Method and device for acquiring saturation flow rate of lane, electronic equipment and storage medium

Abstract

The invention provides a method and device for obtaining the saturation flow rate of a lane, electronic equipment and a storage medium, and relates to the technical field of intelligent transportation and the like. According to the specific implementation scheme, the method comprises the following steps: obtaining the minimum safe time headway on each turning direction of each lane in a specified entrance lane of a specified intersection at the current time period; obtaining a basic saturation flow rate of each lane in each turning direction based on the minimum safe time headway of each lane in each turning direction and the signal control type of each lane in each turning direction; obtaining the actual saturation flow rate of each lane in each turning direction based on the basic saturation flow rate of each lane in each turning direction; and based on the actual saturation flow rate of each lane in each turning direction, aggregating the total saturation flow rate of the specified entrance lane in each turning direction. According to the technology disclosed by the invention, the accuracy of the obtained saturation flow rate can be effectively improved.

Description

Technical Field

[0001] The present disclosure relates to the field of computer technology, specifically to the field of intelligent transportation and other technical fields, and in particular to a method, device, electronic device and storage medium for obtaining the saturation flow rate of a lane. Background Art

[0002] With the continuous increase of urban population and motor vehicle ownership, problems such as poor road network, insufficient facilities and traffic congestion are becoming more and more prominent, and the impact and pressure on urban traffic management are also increasing. People have higher and higher requirements for the reliability and controllability of traffic system operation. As an important part of urban roads, intersections are the main research objects, among which the traffic capacity and signal timing of intersections are the main contents of the research.

[0003] The saturation flow rate of the lanes at the intersection is one of the key parameters for calculating signal timing and traffic capacity. The saturation flow rate of the lane refers to the maximum flow rate value that a lane or lane group can pass through during a continuous green light signal time. Summary of the invention

[0004] The present disclosure provides a method, device, electronic device and storage medium for acquiring the saturation flow rate of a lane.

[0005] According to one aspect of the present disclosure, a method for obtaining a saturation flow rate of a lane is provided, wherein the method comprises:

[0006] Get the minimum safe headway time for each turn in each lane of the designated entrance road of the designated intersection in the current period;

[0007] Based on the minimum safe headway time at each turn of each lane and the signal control type of each turn of each lane, a basic saturation flow rate at each turn of each lane is obtained;

[0008] Based on the basic saturation flow rate at each turn of each lane, obtaining the actual saturation flow rate at each turn of each lane;

[0009] Based on the actual saturation flow rates on the turns of the lanes, the total saturation flow rates on the turns in the designated inlet lane are aggregated.

[0010] According to another aspect of the present disclosure, a device for acquiring a saturation flow rate of a lane is provided, wherein the device comprises:

[0011] The first acquisition module is used to obtain the minimum safe headway time of each lane on each turn in a designated entrance road of a designated intersection in the current period;

[0012] A second acquisition module is used to acquire a basic saturation flow rate at each turn of each lane based on a minimum safe headway time at each turn of each lane and a signal control type at each turn of each lane;

[0013] A third acquisition module is used to acquire an actual saturation flow rate at each turn of each lane based on the basic saturation flow rate at each turn of each lane;

[0014] The aggregation module is used for aggregating the total saturation flow rate on each turn in the designated inlet lane based on the actual saturation flow rate on each turn of each lane.

[0015] According to another aspect of the present disclosure, there is provided an electronic device, comprising:

[0016] at least one processor; and

[0017] a memory communicatively connected to the at least one processor; wherein,

[0018] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method of any possible implementation manner and the aspects described above.

[0019] According to yet another aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to cause the computer to execute the method of the above-mentioned aspect and any possible implementation manner.

[0020] According to yet another aspect of the present disclosure, a computer program product is provided, including a computer program, wherein when the computer program is executed by a processor, the computer program implements the above-mentioned aspects and any possible implementation method.

[0021] According to the technology disclosed in the present invention, the accuracy of the acquired saturation flow rate can be effectively improved.

[0022] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure.

[0024] Figure 1 is a schematic diagram according to a first embodiment of the present disclosure;

[0025] Figure 2 is a schematic diagram according to a second embodiment of the present disclosure;

[0026] Figure 3 It is a relationship diagram between the lane utilization rate of each turn in a composite lane and the proportion of the turn lane;

[0027] Figure 4 is a schematic diagram according to a third embodiment of the present disclosure;

[0028] Figure 5 is a schematic diagram according to a fourth embodiment of the present disclosure;

[0029] Figure 6 is a schematic diagram according to a fifth embodiment of the present disclosure;

[0030] Figure 7 is a schematic diagram according to a sixth embodiment of the present disclosure;

[0031] Figure 8 The block diagram is a block diagram of an electronic device for implementing the method of the embodiment of the present disclosure. DETAILED DESCRIPTION

[0032] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0033] Obviously, the described embodiments are only part of the embodiments of the present disclosure, but not all of them. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present disclosure.

[0034] It should be noted that the terminal devices involved in the embodiments of the present disclosure may include but are not limited to mobile phones, personal digital assistants (PDAs), wireless handheld devices, tablet computers and other smart devices; display devices may include but are not limited to personal computers, televisions and other devices with display functions.

[0035] In addition, the term "and / or" in this article is only a description of the association relationship between the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0036] Figure 1 is a schematic diagram according to the first embodiment of the present disclosure; Figure 1 As shown, this embodiment provides a method for obtaining the saturation flow rate of a lane, which may specifically include the following steps:

[0037] S101, obtaining the minimum safe headway time of each lane on each turn of each lane in a designated entrance road of a designated intersection in the current period;

[0038] The execution subject of the method for acquiring the saturated flow rate of a lane in this embodiment is a device for acquiring the saturated flow rate of a lane, and the device may be a physical electronic device, or may also be a software-based application.

[0039] The current time period in this embodiment can be any time period, such as 7:00-9:00 during the morning rush hour, 17:00-19:00 during the evening rush hour, or any other custom time period. The length of the current time period can be 1 hour, 2 hours, or any other time length, which is not limited here.

[0040] The designated intersection of this embodiment may be any intersection on a road, which has a traffic light that can instruct vehicles to make various turns, such as going straight, turning left, turning right, or making a U-turn.

[0041] In the scenario of this embodiment, any designated intersection may correspond to at least one entrance lane. For example, for an intersection with a traffic light and a zebra crossing in the middle of a one-way road, there is only one entrance lane; for an intersection with a traffic light and a zebra crossing in the middle of a two-way road, there may be two entrance lanes; for a T-junction, there may be three entrance lanes; for a crossroad, there may be four entrance lanes, etc. An entrance lane may be understood as an entrance road for vehicles to drive to an intersection, and any entrance lane may be provided with one, two or more lanes.

[0042] In this embodiment, the headway is an important indicator for evaluating driving safety. The headway represents the time difference between the front ends of the front and rear vehicles passing the same place, and can be calculated by dividing the headway distance between the front and rear vehicles by the speed of the rear vehicle. The minimum safe headway refers to the minimum headway between the front and rear vehicles under the premise of vehicle driving safety. In this embodiment, the vehicle driving information on each turn of each lane in the designated entrance road of the designated intersection in the current period can be collected to obtain the minimum safe headway on each turn of each lane. For example, if the entrance road is a ramp, such as an uphill ramp or a downhill ramp, the minimum safe headway on each turn of each lane needs to be collected separately. If the entrance road is a flat road, when the straight direction includes more than two lanes, the two or more lanes in the straight direction can share the minimum safe headway, and at this time, only the minimum safe headway on one lane can be used.

