blocking cable is raised; the control module 106 outputs a prompt message to the traffic sign 102 at the entrance intersection of the unmanned vehicle, so that the traffic sign 102 gives an audible and visual prompt of "Unmanned logistics vehicles enter with caution". In this way, when an unmanned vehicle enters an intersection, priority is given to the unmanned vehicle to pass, and the unmanned vehicle can control the right of way as much as possible, thereby improving the traffic efficiency of the unmanned vehicle.
[0062] Furthermore, the method further comprises:
[0063] Step e1, if each of the perception modules fails to detect the target vehicle within the preset detection range, the status of each of the traffic lights, pedestrian blocking systems and traffic signs are adjusted based on the traffic rules of the intersection.
[0064] In an embodiment of the present application, if the millimeter-wave radar 1031 of each perception module 103 does not detect an unmanned vehicle within a preset detection range of 80 meters, the control module 106 generates a control signal according to the traffic rules of the intersection and sends it to each traffic light 101, pedestrian blocking system 105 and traffic sign 102 to adjust the status of each traffic light 101, pedestrian blocking system 105 and traffic sign 102.
[0065] Specifically, the traffic rules at the intersection are as follows: for any intersection, if the traffic light 101 at the intersection is green, vehicles can turn left or go straight, the indicator light of the pedestrian blocking system 105 at the intersection is red, and the blocking cable is raised. When the millimeter-wave radar 1031 at the intersection detects that a pedestrian has illegally crossed the blocking cable and entered the intersection, the traffic sign 102 at the intersection will sound and light an alarm to prompt "there are pedestrians, slow down"; the traffic lights at the intersections on the left and right sides of the intersection are red, the indicator lights of the pedestrian blocking system 105 at the left and right sides of the intersection are green, and the blocking cable is lowered. When the millimeter-wave radar 1031 at the left and right sides of the intersection detects that pedestrians are crossing the road and a vehicle is turning left or right, the traffic sign 102 at the intersection will sound and light an alarm to prompt the left-turning vehicle or the right-turning vehicle "there are pedestrians, slow down".
[0066] Furthermore, in the process of the target vehicle passing through the intersection according to the target traffic mode, the method further includes:
[0067] Step f1: If any of the perception modules detects a vehicle or pedestrian that passes illegally within the corresponding preset detection range, the target driving state of the target vehicle is determined based on the position information and state information of the target vehicle and the vehicle or pedestrian that passes illegally obtained by the perception module.
[0068] In an embodiment of the present application, when an unmanned vehicle passes through an intersection in a target traffic mode, if any perception module 103 detects a vehicle or pedestrian that passes illegally within the corresponding preset detection range of 80 meters, the control module 106 obtains the position information and status information of the unmanned vehicle and the vehicle or pedestrian that passes illegally collected by the millimeter wave radar 1031 and the camera 1032 of the perception module 103; wherein the position information includes the position coordinates, and the status information includes the driving direction and the driving speed; the control module 106 plans the target driving state for the unmanned vehicle based on the above position information and status information, so that the unmanned vehicle can travel in accordance with the target driving state to avoid vehicles or pedestrians that pass illegally.
[0069] Step f2, sending the target driving state to the target vehicle through any of the roadside communication modules, so that the target vehicle drives according to the target driving state to avoid the vehicles or pedestrians that violate the traffic rules.
[0070] In an embodiment of the present application, the control module 106 sends the target driving status to the OBU of the unmanned vehicle through any roadside communication module 104. The unmanned vehicle drives according to the target driving status and chooses to stop, slow down or drive normally to avoid vehicles or pedestrians that pass illegally.
[0071] For further information, see Figure 4 , Figure 4 A flow chart of another traffic control method for an intelligent intersection system provided in an embodiment of the present application. Figure 4 As shown, another traffic control method of an intelligent intersection system provided in an embodiment of the present application includes the following steps:
[0072] S401, if a first signal is received from any of the perception modules when a target vehicle is detected to enter a preset detection range, it is determined that the target vehicle is about to drive to the intersection corresponding to the perception module; the target vehicle is an unmanned vehicle.
