Traffic signal control method and traffic signal lamp controller

Abstract

The invention discloses a traffic signal control method and a traffic signal lamp controller, and the method comprises the steps: obtaining the initial detection data of a first detection region corresponding to a current phase through the traffic signal lamp controller within a set time range before the green light operation starting moment of the current phase; determining the minimum green light duration of the current phase according to the initial detection data; acquiring first detection data of the first detection area when the green light in the current phase runs to the current moment; judging whether the green light duration of the front phase needs to be prolonged or not according to the first detection data; if yes, prolonging the duration of the green light on the basis of the current moment; otherwise, controlling the green light to run for the target green light duration and then ending; wherein the target green light duration is determined according to the size relation between the minimum green light duration and the green light running duration until the current moment. The method and the device are used for improving the fineness of signal control of an intersection, so that a better effect of signal adjustment is achieved.

Description

Technical Field

[0001] The present application relates to the technical field of traffic signal control, and in particular to a traffic signal control method and a traffic signal light controller. Background Art

[0002] In the process of traffic signal control, the traffic demand of motor vehicles is usually taken as the main consideration to obtain the phase display order of the intersection and the green light duration of the phase including the motor vehicle traffic direction. For example, this can be achieved by establishing an optimization model with the goal of minimizing the total vehicle delay time, the average vehicle delay time, the total number of vehicle stops, and the total vehicle queue length.

[0003] Such a design takes into account only a few factors, resulting in low precision of signal control at intersections, and thus making it impossible to achieve optimal signal adjustment results. Summary of the invention

[0004] In an exemplary embodiment of the present application, a traffic signal control method and a traffic signal light controller are provided to improve the precision of signal control at an intersection, thereby achieving a better effect of signal regulation.

[0005] According to a first aspect of an exemplary embodiment, a method for adjusting the duration of a communication signal is provided, comprising:

[0006] Acquire initial detection data of a first detection area corresponding to the current phase within a set time range before the green light starts to operate in the current phase; the first detection area includes a first lane area and a first zebra crossing area;

[0007] Determine the minimum green light duration of the current phase according to the initial detection data;

[0008] Acquire the first detection data of the first detection area when the green light in the current phase runs to the current moment; wherein the first detection data indicates whether there are motor vehicles in the first lane area, and whether there are pedestrians and / or non-motor vehicles in the first zebra crossing area;

[0009] According to the first detection data, determining whether the green light duration of the previous phase needs to be extended;

[0010] If so, the green light duration is extended based on the current moment; otherwise, the green light is controlled to end after the target green light duration is completed; wherein the target green light duration is determined based on the relationship between the minimum green light duration and the green light operation duration up to the current moment.

[0011] According to a second aspect of an exemplary embodiment, there is provided a traffic signal light controller, the signal light comprising a data transmission unit and a processor;

[0012] The data transfer unit is configured to perform:

[0013] Acquire the initial detection data of the first detection area corresponding to the current phase within a set time range before the green light starts to operate in the current phase; and acquire the first detection data of the first detection area when the green light in the current phase operates to the current moment; wherein the first detection area includes the first lane area and the first zebra crossing area; the first detection data indicates whether there are motor vehicles and pedestrians and non-motor vehicles in the first lane area, and whether there are pedestrians and non-motor vehicles in the first zebra crossing area;

[0014] The processor is configured to execute:

[0015] Determine the minimum green light duration of the current phase according to the initial detection data;

[0016] According to the first detection data, determining whether the green light duration of the previous phase needs to be extended;

[0017] If so, the green light duration is extended based on the current moment; otherwise, the green light is controlled to end after the target green light duration is completed; wherein the target green light duration is determined based on the relationship between the minimum green light duration and the green light operation duration up to the current moment.

[0018] According to a third aspect of an exemplary embodiment, a traffic signal control device is provided, the device comprising:

[0019] A data acquisition unit is used to: acquire initial detection data of a first detection area corresponding to the current phase within a set time range before the green light starts to operate in the current phase; the first detection area includes a first lane area and a first zebra crossing area;

[0020] A data processing unit, used to: determine the minimum green light duration of the current phase according to the initial detection data;

[0021] The data acquisition unit is further used to: acquire first detection data of the first detection area when the green light in the current phase runs to the current moment; wherein the first detection data indicates whether there are motor vehicles in the first lane area, and whether there are pedestrians and / or non-motor vehicles in the first zebra crossing area;

[0022] A judging unit, configured to judge whether the green light duration of the previous phase needs to be extended according to the first detection data;

[0023] The data processing unit is also used to: if the green light duration of the previous phase needs to be extended, extend the green light duration based on the current moment; otherwise, control the green light to end after the target green light duration is completed; wherein the target green light duration is determined based on the relationship between the minimum green light duration and the green light operation duration up to the current moment.

[0024] According to a fourth aspect of an exemplary implementation, a computer storage medium is provided, in which computer program instructions are stored. When the instructions are executed on a computer, the computer executes the traffic signal control method of the first aspect.