[0043] S102, obtaining a basic saturation flow rate at each turn of each lane based on a minimum safe headway time at each turn of each lane and a signal control type at each turn of each lane;

[0044] S103, obtaining an actual saturated flow rate at each turn of each lane based on a basic saturated flow rate at each turn of each lane;

[0045] In this embodiment, in order to more accurately obtain the saturation flow rate of the lane, for each turn of each lane, a basic saturation flow rate is first obtained based on the corresponding minimum safe headway and the signal control type of each turn of each lane; and then the corresponding actual saturation flow rate is obtained based on the basic saturation flow rate. For each turn of each lane, the actual saturation flow rate can more accurately represent the actual saturation flow rate of the turn of the lane compared to the basic saturation flow rate.

[0046] For example, the signal control type of each turn in each lane of the present embodiment may include the following categories: (1) uncontrolled release type, which can be recorded as U-type, for example, a right turn belongs to the uncontrolled release type; (2) permitted release type, which can be recorded as E-type, for example, a left turn when the north-south traffic is opposite belongs to the permitted release type; (3) protected release type, which can be recorded as P-type, that is, there is no conflict between the traffic flows released by the green light.

[0047] In this embodiment, based on the minimum safe headway time at each turn of each lane and the signal control type of each turn of each lane, the basic saturated flow rate at each turn of each lane can be obtained more accurately, thereby effectively ensuring the accuracy of the actual saturated flow rate at each turn of each lane that is subsequently obtained based on the basic saturated flow rate at each turn of each lane.

[0048] S104. Aggregate the total saturated flow rate on each turn in the designated inlet lane based on the actual saturated flow rate on each turn in each lane.

[0049] The actual saturated flow rate is relative to each turn of each lane, and the total saturated flow rate obtained after aggregation is relative to each turn. In specific implementation, the actual saturated flow rate of each turn of each lane in the specified entrance road is aggregated according to the turn, and the total saturated flow rate of each turn in the specified entrance road is obtained. For example, if the entrance road includes 3 lanes, the actual saturated flow rates of the same turn in the three lanes are aggregated together. For example, the actual saturated flow rates in the straight direction of the three lanes are aggregated together to obtain the total saturated flow rate in the straight direction of the entrance road; the actual saturated flow rates in the left turn direction of the three lanes are aggregated together to obtain the total saturated flow rate in the left turn direction of the entrance road; the actual saturated flow rates in the right turn direction of the three lanes are aggregated together to obtain the total saturated flow rate in the right turn direction of the entrance road.

[0050] The method for obtaining the saturated flow rate of the lane of the present embodiment adopts the above-mentioned scheme, firstly obtains the basic saturated flow rate on each turn of each lane based on the minimum safe headway time on each turn of each lane and the signal control type of each turn of each lane, then obtains the actual saturated flow rate on each turn of each lane based on the basic saturated flow rate on each turn of each lane, and finally aggregates to obtain the total saturated flow rate on each turn in the specified entrance lane, which can effectively improve the accuracy of the obtained saturated flow rate and provide effective data support for the research on the traffic capacity and signal timing of intersections.

[0051] Figure 2 is a schematic diagram according to the second embodiment of the present disclosure; the method for obtaining the saturation flow rate of the lane of this embodiment, in the above Figure 1 Based on the technical solution of the embodiment shown, the technical solution of the present disclosure is further described in more detail by taking the lane turning as a protection release type, i.e., P type, as an example. Figure 2 As shown, the method for obtaining the saturation flow rate of the lane in this embodiment may specifically include the following steps:

[0052] S201, obtaining the minimum safe headway time of each lane on each turn of each lane in a designated entrance road of a designated intersection in the current period;

[0053] Specifically, step S201 may adopt the above Figure 1 The implementation of step S101 in the illustrated embodiment is implemented.

[0054] Optionally, in one embodiment of the present disclosure, the minimum safe headway time for each turn in each lane can also be set based on experience. However, if the road conditions of the designated entrance road are complex, such as including an uphill or downhill road, and if the empirical setting method is set for a flat road, it is necessary to collect vehicle driving information on each turn in each lane for a period of time within the current period, and obtain the minimum safe headway time for each turn in each lane.

[0055] S202: for each turn of each lane, if the turn of the lane is of a protection release type, based on the minimum safe headway time of the turn of the lane, obtain a first basic saturation flow rate on the turn of the lane;

[0056] When the lane turn is of protection release type, that is, P type, for the turn k of any lane of P type, the basic saturation flow rate of its dedicated lane can be recorded as It can be calculated using the following formula:

[0057]

[0058] is the first basic saturation flow rate on the lane turning k when the lane turning is of protection release type, i.e. P type; hk is the minimum safe headway time for turning in lane k.

[0059] This step S202 is the above Figure 1 An implementation of step S102 of the illustrated embodiment. By adopting this method, the basic saturation flow rate when the lane turns into a P-type can be accurately obtained.

[0060] S203, taking the first basic saturation flow rate on the turning point of the lane as the actual saturation flow rate on the corresponding turning point of the corresponding lane;

[0061] This step S203 is the above Figure 1 An implementation of step S103 of the illustrated embodiment. According to the above method, the actual saturation flow rate corresponding to the P-type turn of the lane can be accurately obtained.

[0062] S204, obtaining channelization information of each lane in the designated entrance lane;

[0063] S205, based on the channelization information of each lane in the designated entrance lane, correcting the actual saturation flow rate on each turn of each lane;

[0064] For example, in this embodiment, the channelization information of each lane can be obtained by collecting the channelization information of the road of the designated entrance road. When collecting, it can be collected from the road network database, or it can be collected at the designated intersection using professional collection equipment, or the two collection methods can be used in combination. Specifically, at least one of the channelization information of the widening area of ​​each lane in the designated entrance road, the channelization information of the waiting area, and the channelization information of the U-turn can be obtained.

[0065] In order to obtain a more accurate saturation flow rate, in this embodiment, when obtaining the channelization information of each lane, instead of selectively obtaining one type, all the channelization information of each lane is obtained, including at least one of the channelization information of the widening area, the channelization information of the turning area and the U-turn.

[0066] In this embodiment, the channelization information of the widening area may include the widening lane set to which the current lane belongs, the length of the widening area, etc. Among them, the widening lane set of lane i can be recorded as I i . Lane Widening Set I iThe widened lane set includes the identification of at least one lane that is widened from the same lane in the road section. That is, the widened lane set includes both the identification of the widened lane and the identification of the corresponding source lane before the widened lane is widened. For example, lane 1 is widened to lanes 2 and 3 to the left and right near the intersection. At this time, the corresponding widened lane set may include the identification of lane 1, lane 2, and lane 3. That is, it can be considered that lane 1, lane 2, and lane 3 are widened from the same lane. For lanes without widening, the widened lane set only includes the identification of the lane itself. The widened lane set I i The lanes in the representation set are all affected by the same widening. The length of the widening area refers to the length of the widened lane along the direction of vehicle travel.

[0067] For example, in the entrance road of a certain intersection, the lanes are widened from the original two lanes in the road section to three lanes, and specifically, a lane 3 is widened on the other side of the original lane 1. At this time, lane 1 and lane 3 are widened based on the same lane 1, so the widened lane sets of lane 1 and lane 3 both include the markings of lane 1 and lane 3. The length of the corresponding widened area is the length of the widened lane 3. Lane 2 on the other side of lane 1 is not widened, and the widened lane set of lane 2 only includes the marking of lane 2. At this time, the length of the corresponding widened area of ​​lane 2 can be infinite.

[0068] In this embodiment, the channelization information of the waiting area may include the length of the waiting area, etc. For example, for a common left-turn lane, there is a waiting area at many intersections, and if the same entrance road includes more than two left-turn lanes, the lengths of the waiting areas of different left-turn lanes may be different. For a lane without a waiting area, such as a straight lane at many intersections without a waiting area, the length of the waiting area can be recorded as 0.