[0073] S402, obtaining the driving route information sent by the target vehicle collected by the roadside communication module of the intersection; and based on the driving route information, determining the target passage mode of the target vehicle through the intersection; the target passage mode includes any one of driving straight into the opposite intersection, turning left into the left intersection, and turning right into the right intersection.
[0074] S403, based on the target traffic mode, determining the target state of each of the traffic lights, pedestrian blocking systems and traffic signs; and generating a control signal to adjust the state of each of the traffic lights, pedestrian blocking systems and traffic signs to the target state.
[0075] S404: When each of the perception modules does not detect any vehicle or pedestrian that passes illegally within the corresponding preset detection range, a passage permission signal is sent to the target vehicle through the roadside communication module of the intersection so that the target vehicle can pass through the intersection according to the target passage method.
[0076] Among them, the description of S401 to S404 can refer to the description of S301 to S304, and can achieve the same technical effect, which is not repeated here.
[0077] S405, generating a release control signal to adjust the state of each of the traffic lights, pedestrian blocking system and traffic sign from the target state to the state before adjustment by the control signal.
[0078] In the embodiment of the present application, after the millimeter-wave radar 1031 of each perception module 103 detects that the unmanned vehicle passes through the intersection and enters the corresponding intersection, the control module 106 generates a release control signal and sends it to each traffic light 101, pedestrian blocking system 105 and traffic sign 102, adjusting the state of each traffic light 101, pedestrian blocking system 105 and traffic sign 102 from the target state to the state before adjustment by the control signal.
[0079] Specifically, when the target traffic mode is to drive straight into the opposite intersection, the states of each traffic light 101, the pedestrian blocking system 105 and the traffic sign 102 are directly adjusted from the target state to the state before adjustment by the control signal.
[0080] When the target traffic mode is to turn left into the left intersection, after the millimeter-wave radar 1031 at the left intersection detects that the unmanned vehicle passes through the intersection and enters the left intersection, the traffic light 101 at the opposite intersection is controlled to turn green, and the indicator light of the pedestrian blocking system 105 at the left intersection is controlled to turn green, and the blocking cable is lowered; when the millimeter-wave radars 1031 at the entrance intersection and the opposite intersection detect that no vehicle passes through the intersection, the traffic lights 101 at the entrance intersection and the opposite intersection are controlled to change from green light to red light after entering a 5-second countdown, and the traffic lights 101 at the left intersection and the right intersection are controlled to change from red light to green light after entering a 5-second countdown.
[0081] When the target mode of passage is to turn right into the right intersection, if the traffic light before the unmanned vehicle enters the intersection is green, after the millimeter-wave radar 1031 at the right intersection detects that the unmanned vehicle has passed the intersection and entered the right intersection, it directly controls the indicator light of the pedestrian blocking system 105 at the right intersection to turn green and the blocking cable to be lowered. If the traffic light at the intersection where the driverless vehicle enters is in a red state before adjustment, after the millimeter-wave radar 1031 at the right intersection detects that the driverless vehicle has passed through the intersection and entered the right intersection, the traffic light at the left intersection is controlled to change from red to green with a 5-second countdown, and the indicator light of the pedestrian blocking system 105 entering the intersection is controlled to turn green and the blocking cable is lowered; when the millimeter-wave radars 1031 at the left intersection and the right intersection detect that no vehicle has passed through the intersection, the traffic lights 101 at the left intersection and the right intersection are controlled to change from green to red with a 5-second countdown, and the traffic lights 101 at the entrance intersection and the opposite intersection are controlled to change from red to green with a 5-second countdown.
[0082] S406, adjusting the status of each of the traffic lights, pedestrian blocking system and traffic signs based on the traffic rules of the intersection.