[0025] The embodiment of the present application not only takes into account the motor vehicles in the lane area, but also the pedestrians and / or non-motor vehicles in the zebra crossing area, and integrates the needs of various traffic participants, thereby optimizing the timing of traffic signals. Specifically, within the set time range before the green light starts running at the current phase, the initial detection data of the first detection area corresponding to the current phase is obtained. The initial detection data can be used to determine the minimum green light duration of the current phase, so as to be used as signal timing when there are fewer people and vehicles at night or during off-peak hours. In the process of the green light starting to run, the first detection data of the first detection area when the green light runs to the current moment is obtained. The first detection data here indicates whether there are motor vehicles in the first lane area at the current moment, and whether there are pedestrians and / or non-motor vehicles in the first zebra crossing area. Then, according to the first detection data, it is determined whether the green light duration of the current phase needs to be extended. If it needs to be extended, the green light duration is extended based on the current moment; if it does not need to be extended, the green light is controlled to end after the target green light duration is completed. The relationship between the minimum green light duration and the green light operation duration up to the current moment is different, and the target green light duration is different. Therefore, the minimum green light duration is adjusted according to the conditions of motor vehicles in the lane area and pedestrians and / or non-motor vehicles in the zebra crossing area to improve the precision of signal control at the intersection, thereby achieving a better signal adjustment effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0027] Figure 1 A schematic diagram of a phase provided by an embodiment of the present application is exemplarily shown;

[0028] Figure 2 A schematic diagram of a traffic signal control system provided by an embodiment of the present application is exemplarily shown;

[0029] Figure 3 A schematic diagram of a traffic signal control provided by an embodiment of the present application is exemplarily shown;

[0030] Figure 4 A flow chart of a traffic signal control method provided by an embodiment of the present application is exemplarily shown;

[0031] Figure 5 A schematic diagram of another traffic signal control provided by an embodiment of the present application is exemplarily shown;

[0032] Figure 6 A flowchart of a method for determining a first minimum green light duration provided by an embodiment of the present application is exemplarily shown;

[0033] Figure 7 A flowchart of a method for determining a second minimum green light duration provided by an embodiment of the present application is exemplarily shown;

[0034] Figure 8 A flowchart of a method for determining whether the green light duration of the current phase needs to be extended is exemplarily shown in an embodiment of the present application;

[0035] Fig. 9 The following is a schematic diagram showing the structure of a traffic signal control device provided by an embodiment of the present application;

[0036] Fig.10 The schematic diagram of the structure of a traffic light controller provided in an embodiment of the present application is exemplified. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions 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.

[0038] For ease of understanding, the terms involved in the embodiments of the present application are explained below:

[0039] (1) Intelligent traffic violation monitoring and management system, through the use of vehicle detection, photoelectric imaging, automatic control, network communication, computer and other technologies, can capture vehicle violation information around the clock, such as red light running, driving in the wrong direction, speeding, driving across the line, illegal parking and other violations, and process them according to the violation information. The intelligent traffic violation monitoring and management system can include multiple monitoring devices.

[0040] (2) Minimum green light duration: the minimum green light duration required for a motor vehicle to pass through an intersection on a motor vehicle lane, or the minimum green light duration required for a pedestrian to pass through an intersection on a zebra crossing.

[0041] (3) Phase: The green light signal at the intersection is cycled in a set order, and at any time, only one phase is a green light signal. The duration of a phase includes the sum of the green light duration, yellow light duration, and red light duration of the phase. The red light duration is usually set to zero, and the yellow light duration is usually set to 3s. Therefore, in the process of signal control, the duration of the green light is generally controlled. Considering the actual operation of the intersection, right turns are generally not controlled. Figure 1 A schematic diagram of a phase is provided for an embodiment of the present application. Here, only four phases are used for illustration. In the actual traffic control process, an intersection may have multiple phases.

[0042] In the process of traffic signal control, the traffic demand of motor vehicles is usually taken as the main consideration to obtain the phase display order of the intersection and the green light duration of the phase including the motor vehicle traffic direction. For example, this is achieved by establishing an optimization model with the goal of minimizing the total vehicle delay time, the average vehicle delay time, the total number of vehicle stops, and the total length of the vehicle queue. Such a design, with a single consideration factor, leads to low precision in signal control of the intersection, and thus fails to achieve a better effect of signal adjustment.

[0043] To this end, an embodiment of the present application provides a method for controlling traffic signals, in which data on pedestrians and non-motor vehicles passing through intersections is taken into account, the traffic needs of pedestrians and non-motor vehicles as traffic participants are fully integrated, the duration of traffic signals is adjusted, and better control of traffic signals is achieved.

[0044] After introducing the design ideas of the embodiments of the present application, the following briefly introduces the application scenarios to which the technical solutions of the embodiments of the present application can be applied. It should be noted that the application scenarios introduced below are only used to illustrate the embodiments of the present application and are not limited. In specific implementation, the technical solutions provided by the embodiments of the present application can be flexibly applied according to actual needs.

[0045] Figure 2 A schematic diagram of a traffic signal control system provided in an embodiment of the present application, wherein an intelligent traffic violation monitoring management system obtains a video stream and sends the video stream to an edge computing device, which processes the video stream to obtain detection data and sends the detection data to a traffic light controller. The traffic light controller then determines whether the green light duration of the current phase needs to be extended based on the detection data. If it needs to be extended, the green light duration is extended, and the green light is controlled by the signal machine to end after the target green light duration is completed. The detection data here can be traffic data, which is used to indicate the conditions of motor vehicles, pedestrians, and non-motor vehicles.

[0046] Figure 3A schematic diagram of a traffic signal control provided in an embodiment of the present application. In this example, the intelligent traffic violation monitoring management system is illustrated by monitoring devices 1 to 4, corresponding to Figure 1 In phase 1, A is the motor vehicle area, B is the zebra crossing area, and C is the waiting area.

[0047] Still refer to Figure 3 ,Table 1 shows the detection data of each area.