[0069] In actual application scenarios, a separate lane such as the leftmost lane can be set up in the entrance road specifically for U-turns, that is, a U-turn lane. The leftmost lane can also be set as a composite lane, that is, a lane that can go straight and make U-turns at the same time, or a lane that can turn left and make U-turns at the same time. Based on this, in this embodiment, the channelization information of the U-turn may include the proportion of U-turn traffic in the lane, the minimum safe headway time for U-turns, etc. In actual scenarios, U-turns can usually be made on the innermost lane of the entrance road. The minimum safe headway time required for U-turn traffic is generally higher than that for straight, left-turn and right-turn traffic, which will affect the saturation flow rate of the straight, left-turn or right-turn lanes.

[0070] When step S205 is implemented specifically, it may include at least one of the following methods:

[0071] Method 1: Based on the channelization effect of the widening area, the actual saturation flow rate on each turn of each lane is corrected. When it is specifically implemented, it can include the following steps (a1)-(d1):

[0072] (a1) for each turn of each lane in the designated entrance lane, when it is determined that the lane belongs to a lane in the widening lane set based on the channelization information of the lane, a limit flow rate that can be accommodated on the turn of the lane is obtained based on the channelization information of the lane and an actual saturation flow rate on the turn of the lane;

[0073] Specifically, the widened lane set includes the identification of at least one lane formed by widening the same lane in the road section; for details, please refer to the relevant records in the above embodiments, which will not be repeated here.

[0074] For example, when the step (a1) is implemented specifically, it may include the following steps (1)-(3):

[0075] (1) Based on the channelization information of the lane, obtain the length of the widening area;

[0076] When the current lane is a lane in the widening set, the length of the widening area is recorded in the channelization information of the lane, and the length can be directly obtained from it.

[0077] (2) Obtain the minimum stopping distance, minimum safe headway of the lane, and the cycle duration of the traffic light change at the designated intersection;

[0078] The minimum parking spacing and minimum safe headway of the lane can be obtained by collecting data at a designated intersection. Or for a relatively flat road, it can also be configured based on experience. The cycle duration of the traffic light change at a designated intersection can be collected at the designated intersection, or the cycle duration of the traffic light change configured at the designated intersection can be obtained from the traffic light management information configured by the transportation department.

[0079] (3) Based on the length of the widening area, the minimum parking distance of the lane, the minimum safe headway, the cycle duration of the traffic light change at the designated intersection, and the actual saturation flow rate on the lane turn, the maximum flow rate that the lane can accommodate is obtained.

[0080] For example, in specific implementation, the following formula can be used:

[0081]

[0082] represents the maximum flow rate that can be accommodated on the turn k of lane i; represents the actual saturation flow rate of turn k in lane i; X B Indicates the length of the widening area; X stop represents the minimum parking distance of lane i; h k represents the minimum safe headway time for turning k in lane i; C represents the cycle duration of the traffic light change at the specified intersection.

[0083] (b1) obtaining the current flow rate on the turn of the lane;

[0084] This step can be obtained by collecting traffic at a designated intersection. It should be noted that, in order to improve efficiency, in this embodiment, only a small period of time within the designated time period can be collected, and then the traffic data collected in the small period of time is converted into hourly traffic as the current traffic.

[0085] (c1) obtaining the weight of the turn of the lane;

[0086] For example, it can be implemented through the following steps (11)-(13):

[0087] (11) Obtain the flow weight of the turn of the lane at the specified intersection in the current period;

[0088] For example, the total flow rate of the lanes at a specified intersection during the current time period and the flow rate at each turn of the lanes can be collected; based on the total flow rate of the lanes at the specified intersection during the current time period and the flow rate at each turn of the lanes, the flow weight of each turn of the lanes can be calculated.

[0089] When implementing it specifically, the following formula can be used:

[0090]

[0091] represents the flow weight of turning k in lane i represents the flow rate in lane i turning to k; q i represents the total flow of lane i.

[0092] It should be noted that the flow rate in this embodiment may specifically refer to the hourly flow rate. When collecting data, only the flow rate within a short period of time in the current period may be collected, and then converted to the hourly flow rate.

[0093] The lane in this embodiment may include multiple turns, so the lane may also be called a composite lane.

[0094] (12) configuring the utilization rate of the turn of the lane at the specified intersection during the current period;

[0095] Given that turns with a small lane share have a strong demand for composite lanes, the utilization rate of turn k in composite lane i can be quantified based on the channelization characteristics of the intersection: Ensure the utilization of turns with a smaller lane ratio in composite lanes.

[0096] In actual application scenarios, the proportion of lanes in a certain turn in the entrance lane can be split into composite lanes according to the equal right of way. For example, if there are two lanes in the entrance lane, straight left and straight right, the proportions of left, straight and right are 1 / 4, 2 / 4 and 1 / 4 respectively. As the lane proportion of a certain turn gradually increases, its utilization rate of the conforming lanes gradually decreases. For example, the maximum utilization rate can be 0.9, and the minimum utilization rate can be 0.1; the highest proportion can be 7 / 8, and the lowest proportion can be 1 / 8. When the lane proportion is lower than 1 / 8, its utilization rate of the composite lane is extremely high; when the lane proportion is lower than 7 / 8, its utilization rate of the composite lane is low. The total utilization rate of a lane must be equal to 1. Based on this, it can be obtained Figure 3 The relationship between lane utilization and turning lane proportion for each turn in the composite lane is shown.

[0097] Based on the above analysis, the utilization rate of each turn in each lane can be configured using the following formula:

[0098]

[0099] in, l k are the maximum threshold, minimum threshold, and actual value of lane occupancy, respectively. For example, They can be 0.875 and 0.125 respectively. In practical applications, other values ​​can also be used, which are not limited here. i k ,max ,r i k,min , are the maximum utilization threshold, minimum utilization threshold, and actual utilization value of turn k in composite lane i, respectively. For example, r i k,max ,r i k,min They can be 0.9 and 0.1 respectively. In practical applications, other values ​​can also be used and are not limited here.

[0100] (13) Based on the traffic weight of the turn in the lane and the utilization rate of the turn in the lane, the weight of the turn in the lane at the specified intersection in the current time period is obtained.

[0101] Specifically, based on the results of the above steps (11) and (12), the dynamic flow data and the static channelization characteristics can be coordinated to quantify the weight of each turn in the composite lane and ensure the practicality of the saturation flow rate distribution in the composite lane.

[0102] For example, the following formula can be used to implement it:

[0103] in, is the weight of turn k in composite lane i.

[0104] (d1) Based on the maximum flow rate that can be accommodated on the turn of the lane, the current flow rate on the turn of the lane, and the weight of the turn of the lane, the actual saturation flow rate on the turn of the lane is corrected.

[0105] For example, when step (d1) is modified, it may specifically include the following steps (21)-(23):

[0106] (21) obtaining a first saturation flow rate of the queued vehicles on the turn of the lane in the designated entrance lane area based on the actual saturation flow rate on the turn of the lane and the weight of the turn of the lane;

[0107] In actual application scenarios, lane widening is performed in the area of ​​the entrance road. Specifically, a lane in the road section before the entrance road can be widened to at least two lanes in the entrance road area, that is, at least one lane is widened. This step is used to identify the first saturation flow rate of the queued traffic on the turn of the corresponding lane when the traffic volume is not too large and the queued traffic is mainly queued in the designated entrance road area of ​​this embodiment.