[0083] In an embodiment of the present application, after the traffic control for the unmanned vehicle to pass through the intersection ends, the control module 106 generates and sends control signals according to the traffic rules of the intersection to adjust the status of each traffic light 101, pedestrian blocking system 105 and traffic sign 102, and the intersection resumes normal traffic.
[0084] The embodiment of the present application provides a traffic control method for an intelligent intersection system, which is applied to a control module of the intelligent intersection system. The intelligent intersection system also includes traffic lights, traffic signs, perception modules, roadside communication modules and pedestrian blocking systems installed at each intersection of the intersection; the traffic lights, traffic signs, perception modules, roadside communication modules and pedestrian blocking systems at each intersection are respectively connected to the control module for communication; the method includes: if a first signal sent by any perception module when a target vehicle is detected to enter a preset detection range is received, it is determined that the target vehicle is about to drive to the intersection corresponding to the perception module; the target vehicle is an unmanned vehicle; obtaining a signal sent by the target vehicle collected by the roadside communication module at the intersection; Driving route information; and based on the driving route information, determine the target traffic mode for the target vehicle to drive through the intersection; the target traffic mode includes driving straight into the opposite intersection, turning left into the left intersection, and turning right into the right intersection; based on the target traffic mode, determine the target state of each traffic light, pedestrian blocking system, and traffic sign; and generate a control signal to adjust the state of each traffic light, pedestrian blocking system, and traffic sign to the target state; when each perception module does not detect a vehicle or pedestrian that violates the traffic rules within the corresponding preset detection range, the roadside communication module at the intersection sends a permission signal to the target vehicle so that the target vehicle can pass through the intersection according to the target traffic mode. In this way, by controlling the traffic facilities at the intersection to adjust the passage of other vehicles and pedestrians, avoid obstruction to the passage of unmanned vehicles, and improve the safety of unmanned vehicles passing through intersections.
[0085] Based on the same application concept, a control module corresponding to the traffic control method of the intelligent intersection system provided in the above embodiment is also provided in the embodiment of the present application. Since the principle of solving the problem by the control module in the embodiment of the present application is similar to the traffic control method in the above embodiment of the present application, the implementation of the control module can refer to the implementation of the method, and the repeated parts will not be repeated.
[0086] See also Figure 5 , Figure 5 This is one of the functional module diagrams of a control module provided in an embodiment of the present application. Figure 5 As shown, the control module 106 includes:
[0087] The first determination unit 1061 is used to determine that the target vehicle is about to drive to the intersection corresponding to the perception module if a first signal sent by any of the perception modules is received when the perception module detects that the target vehicle is driving into a preset detection range; the target vehicle is an unmanned vehicle.
[0088] The second determination unit 1062 is used to obtain the driving route information sent by the target vehicle collected by the roadside communication module of the intersection; and based on the driving route information, determine the target passage mode of the target vehicle through the intersection; the target passage mode includes any one of driving straight into the opposite intersection, turning left into the left intersection, and turning right into the right intersection.
[0089] The first execution unit 1063 is used to determine the target state of each of the traffic lights, pedestrian blocking systems and traffic signs based on the target traffic mode; and generate a control signal to adjust the state of each of the traffic lights, pedestrian blocking systems and traffic signs to the target state.
[0090] The second execution unit 1064 is used to send a passage permission signal to the target vehicle through the roadside communication module of the intersection when none of the perception modules detects any vehicle or pedestrian illegally passing through within the corresponding preset detection range, so that the target vehicle can pass through the intersection according to the target passage method.