[0048]

[0049] To further illustrate the technical solution provided by the embodiment of the present application, this is described in detail below in conjunction with the accompanying drawings and specific implementation methods. Although the embodiment of the present application provides the method operation steps shown in the following embodiments or drawings, more or fewer operation steps may be included in the method based on routine or no creative labor. In the steps where there is no necessary causal relationship logically, the execution order of these steps is not limited to the execution order provided in the embodiment of the present application.

[0050] Combine the following Figure 2 and Figure 3 The application scenario shown is shown in Figure 4 A flow chart of a traffic signal control method is shown, which can be applied to a traffic signal light controller to illustrate the technical solution provided in an embodiment of the present application.

[0051] S401: The traffic light controller obtains initial detection data of a first detection area corresponding to the current phase within a set time range before the green light of the current phase starts to operate.

[0052] Wherein, the first detection area includes the first lane area and the first zebra crossing area;

[0053] S402: The traffic light controller determines the minimum green light duration of the current phase according to the initial detection data.

[0054] S403: The traffic light controller obtains the first detection data of the first detection area when the green light in the current phase runs to the current moment.

[0055] The first detection data indicates whether there are motor vehicles in the first lane area, and whether there are pedestrians and / or non-motor vehicles in the first zebra crossing area.

[0056] S404: The traffic light controller determines whether the green light duration of the current phase needs to be extended based on the first detection data. If so, execute S405; otherwise, execute S406.

[0057] S405: The traffic light controller extends the green light duration based on the current time.

[0058] S406: The traffic signal light controller controls the green light to run for the target green light duration and then ends.

[0059] The target green light duration is determined based on the relationship between the minimum green light duration and the green light operation duration up to the current moment.

[0060] The embodiment of the present application not only takes into account the motor vehicles in the lane area, but also the pedestrians and / or non-motor vehicles in the zebra crossing area, and integrates the needs of various traffic participants, thereby optimizing the timing of traffic signals. Specifically, within the set time range before the green light starts running at the current phase, the initial detection data of the first detection area corresponding to the current phase is obtained. The initial detection data can be used to determine the minimum green light duration of the current phase, so as to be used as signal timing when there are fewer people and vehicles at night or during off-peak hours. In the process of the green light starting to run, the first detection data of the first detection area when the green light runs to the current moment is obtained. The first detection data here indicates whether there are motor vehicles in the first lane area at the current moment, and whether there are pedestrians and / or non-motor vehicles in the first zebra crossing area. Then, according to the first detection data, it is determined whether the green light duration of the current phase needs to be extended. If it needs to be extended, the green light duration is extended based on the current moment; if it does not need to be extended, the green light is controlled to end after the target green light duration is completed. The relationship between the minimum green light duration and the green light operation duration up to the current moment is different, and the target green light duration is different. Therefore, the minimum green light duration is adjusted according to the conditions of motor vehicles in the lane area and pedestrians and / or non-motor vehicles in the zebra crossing area to improve the precision of signal control at the intersection, thereby achieving a better signal adjustment effect.

[0061] Regarding S401, for an intersection, the order of its operating phases is pre-set. In each phase, the starting point is the time when the green light of the phase starts running, and the ending point is the time when the red light ends. In the embodiment of the present application, assuming that the green light of the current phase starts running at 12:00:01, the set time range can be 1 second before the green light of the current phase starts running, that is, 12:00:00, or, in the last 1 second of the yellow light of the previous phase, the initial detection data of the first detection area corresponding to the current phase is obtained. Therefore, the initial detection data of the first detection area corresponding to the current phase at 12:00:00 is obtained. The first detection area here includes not only the first lane area, but also the first zebra crossing area. Among them, the initial detection data can be whether there are motor vehicles in the first lane area at 12:00:00, and whether there are pedestrians or non-motor vehicles in the first zebra crossing area.

[0062] Figure 5 A schematic diagram of another traffic signal control provided in an embodiment of the present application, wherein the example corresponds to Figure 1 In phase 1, the first lane area is the shaded portion A, and the first zebra crossing area is the shaded portion B. Optionally, the shaded portion C is the first waiting area. The first lane area includes the north entrance left turn area and the through lane area, the first zebra crossing area is the west zebra crossing area, and the first waiting area is the west waiting area.

[0063] In S402, the initial detection data can be used to determine the minimum green light duration of the current phase, mainly including the following situations:

[0064] The first case A1: If there are only motor vehicles in the first lane area, the traffic light controller obtains the first minimum green light duration according to the start time of the first tail vehicle and the time it takes for the first tail vehicle to reach the first stop line in the first lane area, and determines the first minimum green light duration as the minimum green light duration.

[0065] In this case, Figure 6 A flow chart of a method for determining the first minimum green light duration provided in an embodiment of the present application, refer to Figure 6 , determine the first minimum green light duration through steps S601-S603.

[0066] S601: The traffic light controller determines the start time of the first tail vehicle according to the number of motor vehicles in the first lane area and the relationship between the number of vehicles in the queue and the start time of the tail vehicle.

[0067] The start-up time can be: when the green light starts to turn on, it is t q1 When the speed of the queued vehicle is detected to be greater than 5m / s, the time t is recorded. q2 , then the startup time is t q2 -t q1 .

[0068] Since the initial detection data is the data before the green light starts to run in the current phase, the number of motor vehicles in the first lane area here is also the number before the green light starts to run in the current phase. For example, the number of motor vehicles in the first lane area is the number of other motor vehicles in the first lane in the last second of the yellow light in the previous phase.

[0069] Table 1 shows a relationship between the number of vehicles in the queue and the start time of the tail vehicle, so the traffic light controller can find the start time of the first tail vehicle according to the number of motor vehicles in the first lane area. For the sake of distinction, the tail vehicle in the first lane area in this embodiment is called the first tail vehicle. For example, if the number of motor vehicles in the first lane area is 10, the start time t1 of the first tail vehicle can be determined to be 20s.