[0108] For example, this step can be implemented using the following formula:

[0109]

[0110] in, represents the weight of the turn k in lane i; represents the actual saturation flow rate of turn k in lane i; It represents the saturation flow rate of the queued traffic on the turn k of lane i.

[0111] (22) obtaining a second saturation flow rate of the queued traffic flow on the turn of the lane in the road section before the designated entrance road based on the current flow rate on the turn of the lane and the actual saturation flow rate on the turn of the lane;

[0112] This step is used to identify when the traffic volume is large and the queued traffic has overflowed from the entrance road area to the section before the entrance road. At this time, the second saturation flow rate of the queued traffic on the turn of the lane in the section before the entrance road can be calculated based on the current flow on the turn of the lane and the actual saturation flow rate on the turn of the lane.

[0113] For example, the following formula can be used to implement it:

[0114]

[0115] in, represents the current flow of lane i turning to k; represents the actual saturation flow rate of the turn k of lane i; i The set of lane widening lanes I represents the set of lane widening lanes i i ; K represents the set of all turns included in lane i.

[0116] (23) Based on the first saturation flow rate, the second saturation flow rate, the current flow rate on the turn of the lane, and the maximum flow rate that can be accommodated on the turn of the lane, the average saturation flow rate on the turn of the lane under the current flow rate is obtained as the corrected actual saturation flow rate on the turn of the lane.

[0117] This step can comprehensively analyze the saturation flow rate of the queuing traffic in different situations, and combine the current flow on the turn of the lane and the maximum flow that can be accommodated on the turn of the lane to calculate the average saturation flow rate on the turn of the lane under the current flow, and use it as the corrected actual saturation flow rate on the turn of the lane, so that the corrected actual saturation flow rate is more reasonable and accurate.

[0118] For example, in specific implementation, the following formula can be used:

[0119]

[0120] Based on this, the channelization effect based on the widening area is completed, and the actual saturation flow rate on each turn of each lane is corrected. In this way, the influence of the widening area on the saturation flow rate can be corrected, and the accuracy of the saturation flow rate can be effectively improved.

[0121] Method 2: Based on the channelization effect of the waiting area, the actual saturation flow rate on each turn of each lane is corrected. When it is specifically implemented, it can include the following steps (a2)-(c2):

[0122] (a2) for each turn of each lane in the designated entrance lane, if the channelization information of the lane includes channelization information of the waiting-to-turn area, obtaining the length of the waiting-to-turn area on the turn of the lane based on the channelization information of each lane in the designated entrance lane;

[0123] (b2) Obtaining the minimum parking distance in the waiting area, the minimum safe headway, and the cycle duration of the traffic light change at the designated intersection;

[0124] The minimum parking spacing and minimum safe headway in the waiting area are obtained by collecting at the designated intersection. In the actual application scenario, only any small time length in the current time period can be collected, and the minimum parking spacing and minimum safe headway in the waiting area collected in a small time length can be taken as the minimum parking spacing and minimum safe headway in the waiting area in the current time period. The method for obtaining the cycle duration of the traffic light change at the designated intersection refers to the records in the above embodiment and will not be repeated here.

[0125] (c2) Correcting the actual saturation flow rate based on the length of the waiting area on the turn of the lane, the minimum stopping distance, the minimum safe headway, and the cycle length of the traffic light change at the designated intersection.

[0126] For example, the following formula can be used to implement it:

[0127]

[0128] represents the actual saturation flow rate of turn k in lane i; X A Indicates the length of the waiting area; X stop Indicates the minimum parking distance; h k represents the minimum safe headway; C represents the cycle duration of the traffic light change at the specified intersection.

[0129] By means of the above method, the influence of the waiting area on the saturation flow rate can be corrected, and the accuracy of the saturation flow rate can be effectively improved.

[0130] Method 3: Based on the channelization effect of the U-turn, the actual saturation flow rate on each turn of each lane is corrected. When it is specifically implemented, it can include the following steps (a3)-(b3):

[0131] (a3) for each turn of each lane in the designated entrance lane, if the channelization information of the lane includes the channelization information of a U-turn, obtain the U-turn flow rate ratio of the lane in the current period, the minimum safe headway time of the U-turn, and the minimum safe headway time of the turn of the lane;

[0132] Specifically, the U-turn flow rate ratio of the lane in the current period, the minimum safe headway for U-turns, and the minimum safe headway for the turn in the lane can also be collected at the designated intersection. In actual application scenarios, only the above information within any short period of time in the current time period can be collected as the corresponding information of the current period.

[0133] (b3) Correcting the actual saturation flow rate based on the U-turn flow ratio of the lane, the minimum safe headway for U-turns, and the minimum safe headway for the turn of the lane.

[0134] For example, in specific implementation, the following formula can be used for correction:

[0135]

[0136] represents the actual saturation flow rate of turn k in lane i; is the U-turn flow ratio of lane i; h u is the minimum safe headway for U-turn; h k is the minimum safe headway time for turning k.

[0137] Through the above method, the influence of U-turn on the saturation flow rate can be corrected, and the accuracy of the saturation flow rate can be effectively improved.

[0138] S206. Aggregate the total saturated flow rate on each turn in the designated inlet lane based on the actual saturated flow rate on each turn in each lane.

[0139] For example, in specific implementation, the following formula can be used:

[0140]

[0141] Where i is the i-th lane, I is the set of all lanes on the entrance road, S k is the total saturated flow rate on turn k in the inlet channel.

[0142] The method for obtaining the saturated flow rate of the lane of this embodiment, when the signal control type of the lane turning is the protection release type, i.e., P type, by adopting the above-mentioned scheme, it is possible to effectively correct the saturated flow rate of each lane in each direction from the influence of the widening area, the influence of the waiting area and the influence of the U-turn, thereby effectively improving the accuracy of the total saturated flow rate finally obtained, and providing effective data support for the research on the traffic capacity and signal timing of the intersection.

[0143] Figure 4 is a schematic diagram according to the third embodiment of the present disclosure; the method for obtaining the saturation flow rate of the lane of this embodiment, in the above Figure 1 Based on the technical solution of the embodiment shown, the technical solution of the present disclosure is further described in more detail by taking the lane turn as the permitted release type, i.e., type E, as an example. Figure 4 As shown, the method for obtaining the saturation flow rate of the lane in this embodiment may specifically include the following steps:

[0144] S401, obtaining the minimum safe headway time of each lane on each turn of each lane in a designated entrance road of a designated intersection in the current period;

[0145] Specifically, step S401 may adopt the above Figure 2 The implementation of step S201 in the illustrated embodiment is used for implementation.

[0146] S402, for each turn of each lane, if the turn of the lane is of a permission release type, obtaining a first basic saturation flow rate on the turn of the lane when the turn of the lane is of a protection release type;

[0147] S403, obtaining a second basic saturation flow rate on the turning side of the lane based on the first basic saturation flow rate and a first reduction coefficient corresponding to the permissible release type;

[0148] When implementing step S402, please refer to the above Figure 2 Step S202 of the illustrated embodiment will not be described in detail here.

[0149] When step S403 is specifically implemented, the following formula may be used:

[0150] For the turning k of the E-type lane, the basic saturation flow rate of the dedicated lane, i.e., the second basic saturation flow rate, can be realized by the following formula:

[0151]

[0152] in, represents the second basic saturation flow rate on the turn k of the lane of type E; represents the first basic saturation flow rate on the turn k of the P-type lane; a E It is the first reduction factor corresponding to the permitted release type, i.e. Type E.

[0153] Steps S402-S403 are as above Figure 1 A specific implementation of step S102 of the embodiment shown in the figure. By adopting this method, the basic saturation flow rate when the lane turns into E-type can be accurately obtained.