[0091] In a possible implementation, when the target traffic mode is driving straight into the opposite intersection, the first execution unit 1063 is used to determine the target state of each of the traffic lights, pedestrian blocking systems, and traffic signs based on the target traffic mode, and the first execution unit 1063 is specifically used to:
[0092] When the target passage mode is driving straight into the opposite intersection, the target states of the traffic lights at the intersection where the target vehicle enters and the opposite intersection are determined to be green light states, and the target states of the traffic lights at the left and right intersections where the target vehicle enters are red light states; the target states of the pedestrian blocking systems at the intersection where the target vehicle enters and the opposite intersection are red light blocking states, and the target states of the pedestrian blocking systems at the left and right intersections where the target vehicle enters are green light release states; the target state of the traffic sign at the intersection where the target vehicle enters is a state of outputting a first prompt information; the first prompt information is used to prompt that an unmanned vehicle has entered the intersection.
[0093] In a possible implementation, when the target traffic mode is to turn left into the left intersection, the first execution unit 1063 is used to determine the target state of each of the traffic lights, pedestrian blocking systems, and traffic signs based on the target traffic mode, and the first execution unit 1063 is specifically used to:
[0094] When the target traffic mode is to turn left and enter the left intersection, the target state of the traffic light at the intersection where the target vehicle enters is determined to be the green light state, and the target state of the traffic lights at the opposite intersection, the left intersection and the right intersection where the target vehicle enters is determined to be the red light state; the target state of the pedestrian blocking system at the intersection where the target vehicle enters and the left intersection and the opposite intersection where the target vehicle enters is the red light blocking state, and the target state of the pedestrian blocking system at the right intersection where the target vehicle enters is the green light release state; the target state of the traffic sign at the intersection where the target vehicle enters is the state of outputting the first prompt information; the first prompt information is used to prompt that an unmanned vehicle has entered the intersection.
[0095] In a possible implementation, when the target traffic mode is to turn right into the right intersection, the first execution unit 1063 is used to determine the target state of each of the traffic lights, pedestrian blocking systems, and traffic signs based on the target traffic mode, and the first execution unit 1063 is specifically used to:
[0096] When the target passage mode is to turn right into the right intersection, if the current state of the traffic light at the target vehicle entering the intersection is the green light state, it is determined that the target state of the traffic lights at the intersection entering the target vehicle and the opposite intersection is the green light state, and the target state of the traffic lights at the left intersection and the right intersection of the target vehicle entering the intersection is the red light state; the target state of the pedestrian blocking system at the intersection entering the target vehicle and the opposite intersection and the right intersection of the intersection is the red light blocking state; the target state of the pedestrian blocking system at the left intersection of the target vehicle entering the intersection is the green light release state; the target state of the traffic sign at the intersection entering the target vehicle is the state of outputting the first prompt information; the first prompt information is used to prompt that an unmanned vehicle has entered the intersection.
[0097] Furthermore, the first execution unit 1063 is further configured to:
[0098] If the current state of the traffic light at the intersection where the target vehicle enters is a red light state, determine that the target state of the traffic light at the right intersection where the target vehicle enters is a green light state, and the target state of the traffic lights at the intersection where the target vehicle enters and the left intersection and the opposite intersection are red light states; the target state of the pedestrian blocking system at the intersection where the target vehicle enters and the left intersection and the right intersection are a red light blocking state; the target state of the pedestrian blocking system at the opposite intersection where the target vehicle enters is a green light release state; the target state of the traffic sign at the intersection where the target vehicle enters is a state of outputting a first prompt information; the first prompt information is used to prompt that an unmanned vehicle has entered the intersection.
[0099] For further information, see Figure 6 , Figure 6 This is a second functional module diagram of a control module provided in an embodiment of the present application. Figure 6 As shown, the control module 106 further includes:
[0100] The third execution unit 1065 is used to adjust the status of each of the traffic lights, pedestrian blocking systems and traffic signs based on the traffic rules of the intersection if each of the perception modules fails to detect the target vehicle within the preset detection range.