[0070]

[0071]

[0072] S602: The traffic light controller determines the time it takes for the first tail vehicle to reach the first stop line according to the distance between the first tail vehicle and the first stop line and the set travel speed.

[0073] The first stop line is the stop line of the first lane area at the intersection, the distance between the first tail vehicle and the first stop line is the queue length, and the set speed can be the average speed of vehicles in the import lane of the first lane area when it is not congested, and the default value of 40km / h can be taken. Therefore, the time t2 for the first tail vehicle to reach the first stop line can be determined. For example, t2 can be calculated by the following formula:

[0074]

[0075] Among them, L l is the queue length, V is the set speed, and int is the rounding operation.

[0076] S603: The traffic signal light controller determines that the sum of the start time of the first tail vehicle and the time of the first tail vehicle reaching the first stop line is the first minimum green light time.

[0077] Optionally, the first minimum green light duration T1 = t1 + t2.

[0078] The second situation A2: If there are pedestrians or non-motor vehicles only in the first zebra crossing area, the second minimum green light duration is obtained according to the first crossing length of the first zebra crossing area, the set crossing speed and the set green light interval, and the second minimum green light duration is determined as the minimum green light duration.

[0079] In this case, Figure 7 A flow chart of a method for determining the second minimum green light duration provided in an embodiment of the present application, refer to Figure 7 , the second minimum green light duration can be determined through steps S701-S702.

[0080] S701: The traffic light controller determines a ratio of a first crossing length to a set crossing speed as a crossing time.

[0081] The first crossing length may be the length of the first zebra crossing area, and the crossing time t3 may be obtained by the following formula:

[0082]

[0083] Among them, t3 is the time of crossing the street, L n is the length of the first crossing, v h To set the crossing speed, for example, 1m / s.

[0084] S702: The traffic light controller determines that the difference between the crossing time and the set green light interval time is the second minimum green light time.

[0085] The calculation formula for the second minimum green light duration is as follows:

[0086]

[0087] Among them, t4 is the second minimum green light duration, t i To set the green light interval time.

[0088] The third situation A3: If there is a motor vehicle in the first lane area and there are pedestrians or non-motor vehicles in the first zebra crossing area, the traffic light controller determines the larger one of the first minimum green light duration and the second minimum green light duration as the minimum green light duration.

[0089] In a specific example, the minimum green light duration may be 10 seconds.

[0090] In this case, the larger green light duration of the two can be taken as the minimum green light duration.

[0091] In S203, in the current phase, the green light starts to run. Taking the above example, the green light starts to run from 12:00:01. If the green light needs to be extended, the green light runs to 12:00:10 and then switches to the yellow light. If the green light needs to be extended, the judgment operation is still performed in each judgment cycle after the extension. Exemplarily, the judgment cycle can be 1s.

[0092] Therefore, there are two possibilities for the current moment in the embodiment of the present application. One possibility is that the current moment is a moment that has not been extended, that is, any second between 12:00:01-12:00:10; the other possibility is that the moment after extension can be any second after 12:00:10. The starting moment of executing the judgment operation can be determined according to the set extension duration. For example, if the extension duration is pre-set to 3s each time, the starting moment of executing the judgment operation can be determined to be 12:00:08. At this time, if extension is required, the green light duration is extended from the minimum green light duration of 10s to 11s after the extension of 3s. In the actual application process, the judgment operation can also be performed for the moment between 12:00:01-12:00:07. In this way, even if the result that extension is required is obtained, the green light duration after extension is less than the minimum green light duration. Therefore, the actual performance is that it has not been extended.

[0093] If the current time is 12:00:08, it means that the green light operation time has not reached the minimum green light operation time, and the first detection data of the first detection area when the green light in the current phase runs to 12:00:08 is obtained. The first detection data indicates whether there are motor vehicles in the first lane area at 12:00:08, and whether there are pedestrians and / or non-motor vehicles in the first zebra crossing area;

[0094] In S204, the traffic light controller determines whether the green light duration of the current phase needs to be extended based on the first detection data, which includes at least the following four situations.

[0095] The first case B1: If there are no motor vehicles in the first lane area, and no pedestrians and non-motor vehicles in the first zebra crossing area, it is determined that the green light duration of the current phase does not need to be extended.

[0096] In this case, when there are neither motor vehicles nor pedestrians and non-motor vehicles, it means that there is no need to extend the green light duration in the current phase, so there is no need to extend the green light duration in the current phase.

[0097] The second case B2: If there are motor vehicles in the first lane area and the average speed of the motor vehicles is less than the set speed threshold, the green light duration of the current phase is extended.

[0098] In this case, the average speed of the motor vehicle is less than the set speed threshold, indicating that there is a sign of vehicle congestion. At this time, pedestrians and non-motor vehicles are not considered, and the green light duration of the current phase is directly extended. Usually, a set time window can be extended each time, for example, 3s.

[0099] The third case B3: If there are pedestrians or non-motor vehicles in the first zebra crossing area, the green light duration of the current phase is extended.

[0100] In this case, if there are pedestrians or non-motor vehicles in the first zebra crossing area, it indicates that the pedestrians or non-motor vehicles need to cross the street. At this time, there is no need to consider the situation of motor vehicles, and the green light duration of the current phase is directly extended by a set time window.