[0154] S404, taking the second basic saturation flow rate on the turning point of the lane as the actual saturation flow rate on the corresponding turning point of the corresponding lane;

[0155] This step S404 is the above Figure 1 An implementation of step S103 of the illustrated embodiment. According to the above method, the actual saturation flow rate on the turn of the corresponding lane when the turn of the lane is E-type can be accurately obtained.

[0156] S405, obtaining channelization information of each lane in the designated entrance lane;

[0157] S406, based on the channelization information of each lane in the designated entrance lane, correcting the actual saturation flow rate on each turn of each lane;

[0158] S407: Aggregate the total saturated flow rate on each turn in the designated inlet lane based on the actual saturated flow rate on each turn in each lane.

[0159] The specific implementation of steps S405-S407 can refer to the above Figure 2 Steps S204 - S206 of the illustrated embodiment will not be described in detail here.

[0160] The method for obtaining the saturated flow rate of the lane of this embodiment, when the signal control type of the lane turning is the permission release type, i.e., Type E, by adopting the above-mentioned scheme, it is also possible to effectively correct the saturated flow rate of each lane in each direction from the influence of the widening area, the waiting area, and the U-turn, thereby effectively improving the accuracy of the total saturated flow rate finally obtained, and providing effective data support for the research on the traffic capacity and signal timing of the intersection.

[0161] Figure 5 is a schematic diagram according to the fourth embodiment of the present disclosure; the method for obtaining the saturation flow rate of the lane of this embodiment, in the above Figure 1 Based on the technical solution of the embodiment shown, the technical solution of the present disclosure is further described in more detail by taking the lane turning as an uncontrolled release type, i.e., a U-shaped lane as an example. Figure 5 As shown, the method for obtaining the saturation flow rate of the lane in this embodiment may specifically include the following steps:

[0162] S501, obtaining the minimum safe headway time of each lane on each turn of each lane in a designated entrance road of a designated intersection in the current period;

[0163] Specifically, step S501 may adopt the above Figure 2 The implementation of step S201 in the illustrated embodiment is used for implementation.

[0164] S502, for each turn of each lane, if the turn of the lane is of an uncontrolled release type, obtaining a first basic saturation flow rate on the turn of the lane when the turn of the lane is of a protection release type;

[0165] S503, based on the first basic saturation flow rate and the second reduction coefficient corresponding to the uncontrolled release type, obtaining a third basic saturation flow rate on the turning point of the lane;

[0166] When implementing step S502, please refer to the above Figure 2 Step S202 of the illustrated embodiment will not be described in detail here.

[0167] When step S503 is implemented specifically, for the U-shaped lane turn k, the basic saturation flow rate of the dedicated lane, that is, the third basic saturation flow rate, is , which can be achieved using the following formula:

[0168]

[0169] in, represents the third basic saturation flow rate on the turn k of the U-shaped lane; represents the first basic saturation flow rate on the turn k of the P-type lane; a U It is the second reduction factor corresponding to the uncontrolled release type, i.e. U type.

[0170] Steps S502-S503 are as above Figure 1 A specific implementation of step S102 of the illustrated embodiment. By adopting this method, the basic saturation flow rate when the lane turns into a U-shape can be accurately obtained.

[0171] S504, obtaining the weight of the turn of the lane at the designated intersection at the current moment;

[0172] Specifically, the above Figure 2 The steps (11)-(13) of the illustrated embodiment are implemented and will not be described in detail here.

[0173] S505: acquiring an actual saturation flow rate at the turn of the lane based on the weight of the turn of the lane and a third basic saturation flow rate at the turn of the lane;

[0174] For example, in specific implementation, the following formula can be used:

[0175]

[0176] is the weight of turning k in lane i; represents the third basic saturation flow rate on the turn k of the U-shaped lane; represents the actual saturation flow rate of turn k in lane i.

[0177] The steps S504-S505 are as above Figure 1 An implementation of step S103 of the illustrated embodiment. According to the above method, the actual saturation flow rate corresponding to the U-turn of the lane can be accurately obtained.

[0178] S506, obtaining channelization information of each lane in the designated entrance lane;

[0179] S507: if it is determined that the channelization information of the lane includes the channelization information of a U-turn, based on the channelization information of the U-turn of the lane, correct the actual saturation flow rate on the turning direction of the lane;

[0180] S508. Aggregate the total saturated flow rate on each turn in the designated inlet lane based on the actual saturated flow rate on each turn in each lane.

[0181] With the above Figure 2 and Figure 4The difference is that in this embodiment, the lane turn is processed as an uncontrolled release type, that is, a U-turn. Specifically, for the U-turn, when correcting, only the channelization effect of the U-turn is considered to correct the actual saturation flow rate, which can effectively improve the accuracy of the saturation flow rate. The implementation of the remaining steps can refer to the above Figure 2 or Figure 4 The description of the illustrated embodiment will not be repeated here.

[0182] The method for obtaining the saturated flow rate of the lane of this embodiment, when the signal control type of the lane turning is an uncontrolled release type, i.e., a U-turn, can effectively correct the saturated flow rate in each direction of each lane based on the influence of the U-turn by adopting the above-mentioned scheme, thereby effectively improving the accuracy of the total saturated flow rate finally obtained, and providing effective data support for the research on the traffic capacity and signal timing of the intersection.

[0183] Figure 6 is a schematic diagram according to the fifth embodiment of the present disclosure; Figure 6 As shown, this embodiment provides a device 600 for obtaining a saturation flow rate of a lane, comprising:

[0184] The first acquisition module 601 is used to obtain the minimum safe headway time of each lane on each turn of each lane in the designated entrance road of the designated intersection in the current period;

[0185] A second acquisition module 602 is used to acquire a basic saturation flow rate at each turn of each lane based on the minimum safe headway time at each turn of each lane and the signal control type of each turn of each lane;

[0186] A third acquisition module 603 is used to acquire an actual saturation flow rate at each turn of each lane based on the basic saturation flow rate at each turn of each lane;

[0187] The aggregation module 604 is configured to aggregate the total saturation flow rate at each turn in the designated inlet lane based on the actual saturation flow rate at each turn in each lane.

[0188] Similarly, the signal control type of each turn in each lane of this embodiment may include the following categories: (1) uncontrolled release type, which can be recorded as U-type, for example, right turn belongs to uncontrolled release type; (2) permitted release type, which can be recorded as E-type, for example, left turn when the north-south traffic is opposite belongs to permitted release type; (3) protected release type, which can be recorded as P-type, that is, there is no conflict between the traffic flows released by the green light.

[0189] In this embodiment, based on the minimum safe headway time at each turn of each lane and the signal control type of each turn of each lane, the basic saturated flow rate at each turn of each lane can be obtained more accurately, thereby effectively ensuring the accuracy of the actual saturated flow rate at each turn of each lane that is subsequently obtained based on the basic saturated flow rate at each turn of each lane.

[0190] The device 600 for acquiring the saturated flow rate of a lane in this embodiment, by adopting the above-mentioned module, realizes the implementation principle and technical effect of acquiring the saturated flow rate of the lane, which is the same as the implementation of the above-mentioned related method embodiments. For details, please refer to the records of the above-mentioned related method embodiments, which will not be repeated here.

[0191] Figure 7 is a schematic diagram according to the sixth embodiment of the present disclosure; Figure 7 As shown, this embodiment provides a device 700 for obtaining a saturation flow rate of a lane, comprising: Figure 6 The modules with the same name and function are shown as: a first acquisition module 701 , a second acquisition module 702 , a third acquisition module 703 and an aggregation module 704 .