[0101] Furthermore, in the process of the target vehicle passing through the intersection according to the target traffic mode, the second execution unit 1064 is further configured to:
[0102] If any of the perception modules detects a vehicle or pedestrian that passes illegally within the corresponding preset detection range, the target driving state of the target vehicle is determined based on the position information and status information of the target vehicle and the vehicle or pedestrian that passes illegally obtained by the perception module; the target driving state is sent to the target vehicle through any of the roadside communication modules, so that the target vehicle can travel according to the target driving state to avoid the vehicle or pedestrian that passes illegally.
[0103] Furthermore, if Figure 6 As shown, the control module 106 further includes:
[0104] The fourth execution unit 1066 is used to generate a release control signal to adjust the state of each of the traffic lights, pedestrian blocking systems and traffic signs from the target state to the state before adjustment by the control signal.
[0105] The fifth execution unit 1067 is used to adjust the status of each of the traffic lights, pedestrian blocking systems and traffic signs based on the traffic rules of the intersection.
[0106] The control module provided in the embodiment of the present application is applied to an intelligent intersection system, which further includes a traffic light, a traffic sign, a perception module, a roadside communication module, and a pedestrian blocking system installed at each intersection of the intersection; the traffic light, the traffic sign, the perception module, the roadside communication module, and the pedestrian blocking system at each intersection are respectively connected to the control module for communication; the control module includes: a first determination unit for determining that the target vehicle is about to drive to the intersection corresponding to the perception module if a first signal sent by any perception module is received when the target vehicle is detected to enter a preset detection range; the target vehicle is an unmanned vehicle; a second determination unit for obtaining the driving route information sent by the target vehicle collected by the roadside communication module at the intersection; Based on the driving route information, the target traffic mode for the target vehicle to pass through the intersection is determined; the target traffic mode includes driving straight into the opposite intersection, turning left into the left intersection, and turning right into the right intersection; the first execution unit is used to determine the target state of each traffic light, pedestrian blocking system, and traffic sign based on the target traffic mode; and generate a control signal to adjust the state of each traffic light, pedestrian blocking system, and traffic sign to the target state; the second execution unit is used to send a permission signal to the target vehicle through the roadside communication module of the intersection when each perception module does not detect a vehicle or pedestrian passing illegally within the corresponding preset detection range, so that the target vehicle passes through the intersection according to the target traffic mode. In this way, the passage of other vehicles and pedestrians is adjusted by controlling the traffic facilities at the intersection, avoiding obstruction to the passage of unmanned vehicles, and improving the safety of unmanned vehicles passing through intersections.
[0107] Based on the same application idea, please refer to Figure 7 , Figure 7 A schematic diagram of the structure of an electronic device 700 provided in an embodiment of the present application includes: a processor 710, a memory 720 and a bus 730.
[0108] The memory 720 stores machine-readable instructions executable by the processor 710. When the electronic device 700 is running, the processor 710 communicates with the memory 720 through the bus 730. When the processor 710 is running, the machine-readable instructions are executed by the steps of the traffic control method for the intelligent intersection system provided in the above embodiment. The specific implementation method can be found in the method embodiment, which will not be repeated here.
[0109] Based on the same application concept, an embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the traffic control method for the intelligent intersection system provided in the above embodiment are executed. The specific implementation method can be found in the method embodiment, which will not be repeated here.
[0110] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.
[0111] In the embodiments provided in the present application, it should be understood that the disclosed methods, modules and systems can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only 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 communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.
[0112] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
[0113] In addition, each functional unit in the embodiments provided in the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
[0114] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the 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, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.
[0115] It should be noted that similar numbers and letters represent similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description and are not to be understood as indicating or implying relative importance.
[0116] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application. They should all be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.