[0101] The fourth situation B4: If there are no pedestrians and non-motor vehicles in the first zebra crossing area, there are motor vehicles in the first lane area and the average speed of the motor vehicles is greater than the set speed threshold, then determine whether the green light duration of the current phase needs to be extended based on the second detection data of the second detection area of ​​the next phase of the current phase at the current moment.

[0102] In this case, if there are no pedestrians and non-motor vehicles in the first zebra crossing area, but there are motor vehicles in the first lane area, and the average speed is greater than the set speed threshold, it indicates that the motor vehicles are dissipating at this time. At this time, it is necessary to consider the traffic demand of the next phase to determine whether the green light duration of the current phase needs to be extended. The green light extension requirement of the next phase can be determined based on the second detection data of the second detection area of ​​the next phase at the current moment.

[0103] Exemplarily, the second detection data is the detection data of the second detection area at the current moment, and the second detection area includes the second lane area, the second zebra crossing area and the waiting area. In order to distinguish it from the first detection area, the waiting area here can be represented by the second waiting area. The second detection data indicates whether there are motor vehicles in the second lane area, whether there are pedestrians and non-motor vehicles in the second zebra crossing area, and the density of the second waiting area.

[0104] In the fourth case B4, Figure 8 A flowchart of a method for determining whether the green light duration of the current phase needs to be extended is provided in an embodiment of the present application, wherein steps S801-S802 can be used to determine whether the green light duration of the current phase needs to be extended based on the second detection data of the second detection area of ​​the next phase of the current phase.

[0105] S801: The traffic light controller obtains the second detection data of the second detection area of ​​the next phase at the current moment.

[0106] Among them, the information is obtained as to whether there are motor vehicles in the second lane area of ​​the next phase at the current moment, whether there are pedestrians and non-motor vehicles in the second zebra crossing area, and the density of the second waiting area.

[0107] S802: If there are no motor vehicles in the second lane area, no people and non-motor vehicles in the second zebra crossing area, and the density of the waiting area is less than the set density threshold, the traffic light controller extends the green light duration of the current phase.

[0108] S803: If there are motor vehicles in the second lane area, or people or non-motor vehicles in the second zebra crossing area, or the density of the second waiting area is less than the set density threshold, the traffic light controller determines that the green light duration of the current phase does not need to be extended.

[0109] When there are no motor vehicles in the second lane area, no people or non-motor vehicles in the second zebra crossing area, and the density of the waiting area is less than the set density threshold (for example, 10%), it indicates that there is no need to extend the green light in the next phase, and the green light duration of the current phase can be extended. When there are motor vehicles in the second lane area, or there are people or non-motor vehicles in the second zebra crossing area, or the density of the waiting area is greater than or equal to the set density threshold, it indicates that there is a need to extend the green light in the next phase, and in order not to affect the next phase, it is determined that the green light duration of the current phase does not need to be extended.

[0110] In summary, in the case where the green light duration of the current phase needs to be extended, the duration of each extension can be set to be the same or different. If they are the same, the duration of each extended green light can be called a time window, which can take a value of 3s; if they are different, the duration of each extended green light can be set according to the corresponding detection data.

[0111] In S205, if the green light duration needs to be extended, the green light duration is extended based on the current time. For example, if the current time is 12:00:09, the time window is extended by 3s, and the extended green light ends at 12:00:12. If the green light duration does not need to be extended, the green light is controlled to end after the target green light duration is reached.

[0112] The target green light duration here is related to the relationship between the minimum green light duration and the green light operation duration up to the current moment, and includes at least the following situations.

[0113] The first case C1: If the green light operation time is less than or equal to the minimum green light time up to the current moment, the target green light time is the minimum green light time.

[0114] For example, the current time is 12:00:09, and the total green light duration is 9s, which is less than the minimum green light duration of 10s. Then the target green light duration is the minimum green light duration, that is, the green light runs until 12:00:10.

[0115] The second case C2: If the green light duration is greater than the minimum green light duration up to the current moment, the target green light duration is the green light duration obtained after the extension from the previous moment.

[0116] For example, the current time is 12:00:35, indicating that this is a time after the green light duration is extended, and the judgment result at the current time is that it does not need to be extended, then the green light time at this time is the green light duration obtained after the extension of 12:00:34. For example, if the judgment result at 12:00:34 is that it needs to be extended by 3s, and the judgment result at 12:00:35 is that it does not need to be extended, then the green light is controlled to run until 12:00:37.

[0117] In addition, in order to avoid the situation where the green light duration is extended continuously and affects the next phase, the green light duration may be limited according to a preset maximum green light duration through steps D1-D2.

[0118] D1: At any time after the start of operation, if it is determined that the green light duration of the current phase needs to be extended, and the green light duration obtained after the extension is greater than the maximum green light duration, the green light duration is extended to the maximum green light duration.

[0119] Among them, the preset maximum green light duration is, for example, 50s. If at any time 12:00:48, the green light duration obtained after extending a time window is 51s, which is greater than the maximum green light duration of 50s, the green light extension duration is extended to 12:00:50.

[0120] D2: Control that the operation of determining whether the green light duration needs to be extended is not performed at any time between any time and the maximum green light duration.

[0121] Among them, the operation of determining whether the green light duration needs to be extended is not performed at 12:00:49 and 12:00:50, and the light switches to yellow at 12:00:51.

[0122] Compared with the prior art that does not consider pedestrians and non-motor vehicles and tacitly allows motor vehicles to have a high traffic weight, the embodiments of the present application comprehensively consider the needs of various traffic participants such as vehicles, non-motor vehicles and pedestrians to achieve optimization of traffic signal timing. According to actual needs, by adjusting the minimum green light duration, dynamic optimization of traffic signal timing is achieved, which is more precise and reasonable. Combined with the theory of traffic signal control, the signal adjustment process is standardized. For scenes with few people and vehicles at low peak nights, the minimum green light duration is applied for control, which improves traffic efficiency and reduces delays at intersections.