[0192] In this embodiment, the second acquisition module 702 is used to:

[0193] For each turn of each lane, if the turn of the lane is of a protection release type, based on the minimum safe headway time on the turn of the lane, a first basic saturation flow rate on the turn of the lane is obtained;

[0194] The third acquisition module 703 is used to:

[0195] The first basic saturation flow rate on the turning point of the lane is taken as the actual saturation flow rate on the corresponding turning point of the corresponding lane.

[0196] Further optionally, in one embodiment of the present disclosure, the second acquisition module 702 is used to:

[0197] For each turn of each lane, if the turn of the lane is of a permission release type, obtain a first basic saturation flow rate on the turn of the lane when the turn of the lane is of a protection release type;

[0198] Based on the first basic saturation flow rate and a first reduction coefficient corresponding to the permissible release type, a second basic saturation flow rate on the turning side of the lane is acquired;

[0199] The third acquisition module 703 is used to:

[0200] The second basic saturation flow rate on the turning point of the lane is taken as the actual saturation flow rate on the corresponding turning point of the corresponding lane.

[0201] Further optionally, if Figure 7As shown, in one embodiment of the present disclosure, the device 700 for acquiring the saturation flow rate of the lane further includes:

[0202] The fourth acquisition module 705 is used to acquire channelization information of each lane in the designated entrance lane;

[0203] The correction module 706 is used to correct the actual saturation flow rate on each turn of each lane based on the channelization information of each lane in the designated entrance lane.

[0204] Further optionally, in one embodiment of the present disclosure, the fourth acquisition module 705 is used to:

[0205] At least one of the channelization information of the widening area of ​​each lane in the designated entrance road, the channelization information of the turning area, and the channelization information of the U-turn is obtained.

[0206] Further optionally, in one embodiment of the present disclosure, the correction module 706 is used to:

[0207] For each turn of each lane in the designated entrance road, when it is determined that the lane belongs to a lane in the widened lane set based on the channelization information of the lane, the limit flow rate that can be accommodated on the turn of the lane is obtained based on the channelization information of the lane and the actual saturation flow rate on the turn of the lane; the widened lane set includes the identification of at least one lane derived from the widening of the same lane in the road section;

[0208] Get the current traffic on the lane turn;

[0209] Get the lane steering weight;

[0210] Based on the limit flow rate that can be accommodated on the turn of the lane, the current flow rate on the turn of the lane, and the weight of the turn of the lane, the actual saturation flow rate on the turn of the lane is corrected.

[0211] Further optionally, in one embodiment of the present disclosure, the correction module 706 is used to:

[0212] Based on the actual saturation flow rate on the turning point of the lane and the weight of the turning point of the lane, obtaining a first saturation flow rate on the turning point of the lane in the entrance lane area;

[0213] Based on the current flow rate on the turn of the lane and the actual saturation flow rate on the turn of the lane, obtaining a second saturation flow rate on the turn of the lane in the road section before the entrance road;

[0214] Based on the first saturation flow rate, the second saturation flow rate, the current flow rate and the limit flow rate, the average saturation flow rate on the turn of the lane under the current flow rate is obtained as the corrected actual saturation flow rate on the turn of the lane.

[0215] Further optionally, in one embodiment of the present disclosure, the correction module 706 is used to:

[0216] Based on the lane channelization information, the length of the widening area is obtained;

[0217] Obtain the minimum parking distance of the lane, the minimum safe headway, and the cycle duration of traffic light changes at a specified intersection;

[0218] Based on the length of the widening area, the minimum parking distance of the lane, the minimum safe headway, the cycle duration of the traffic light change at the designated intersection, and the actual saturation flow rate on the turning point of the lane, the maximum flow rate that the turning point of the lane can accommodate is obtained.

[0219] Further optionally, in one embodiment of the present disclosure, the correction module 706 is used to:

[0220] Get the traffic weight of the lane turn at the specified intersection in the current period;

[0221] Configure the turn utilization rate of the lanes at the specified intersection during the current period;

[0222] Based on the traffic weight of the lane turns and the utilization rate of the lane turns, the weight of the lane turns at the specified intersection in the current time period is obtained.

[0223] Further optionally, in one embodiment of the present disclosure, the correction module 706 is used to:

[0224] Collect the total traffic volume of the lanes at the specified intersection during the current period, as well as the traffic volume on the lane turns;

[0225] Based on the total flow of the lanes at the designated intersection in the current period and the flow on the turns of the lanes, the flow weight of the turns of the lanes is calculated.

[0226] Further optionally, in one embodiment of the present disclosure, the correction module 706 is used to:

[0227] For each turn of each lane in the designated entrance road, if the channelization information of the lane includes the channelization information of the waiting-to-turn area, based on the channelization information of each lane in the designated entrance road, the length of the waiting-to-turn area on the turn of the lane is obtained;

[0228] Obtain the minimum parking distance and minimum safe headway in the waiting area, as well as the cycle duration of traffic light changes at designated intersections;

[0229] The actual saturation flow rate is corrected based on the length of the waiting area on each turn of the lane, the minimum stopping distance, the minimum safe headway, and the cycle length of the traffic light change at the designated intersection.

[0230] Further optionally, in one embodiment of the present disclosure, the correction module 706 is used to:

[0231] For each turn of each lane in the designated entrance lane, if the channelization information of the lane includes the channelization information of the U-turn, obtain the U-turn flow ratio of the lane in the current period, the minimum safe headway of the U-turn, and the minimum safe headway of the turn of the lane;

[0232] The actual saturation flow rate is corrected based on the U-turn flow ratio of the lane, the minimum safe headway time for U-turns, and the minimum safe headway time for turns in the lane.

[0233] Further optionally, in one embodiment of the present disclosure, the second acquisition module 702 is used to:

[0234] For each turn of each lane, if the turn of the lane is of an uncontrolled release type, obtain a first basic saturation flow rate on the turn of the lane when the turn of the lane is of a protected release type;

[0235] Based on the first basic saturation flow rate and the second reduction coefficient corresponding to the uncontrolled release type, a third basic saturation flow rate on the turning point of the lane is obtained.

[0236] Further optionally, in one embodiment of the present disclosure, the third acquisition module 703 is used to:

[0237] Get the turning weight of the lane at the specified intersection at the current moment;

[0238] Based on the weight of the turn of the lane and the third basic saturation flow rate on the turn of the lane, an actual saturation flow rate on the turn of the lane is acquired.

[0239] Further optionally, in one embodiment of the present disclosure, the correction module is further used to correct the actual saturation flow rate on each turn of the lane based on the channelization information of the U-turn of the lane if it is determined that the channelization information of the lane includes the channelization information of the U-turn.

[0240] The device 700 for acquiring the saturated flow rate of a lane in this embodiment, by adopting the above-mentioned module, realizes the implementation principle and technical effect of acquiring the saturated flow rate of the lane, which is the same as the implementation of the above-mentioned related method embodiments. For details, please refer to the records of the above-mentioned related method embodiments, which will not be repeated here.

[0241] In the technical solution disclosed herein, the acquisition, storage and application of user personal information involved are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0242] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.

[0243] Figure 8 A schematic block diagram of an example electronic device 800 that can be used to implement an embodiment of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0244] like Figure 8 As shown, the device 800 includes a computing unit 801, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 802 or a computer program loaded from a storage unit 808 into a random access memory (RAM) 803. In the RAM 803, various programs and data required for the operation of the device 800 can also be stored. The computing unit 801, the ROM 802, and the RAM 803 are connected to each other via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0245] A number of components in the device 800 are connected to the I / O interface 805, including: an input unit 806, such as a keyboard, a mouse, etc.; an output unit 807, such as various types of displays, speakers, etc.; a storage unit 808, such as a disk, an optical disk, etc.; and a communication unit 809, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 809 allows the device 800 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0246] The computing unit 801 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 801 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 801 performs the various methods and processes described above, such as the above-mentioned methods of the present disclosure. For example, in some embodiments, the above-mentioned methods of the present disclosure may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 808. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 800 via ROM 802 and / or communication unit 809. When the computer program is loaded into RAM 803 and executed by the computing unit 801, one or more steps of the above-mentioned methods of the present disclosure described above may be performed. Alternatively, in other embodiments, the computing unit 801 may be configured to perform the above-mentioned methods of the present disclosure in any other appropriate manner (e.g., by means of firmware).