Claims
1. A traffic control method for an intelligent intersection system, It is characterized in that A control module applied to an intelligent intersection system, wherein the intelligent intersection system further comprises a traffic light, a traffic sign, a perception module, a roadside communication module and a pedestrian blocking system installed at each intersection of the intersection; the traffic light, the traffic sign, the perception module, the roadside communication module and the pedestrian blocking system at each intersection are respectively connected to the control module in communication; the method comprises: If a first signal is received from any of the sensing modules when the target vehicle is detected to enter a preset detection range, it is determined that the target vehicle is about to drive to the intersection corresponding to the sensing module; the target vehicle is an unmanned vehicle; Acquire the driving route information sent by the target vehicle collected by the roadside communication module of the intersection; and determine the target passage mode of the target vehicle through the intersection based on the driving route information; the target passage mode includes any one of driving straight into the opposite intersection, turning left into the left intersection, and turning right into the right intersection; Based on the target traffic mode, determining the target state of each of the traffic lights, pedestrian blocking systems and traffic signs; and generating control signals to adjust the state of each of the traffic lights, pedestrian blocking systems and traffic signs to the target state; When each of the perception modules does not detect any vehicle or pedestrian that passes illegally within the corresponding preset detection range, a passage permission signal is sent to the target vehicle through the roadside communication module of the intersection so that the target vehicle can pass through the intersection according to the target passage method.
2. The traffic control method of the intelligent intersection system according to claim 1, It is characterized in that When the target traffic mode is driving straight into the opposite intersection, the target states of the traffic lights, pedestrian blocking systems and traffic signs are determined based on the target traffic mode, including: When the target passage mode is driving straight into the opposite intersection, the target states of the traffic lights at the intersection where the target vehicle enters and the opposite intersection are determined to be green light states, and the target states of the traffic lights at the left and right intersections where the target vehicle enters are red light states; the target states of the pedestrian blocking systems at the intersection where the target vehicle enters and the opposite intersection are red light blocking states, and the target states of the pedestrian blocking systems at the left and right intersections where the target vehicle enters are green light release states; the target state of the traffic sign at the intersection where the target vehicle enters is a state of outputting a first prompt information; the first prompt information is used to prompt that an unmanned vehicle has entered the intersection.
3. The traffic control method of the intelligent intersection system according to claim 1, It is characterized in that When the target traffic mode is to turn left and enter the left intersection, the target state of each of the traffic lights, pedestrian blocking system and traffic sign is determined based on the target traffic mode, including: When the target traffic mode is to turn left and enter the left intersection, the target state of the traffic light at the intersection where the target vehicle enters is determined to be the green light state, and the target state of the traffic lights at the opposite intersection, the left intersection and the right intersection where the target vehicle enters is determined to be the red light state; the target state of the pedestrian blocking system at the intersection where the target vehicle enters and the left intersection and the opposite intersection where the target vehicle enters is the red light blocking state, and the target state of the pedestrian blocking system at the right intersection where the target vehicle enters is the green light release state; the target state of the traffic sign at the intersection where the target vehicle enters is the state of outputting the first prompt information; the first prompt information is used to prompt that an unmanned vehicle has entered the intersection.
4. The traffic control method of the intelligent intersection system according to claim 1, It is characterized in that When the target traffic mode is to turn right into the right intersection, the target states of the traffic lights, pedestrian blocking systems and traffic signs are determined based on the target traffic mode, including: When the target passage mode is to turn right into the right intersection, if the current state of the traffic light at the target vehicle entering the intersection is the green light state, it is determined that the target state of the traffic lights at the intersection entering the target vehicle and the opposite intersection is the green light state, and the target state of the traffic lights at the left intersection and the right intersection of the target vehicle entering the intersection is the red light state; the target state of the pedestrian blocking system at the intersection entering the target vehicle and the opposite intersection and the right intersection of the intersection is the red light blocking state; the target state of the pedestrian blocking system at the left intersection of the target vehicle entering the intersection is the green light release state; the target state of the traffic sign at the intersection entering the target vehicle is the state of outputting the first prompt information; the first prompt information is used to prompt that an unmanned vehicle has entered the intersection.