[0123] like Fig. 9 As shown, based on the same inventive concept, an embodiment of the present application provides a traffic signal control device, including a data acquisition unit 91, a data processing unit 92 and a judgment unit 93.

[0124] The data acquisition unit 91 is used to: acquire initial detection data of a first detection area corresponding to the current phase within a set time range before the green light starts to run at the current phase; the first detection area includes a first lane area and a first zebra crossing area;

[0125] The data processing unit 92 is used to determine the minimum green light duration of the current phase according to the initial detection data;

[0126] The data acquisition unit 91 is further used to: acquire first detection data of the first detection area when the green light in the current phase runs to the current moment; wherein the first detection data indicates whether there are motor vehicles in the first lane area, and whether there are pedestrians and / or non-motor vehicles in the first zebra crossing area;

[0127] The judging unit 93 is used to judge whether the green light duration of the previous phase needs to be extended according to the first detection data;

[0128] The data processing unit 92 is also used for: when the green light duration of the previous phase needs to be extended, the green light duration is extended based on the current moment; otherwise, the green light is controlled to end after the target green light duration is completed; wherein the target green light duration is determined based on the relationship between the minimum green light duration and the green light operation duration up to the current moment.

[0129] In an optional implementation, if the green light operation duration is less than or equal to the minimum green light duration up to the current moment, the target green light duration is the minimum green light duration;

[0130] If the green light duration is greater than the minimum green light duration up to the current moment, the target green light duration is the green light duration obtained after extending from the previous moment.

[0131] In an optional implementation manner, the judging unit 93 is specifically configured to:

[0132] If there are no motor vehicles in the first lane area, and no pedestrians and non-motor vehicles in the first zebra crossing area, it is determined that the green light duration of the current phase does not need to be extended;

[0133] If there are motor vehicles in the first lane area and the average speed of the motor vehicles is less than the set speed threshold, the green light duration of the current phase is extended;

[0134] If there are pedestrians or non-motor vehicles in the first zebra crossing area, the green light duration of the current phase will be extended;

[0135] If there are no pedestrians and non-motor vehicles in the first zebra crossing area, there are motor vehicles in the first lane area and the average speed of the motor vehicles is greater than the set speed threshold, then determine whether the green light duration of the current phase needs to be extended based on the second detection data of the second detection area of ​​the next phase of the current phase.

[0136] In an optional implementation, the second detection area includes a second lane area, a second zebra crossing area and a waiting area; the second detection data indicates whether there are motor vehicles in the second lane area, whether there are pedestrians and non-motor vehicles in the second zebra crossing area, and the density of the waiting area;

[0137] The judging unit 93 is specifically used for:

[0138] Acquire second detection data of a second detection area of ​​a next phase at the current moment;

[0139] If there are no motor vehicles in the second lane area, no people and non-motor vehicles in the second zebra crossing area, and the density of the waiting area is less than the set density threshold, the green light duration of the current phase is extended; otherwise, it is determined that the green light duration of the current phase does not need to be extended.

[0140] In an optional implementation, the data processing unit 92 is specifically configured to:

[0141] At any time after the start of operation, if it is determined that the green light duration of the current phase needs to be extended, and the green light duration obtained after the extension is greater than the maximum green light duration, the green light duration is extended to the maximum green light duration; wherein the maximum green light duration is preset;

[0142] It is controlled that the operation of determining whether the green light duration needs to be extended is not performed at each moment between any moment and the maximum green light duration.

[0143] In an optional implementation, the first detection area includes a first lane area and a first zebra crossing area;

[0144] The data processing unit 92 is specifically used for:

[0145] If there are only motor vehicles in the first lane area, the first minimum green light duration is obtained according to the start time of the first rear vehicle and the time it takes for the first rear vehicle to reach the first stop line in the first lane area, and the first minimum green light duration is determined as the minimum green light duration;

[0146] If there are pedestrians or non-motor vehicles only in the first zebra crossing area, the second minimum green light duration is obtained according to the first crossing length of the first zebra crossing area, the set crossing speed, and the set green light interval duration, and the second minimum green light duration is determined as the minimum green light duration;

[0147] If there is a motor vehicle in the first lane area and a pedestrian or non-motor vehicle in the first zebra crossing area, the larger one of the first minimum green light duration and the second minimum green light duration is determined as the minimum green light duration.

[0148] In an optional implementation manner, the data processing unit 92 is specifically configured to determine the first minimum green light duration in the following manner:

[0149] Determine the start time of the first tail vehicle according to the number of motor vehicles in the first lane area and the relationship between the number of vehicles in the queue and the start time of the tail vehicle set in advance;

[0150] Determine the time it takes for the first tail vehicle to reach the first stop line according to the distance between the first tail vehicle and the first stop line and the set travel speed;

[0151] Determine that the sum of the start time of the first tail vehicle and the time it takes for the first tail vehicle to arrive at the first stop line is the first minimum green light duration.

[0152] In an optional implementation manner, the data processing unit 92 is specifically configured to determine the second minimum green light duration in the following manner:

[0153] Determine the ratio of the first crossing length to the set crossing speed as the crossing time;

[0154] The difference between the crossing time and the set green light interval time is determined as the first minimum green light time.