[0247] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0248] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0249] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0250] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0251] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0252] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, a server of a distributed system, or a server combined with a blockchain.

[0253] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0254] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A method for obtaining the saturation flow rate of a lane, wherein: The method comprises: Get the minimum safe headway time for each turn in each lane of the designated entrance road of the designated intersection in the current period; Based on the minimum safe headway time at each turn of each lane and the signal control type of each turn of each lane, a basic saturated flow rate at each turn of each lane is obtained; based on the basic saturated flow rate at each turn of each lane, an actual saturated flow rate at each turn of each lane is obtained; Based on the actual saturation flow rates on the turns of the lanes, the total saturation flow rates on the turns in the designated inlet lane are aggregated.

2. The method according to claim 1, wherein: Based on the minimum safe headway time at each turn of each lane and the signal control type of each turn of each lane, the basic saturation flow rate at each turn of each lane is obtained, including: For each turn of each lane, if the turn of the lane is of a protection release type, based on the minimum safe headway time on the turn of the lane, a first basic saturation flow rate on the turn of the lane is obtained; Wherein, based on the basic saturation flow rate on each turn of each lane, the actual saturation flow rate on each turn of each lane is obtained, including: The first basic saturation flow rate on the turn of the lane is used as the actual saturation flow rate on the corresponding turn of the corresponding lane.

3. The method according to claim 1, wherein: Based on the minimum safe headway time at each turn of each lane and the signal control type of each turn of each lane, the basic saturation flow rate at each turn of each lane is obtained, including: For each turn of each lane, if the turn of the lane is of a permission release type, obtaining a first basic saturation flow rate on the turn of the lane when the turn of the lane is of a protection release type; Based on the first basic saturation flow rate and a first reduction coefficient corresponding to the permissible release type, obtaining a second basic saturation flow rate on the turning point of the lane; Wherein, based on the basic saturation flow rate on each turn of each lane, the actual saturation flow rate on each turn of each lane is obtained, including: The second basic saturation flow rate on the turn of the lane is used as the actual saturation flow rate on the corresponding turn of the corresponding lane.

4. The method according to claim 2 or 3, wherein: After obtaining the actual saturated flow rate on each turn of each lane based on the basic saturated flow rate on each turn of each lane, and before aggregating the total saturated flow rate on each turn in the designated inlet lane based on the actual saturated flow rate on each turn of each lane, the method further includes: Obtaining channelization information of each lane in the designated entrance lane; Based on the channelization information of each lane in the designated entrance lane, the actual saturation flow rate on each turn of each lane is corrected.

5. The method according to claim 4, wherein: Obtaining channelization information of each lane in the designated entrance lane, including: At least one of the channelization information of the widening area of ​​each lane in the designated entrance road, the channelization information of the turning area, and the channelization information of the U-turn is obtained.

6. The method according to claim 5, wherein: Based on the channelization information of each lane in the designated entrance lane, the actual saturation flow rate on each turn of each lane is corrected, including: For each turn of each lane in the designated entrance road, when it is determined that the lane belongs to a lane in a widened lane set based on the channelization information of the lane, a limit flow rate that can be accommodated on the turn of the lane is obtained based on the channelization information of the lane and an actual saturated flow rate on the turn of the lane; the widened lane set includes an identifier of at least one lane derived from widening the same lane in the road section; Obtaining the current flow rate on the turn of the lane; Obtaining a weight of the steering of the lane; The actual saturation flow rate at the turn of the lane is corrected based on the limit flow rate that can be accommodated at the turn of the lane, the current flow rate at the turn of the lane, and the weight of the turn of the lane.

7. The method according to claim 6, wherein: Based on the limit flow rate that can be accommodated on the turn of the lane, the current flow rate on the turn of the lane, and the weight of the turn of the lane, the actual saturation flow rate on the turn of the lane is corrected, including: Based on the actual saturation flow rate on the turn of the lane and the weight of the turn of the lane, obtaining a first saturation flow rate of the queued vehicles on the turn of the lane in a designated entrance lane area; Based on the current flow rate on the turn of the lane and the actual saturation flow rate on the turn of the lane, obtaining a second saturation flow rate of the queued vehicles on the turn of the lane in the road section before the designated entrance road; Based on the first saturation flow rate, the second saturation flow rate, the current flow rate and the limit flow rate, the average saturation flow rate on the turning point of the lane at the current flow rate is obtained as the corrected actual saturation flow rate on the turning point of the lane.

8. The method according to claim 6, wherein: Based on the channelization information of the lane and the actual saturation flow rate on the turn of the lane, obtaining a limit flow rate that can be accommodated on the turn of the lane includes: Based on the channelization information of the lane, obtaining the length of the widening area; Obtaining the minimum parking distance of the lane, the minimum safe headway, and the cycle duration of the traffic light change at the designated intersection; Based on the length of the widening area, the minimum parking distance of the lane, the minimum safe headway, the cycle duration of the traffic light change at the designated intersection, and the actual saturated flow rate on the turning point of the lane, the maximum flow rate that can be accommodated on the turning point of the lane is obtained.

9. The method according to claim 6, wherein: Obtaining the steering weight of the lane includes: Obtain the flow weight of the turning lane at the specified intersection in the current period; Configure the utilization rate of the turn of the lane at the specified intersection in the current period; Based on the flow weight of the turn of the lane and the utilization rate of the turn of the lane, the weight of the turn of the lane at the designated intersection in the current time period is obtained.

10. The method according to claim 9, wherein: Obtaining the flow weight of the turn of the lane at the specified intersection in the current period, including: Collect the total flow of the lane at the specified intersection in the current period, and the flow on the turn of the lane; Based on the total flow of the lane at the designated intersection in the current period and the flow on the turn of the lane, the flow weight of the turn of the lane is calculated.

11. The method according to claim 5, wherein: Based on the channelization information of each lane in the designated entrance lane, the actual saturation flow rate on each turn of each lane is corrected, including: For each turn of each lane in the designated entrance road, if the channelization information of the lane includes channelization information of a waiting-to-turn area, based on the channelization information of each lane in the designated entrance road, obtaining the length of the waiting-to-turn area on the turn of the lane; Obtaining the minimum parking spacing and minimum safe headway of the waiting area, and the cycle duration of the traffic light change at the designated intersection; The actual saturation flow rate is corrected based on the length of the waiting area on each turn of the lane, the minimum parking distance, the minimum safe headway, and the cycle duration of the traffic light change at the designated intersection.

12. The method according to claim 5, wherein: Based on the channelization information of each lane in the designated entrance lane, the actual saturation flow rate on each turn of each lane is corrected, including: For each turn of each lane in the designated entrance road, if the channelization information of the lane includes channelization information of a U-turn, obtaining the U-turn flow ratio of the lane in the current period, the minimum safe headway time of the U-turn, and the minimum safe headway time of the turn of the lane; The actual saturation flow rate is corrected based on the U-turn flow rate ratio of the lane, the minimum safe headway time for U-turns, and the minimum safe headway time for turns of the lane.