5. The traffic control method of the intelligent intersection system according to claim 4, It is characterized in that The determining of the target state of each of the traffic lights, pedestrian blocking systems and traffic signs based on the target traffic mode also includes: If the current state of the traffic light at the intersection where the target vehicle enters is a red light state, determine that the target state of the traffic light at the right intersection where the target vehicle enters is a green light state, and the target state of the traffic lights at the intersection where the target vehicle enters and the left intersection and the opposite intersection are red light states; the target state of the pedestrian blocking system at the intersection where the target vehicle enters and the left intersection and the right intersection are a red light blocking state; the target state of the pedestrian blocking system at the opposite intersection where the target vehicle enters is a green light release state; the target state of the traffic sign at the intersection where the target vehicle enters is a state of outputting a first prompt information; the first prompt information is used to prompt that an unmanned vehicle has entered the intersection.
6. The traffic control method of the intelligent intersection system according to claim 1, It is characterized in that The method further comprises: If each of the perception modules fails to detect the target vehicle within the preset detection range, the status of each of the traffic lights, pedestrian blocking systems and traffic signs are adjusted based on the traffic rules of the intersection.
7. The traffic control method of the intelligent intersection system according to claim 1, It is characterized in that In the process of the target vehicle passing through the intersection according to the target traffic mode, the method further includes: If any of the perception modules detects a vehicle or pedestrian that passes illegally within the corresponding preset detection range, the target driving state of the target vehicle is determined based on the position information and state information of the target vehicle and the vehicle or pedestrian that passes illegally obtained by the perception module; The target driving state is sent to the target vehicle through any of the roadside communication modules, so that the target vehicle can travel according to the target driving state to avoid the vehicles or pedestrians that violate the traffic rules.
8. The traffic control method of the intelligent intersection system according to claim 1, It is characterized in that After the target vehicle passes through the intersection according to the target traffic mode, the method further includes: Generate a release control signal to adjust the state of each of the traffic lights, pedestrian blocking system and traffic sign from the target state to the state before adjustment by the control signal; The states of the traffic lights, pedestrian blocking systems and traffic signs are adjusted based on the traffic rules of the intersection.
9. A control module, It is characterized in that Applied to an intelligent intersection system, the intelligent intersection system further comprises a traffic light, a traffic sign, a perception module, a roadside communication module and a pedestrian blocking system installed at each intersection of the intersection; the traffic light, the traffic sign, the perception module, the roadside communication module and the pedestrian blocking system at each intersection are respectively connected to the control module for communication; The control module comprises: A first determination unit is configured to determine that the target vehicle is about to drive to the intersection corresponding to the perception module upon receiving a first signal sent by any of the perception modules when the perception module detects that the target vehicle is driving into a preset detection range; the target vehicle is an unmanned vehicle; A second determination unit is used to obtain the driving route information sent by the target vehicle collected by the roadside communication module of the intersection; and determine the target passage mode of the target vehicle through the intersection based on the driving route information; the target passage mode includes any one of driving straight into the opposite intersection, turning left into the left intersection, and turning right into the right intersection; A first execution unit is used to determine the target state of each of the traffic lights, pedestrian blocking systems and traffic signs based on the target traffic mode; and generate a control signal to adjust the state of each of the traffic lights, pedestrian blocking systems and traffic signs to the target state; The second execution unit is used to send a passage permission signal to the target vehicle through the roadside communication module of the intersection when none of the perception modules detects any vehicle or pedestrian that passes illegally within the corresponding preset detection range, so that the target vehicle passes through the intersection according to the target passage method.
10. An intelligent intersection system, It is characterized in that The intelligent intersection system comprises: Traffic lights, traffic signs, perception modules, roadside communication modules, pedestrian blocking systems and the control module as described in claim 9 are installed at each intersection of the intersection; the traffic lights, traffic signs, perception modules, roadside communication modules and pedestrian blocking systems at each intersection are respectively communicated with the control module.