[0155] Since the device is the device in the method in the embodiment of the present application, and the principle of solving the problem by the device is similar to that of the method, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0156] like Fig.10 As shown, based on the same inventive concept, an embodiment of the present application provides a traffic light controller, including a data transmission unit 1001 and a processor 1002;

[0157] The data transmission unit 1001 is configured to perform:

[0158] Acquire the initial detection data of the first detection area corresponding to the current phase within a set time range before the green light starts to operate in the current phase; and acquire the first detection data of the first detection area when the green light in the current phase operates to the current moment; wherein the first detection area includes the first lane area and the first zebra crossing area; the first detection data indicates whether there are motor vehicles and pedestrians and non-motor vehicles in the first lane area, and whether there are pedestrians and non-motor vehicles in the first zebra crossing area;

[0159] The processor 1002 is configured to execute:

[0160] Determine the minimum green light duration of the current phase according to the initial detection data;

[0161] According to the first detection data, determining whether the green light duration of the current phase needs to be extended;

[0162] If so, the green light duration is extended based on the current moment; otherwise, the green light is controlled to end after the target green light duration is completed; wherein the target green light duration is determined based on the relationship between the minimum green light duration and the green light operation duration up to the current moment.

[0163] In an optional implementation, if the green light operation duration is less than or equal to the minimum green light duration up to the current moment, the target green light duration is the minimum green light duration;

[0164] If the green light duration is greater than the minimum green light duration up to the current moment, the target green light duration is the green light duration obtained after extending from the previous moment.

[0165] In an optional implementation, the processor 1002 is specifically configured to execute:

[0166] If there are no motor vehicles in the first lane area, and no pedestrians and non-motor vehicles in the first zebra crossing area, it is determined that the green light duration of the current phase does not need to be extended;

[0167] If there are motor vehicles in the first lane area and the average speed of the motor vehicles is less than the set speed threshold, the green light duration of the current phase is extended;

[0168] If there are pedestrians or non-motor vehicles in the first zebra crossing area, the green light duration of the current phase will be extended;

[0169] If there are no pedestrians and non-motor vehicles in the first zebra crossing area, there are motor vehicles in the first lane area and the average speed of the motor vehicles is greater than the set speed threshold, then determine whether the green light duration of the current phase needs to be extended based on the second detection data of the second detection area of ​​the next phase of the current phase.

[0170] In an optional implementation, the second detection area includes a second lane area, a second zebra crossing area and a waiting area; the second detection data indicates whether there are motor vehicles in the second lane area, whether there are pedestrians and non-motor vehicles in the second zebra crossing area, and the density of the waiting area;

[0171] The processor 1002 is specifically configured to execute:

[0172] Acquire second detection data of a second detection area of ​​a next phase at the current moment;

[0173] If there are no motor vehicles in the second lane area, no people and non-motor vehicles in the second zebra crossing area, and the density of the waiting area is less than the set density threshold, the green light duration of the current phase is extended; otherwise, it is determined that the green light duration of the current phase does not need to be extended.

[0174] In an optional implementation, the processor 1002 is further configured to execute:

[0175] At any time after the start of operation, if it is determined that the green light duration of the current phase needs to be extended, and the green light duration obtained after the extension is greater than the maximum green light duration, the green light duration is extended to the maximum green light duration; wherein the maximum green light duration is preset;

[0176] It is controlled that the operation of determining whether the green light duration needs to be extended is not performed at each moment between any moment and the maximum green light duration.

[0177] In an optional implementation, the first detection area includes a first lane area and a first zebra crossing area;

[0178] The processor 1002 is specifically configured to execute:

[0179] If there are only motor vehicles in the first lane area, the first minimum green light duration is obtained according to the start time of the first rear vehicle and the time it takes for the first rear vehicle to reach the first stop line in the first lane area, and the first minimum green light duration is determined as the minimum green light duration;

[0180] If there are pedestrians or non-motor vehicles only in the first zebra crossing area, the second minimum green light duration is obtained according to the first crossing length of the first zebra crossing area, the set crossing speed, and the set green light interval duration, and the second minimum green light duration is determined as the minimum green light duration;

[0181] If there is a motor vehicle in the first lane area and a pedestrian or non-motor vehicle in the first zebra crossing area, the larger one of the first minimum green light duration and the second minimum green light duration is determined as the minimum green light duration.

[0182] In an optional implementation, the processor 1002 is specifically configured to execute and determine the first minimum green light duration in the following manner:

[0183] Determine the start time of the first tail vehicle according to the number of motor vehicles in the first lane area and the relationship between the number of vehicles in the queue and the start time of the tail vehicle set in advance;

[0184] Determine the time it takes for the first tail vehicle to reach the first stop line according to the distance between the first tail vehicle and the first stop line and the set travel speed;

[0185] Determine that the sum of the start time of the first tail vehicle and the time it takes for the first tail vehicle to arrive at the first stop line is the first minimum green light duration.

[0186] In an optional implementation, the processor 1002 is specifically configured to execute and determine the second minimum green light duration in the following manner:

[0187] Determine the ratio of the first crossing length to the set crossing speed as the crossing time;

[0188] The difference between the crossing time and the set green light interval time is determined as the first minimum green light time.

[0189] The embodiment of the present application further provides a computer storage medium, in which computer program instructions are stored. When the instructions are executed on a computer, the computer executes the steps of the above-mentioned traffic signal control method.