13. The method according to claim 1, wherein: Based on the minimum safe headway time at each turn of each lane and the signal control type of each turn of each lane, the basic saturation flow rate at each turn of each lane is obtained, including: For each turn of each lane, if the turn of the lane is of an uncontrolled release type, obtaining a first basic saturation flow rate on the turn of the lane when the turn of the lane is of a protection release type; A third basic saturation flow rate on the turn of the lane is obtained based on the first basic saturation flow rate and a second reduction coefficient corresponding to the uncontrolled release type.

14. The method according to claim 13, wherein: Based on the basic saturation flow rate on each turn of each lane, the actual saturation flow rate on each turn of each lane is obtained, including: Obtaining the turning weight of the lane at the specified intersection at the current moment; An actual saturation flow rate on the turn of the lane is acquired based on the weight of the turn of the lane and a third basic saturation flow rate on the turn of the lane.

15. The method according to claim 13 or 14, wherein: After obtaining the actual saturated flow rate on each turn of each lane based on the basic saturated flow rate on each turn of each lane, and before aggregating the total saturated flow rate on each turn in the designated inlet lane based on the actual saturated flow rate on each turn of each lane, the method further includes: For each lane in the designated entrance road, obtaining channelization information of each lane in the designated entrance road; If it is determined that the channelization information of the lane includes the channelization information of the U-turn, the actual saturation flow rate on each turn of the lane is corrected based on the channelization information of the U-turn of the lane.

16. A device for obtaining a saturation flow rate of a lane, wherein: The device comprises: The first acquisition module is used to obtain the minimum safe headway time of each lane on each turn in a designated entrance road of a designated intersection in the current period; A second acquisition module is used to acquire a basic saturation flow rate at each turn of each lane based on a minimum safe headway time at each turn of each lane and a signal control type at each turn of each lane; A third acquisition module is used to acquire an actual saturation flow rate at each turn of each lane based on the basic saturation flow rate at each turn of each lane; The aggregation module is used for aggregating the total saturation flow rate on each turn in the designated inlet lane based on the actual saturation flow rate on each turn of each lane.

17. The device according to claim 16, wherein: The second acquisition module is used to: For each turn of each lane, if the turn of the lane is of a protection release type, based on the minimum safe headway time on the turn of the lane, a first basic saturation flow rate on the turn of the lane is obtained; The third acquisition module is used to: The first basic saturation flow rate on the turn of the lane is used as the actual saturation flow rate on the corresponding turn of the corresponding lane.

18. The device according to claim 16, wherein: The second acquisition module is used to: For each turn of each lane, if the turn of the lane is of a permission release type, obtaining a first basic saturation flow rate on the turn of the lane when the turn of the lane is of a protection release type; Based on the first basic saturation flow rate and a first reduction coefficient corresponding to the permissible release type, obtaining a second basic saturation flow rate on the turning point of the lane; The third acquisition module is used to: The second basic saturation flow rate on the turn of the lane is used as the actual saturation flow rate on the corresponding turn of the corresponding lane.

19. The device according to claim 17 or 18, wherein: The device also includes: A fourth acquisition module, used to acquire channelization information of each lane in the designated entrance lane; A correction module, configured to correct an actual saturation flow rate on each turn of each lane based on the channelization information of each lane in the designated entrance lane; Wherein, the fourth acquisition module is used to: At least one of the channelization information of the widening area of ​​each lane in the designated entrance road, the channelization information of the turning area, and the channelization information of the U-turn is obtained.

20. The device according to claim 19, wherein The correction module is used to: For each turn of each lane in the designated entrance road, when it is determined that the lane belongs to a lane in a widened lane set based on the channelization information of the lane, a limit flow rate that can be accommodated on the turn of the lane is obtained based on the channelization information of the lane and an actual saturated flow rate on the turn of the lane; the widened lane set includes an identifier of at least one lane derived from widening the same lane in the road section; Obtaining the current flow rate on the turn of the lane; Obtaining a weight of the steering of the lane; Based on the limit flow rate that can be accommodated on the turn of the lane, the current flow rate on the turn of the lane, and the weight of the turn of the lane, correcting the actual saturation flow rate on the turn of the lane; Wherein, the correction module is used to: Based on the channelization information of the lane, obtaining the length of the widening area; Obtaining the minimum parking distance of the lane, the minimum safe headway, and the cycle duration of the traffic light change at the designated intersection; Based on the length of the widening area, the minimum parking distance of the lane, the minimum safe headway, the cycle duration of the traffic light change at the designated intersection, and the actual saturation flow rate on the turn of the lane, the limit flow rate that can be accommodated on the turn of the lane is obtained; Wherein, the correction module is used to: Obtain the flow weight of the turning lane at the specified intersection in the current period; Configure the utilization rate of the turn of the lane at the specified intersection in the current period; Based on the flow weight of the turn of the lane and the utilization rate of the turn of the lane, obtaining the weight of the turn of the lane at the designated intersection in the current period; Wherein, the correction module is used to: Collect the total flow of the lane at the specified intersection in the current period, and the flow on the turn of the lane; Based on the total flow of the lane at the designated intersection in the current period and the flow on the turn of the lane, the flow weight of the turn of the lane is calculated.

21. The device according to claim 20, wherein: The correction module is used to: Based on the actual saturation flow rate on the turn of the lane and the weight of the turn of the lane, obtaining a first saturation flow rate on the turn of the lane in a designated entrance lane area; Based on the current flow rate on the turn of the lane and the actual saturation flow rate on the turn of the lane, obtaining a second saturation flow rate on the turn of the lane in the road section before the designated entrance road; Based on the first saturation flow rate, the second saturation flow rate, the current flow rate and the limit flow rate, the average saturation flow rate on the turning point of the lane at the current flow rate is obtained as the corrected actual saturation flow rate on the turning point of the lane.

22. The device according to claim 19, wherein The correction module is used to: For each turn of each lane in the designated entrance road, if the channelization information of the lane includes channelization information of a waiting-to-turn area, based on the channelization information of each lane in the designated entrance road, obtaining the length of the waiting-to-turn area on the turn of the lane; Obtaining the minimum parking spacing and minimum safe headway of the waiting area, and the cycle duration of the traffic light change at the designated intersection; The actual saturation flow rate is corrected based on the length of the waiting area on each turn of the lane, the minimum parking distance, the minimum safe headway, and the cycle duration of the traffic light change at the designated intersection.

23. The device according to claim 19, wherein: The correction module is used to: For each turn of each lane in the designated entrance road, if the channelization information of the lane includes channelization information of a U-turn, obtaining the U-turn flow ratio of the lane in the current period, the minimum safe headway time of the U-turn, and the minimum safe headway time of the turn of the lane; The actual saturation flow rate is corrected based on the U-turn flow rate ratio of the lane, the minimum safe headway time for U-turns, and the minimum safe headway time for turns of the lane.

24. The device according to claim 19, wherein The second acquisition module is used to: For each turn of each lane, if the turn of the lane is of an uncontrolled release type, obtaining a first basic saturation flow rate on the turn of the lane when the turn of the lane is of a protection release type; Based on the first basic saturation flow rate and a second reduction coefficient corresponding to the uncontrolled release type, obtaining a third basic saturation flow rate on the turning point of the lane; Wherein, the third acquisition module is used to: Obtaining the turning weight of the lane at the specified intersection at the current moment; acquiring an actual saturation flow rate on the turn of the lane based on a weight of the turn of the lane and a third basic saturation flow rate on the turn of the lane; The correction module is further configured to correct the actual saturation flow rate on each turn of the lane based on the channelization information of the U-turn of the lane if it is determined that the channelization information of the lane includes the channelization information of the U-turn.

25. An electronic device comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 15.

26. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 1-15.

27. A computer program product comprising a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 15.

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