[0190] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0191] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0192] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0193] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0194] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A traffic signal control method, characterized in that: include: Acquire initial detection data of a first detection area corresponding to the current phase within a set time range before the green light starts to operate in the current phase; wherein the first detection area includes a first lane area and a first zebra crossing area; Determine the minimum green light duration of the current phase according to the initial detection data; Acquire the first detection data of the first detection area when the green light in the current phase runs to the current moment; wherein the first detection data indicates whether there is a motor vehicle in the first lane area at the current moment, and whether there are pedestrians and / or non-motor vehicles in the first zebra crossing area; According to the first detection data, determining whether the green light duration of the current phase needs to be extended; If so, then based on the current moment, the green light duration is extended; otherwise, the green light is controlled to end after running for the target green light duration; wherein, the target green light duration is determined based on the relationship between the minimum green light duration and the green light running duration up to the current moment.

2. The method according to claim 1, characterized in that The method further comprises: If, as of the current moment, the green light operation duration is less than or equal to the minimum green light duration, the target green light duration is the minimum green light duration; If, up to the current moment, the green light operation duration is greater than the minimum green light duration, then the target green light duration is the green light duration obtained after extending the duration from the previous moment.

3. The method according to claim 1, characterized in that The determining, based on the first detection data, whether the green light duration of the current phase needs to be extended includes: If there is no motor vehicle in the first lane area, and there are no pedestrians and non-motor vehicles in the first zebra crossing area, determining that the green light duration of the current phase does not need to be extended; If there is a motor vehicle in the first lane area and the average speed of the motor vehicle is less than the set speed threshold, then extending the green light duration of the current phase; If there are pedestrians or non-motor vehicles in the first zebra crossing area, extend the green light duration of the current phase; If there are no pedestrians and non-motor vehicles in the first zebra crossing area, there are motor vehicles in the first lane area and the average speed of the motor vehicles is greater than the set speed threshold, then determine whether the green light duration of the current phase needs to be extended based on the second detection data of the second detection area of ​​the next phase of the current phase at the current moment.

4. The method according to claim 3, characterized in that The second detection area includes a second lane area, a second zebra crossing area and a waiting area; the second detection data indicates whether there are motor vehicles in the second lane area, whether there are pedestrians and non-motor vehicles in the second zebra crossing area, and the density of the waiting area; The determining whether the green light duration of the current phase needs to be extended according to the second detection data of the second detection area of ​​the next phase of the current phase includes: Acquire second detection data of the second detection area of ​​the next phase at the current moment; If there are no motor vehicles in the second lane area, no people and non-motor vehicles in the second zebra crossing area, and the density of the waiting area is less than the set density threshold, the green light duration of the current phase is extended; otherwise, it is determined that the green light duration of the current phase does not need to be extended.

5. The method according to claim 1, characterized in that The method further comprises: At any time after the start of operation, if it is determined that the green light duration of the current phase needs to be extended, and the green light duration obtained after the extension is greater than the maximum green light duration, the green light duration is extended to the maximum green light duration; wherein the maximum green light duration is preset; The operation of determining whether the green light duration needs to be extended is controlled not to be performed at each moment between the any moment and the maximum green light duration.

6. The method according to claim 1, characterized in that The determining the minimum green light duration of the current phase according to the initial detection data includes: If there are only motor vehicles in the first lane area, a first minimum green light duration is obtained according to the start time of the first rear vehicle and the time when the first rear vehicle reaches the first stop line in the first lane area, and the first minimum green light duration is determined as the minimum green light duration; If there are pedestrians or non-motor vehicles only in the first zebra crossing area, a second minimum green light duration is obtained according to the first crossing length of the first zebra crossing area, the set crossing speed, and the set green light interval duration, and the second minimum green light duration is determined as the minimum green light duration; If there is a motor vehicle in the first lane area and there are pedestrians or non-motor vehicles in the first zebra crossing area, the larger one of the first minimum green light duration and the second minimum green light duration is determined as the minimum green light duration.

7. The method according to claim 6, characterized in that The first minimum green light duration is determined by: Determine the start time of the first tail vehicle according to the number of motor vehicles in the first lane area and the relationship between the preset number of queuing vehicles and the start time of the tail vehicle; Determine the time it takes for the first tail vehicle to reach the first stop line according to the distance between the first tail vehicle and the first stop line and the set travel speed; Determine that the sum of the start time of the first tail vehicle and the time of the first tail vehicle reaching the first stop line is the first minimum green light time.

8. The method according to claim 6, characterized in that The second minimum green light duration is determined by: Determine the ratio of the first crossing length to the set crossing speed as the crossing time; The difference between the street crossing time and the set green light interval time is determined as the first minimum green light time.

9. A traffic light controller, characterized in that: including a data transmission unit and a processor; The data transmission unit is configured to perform: Acquire the initial detection data of the first detection area corresponding to the current phase within a set time range before the green light starts to operate in the current phase; and acquire the first detection data of the first detection area when the green light in the current phase operates to the current moment; wherein the first detection area includes the first lane area and the first zebra crossing area; the first detection data indicates whether there are motor vehicles in the first lane area, and whether there are pedestrians and non-motor vehicles in the first zebra crossing area; The processor is configured to perform: Determine the minimum green light duration of the current phase according to the initial detection data; According to the first detection data, determining whether the green light duration of the current phase needs to be extended; If so, then based on the current moment, the green light duration is extended; otherwise, the green light is controlled to end after running for the target green light duration; wherein, the target green light duration is determined based on the relationship between the minimum green light duration and the green light running duration up to the current moment.

10. The traffic signal light controller according to claim 9, characterized in that: The processor is further configured to perform: If, as of the current moment, the green light operation duration is less than or equal to the minimum green light duration, the target green light duration is the minimum green light duration; If, up to the current moment, the green light operation duration is greater than the minimum green light duration, then the target green light duration is the green light duration obtained after extending the duration from the previous moment.

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