Intelligent traffic signal state display and control integrated device and control method thereof

Abstract

The invention discloses an intelligent traffic signal state display and control integrated device and a control method thereof, and relates to the technical field of road traffic signal control. The device comprises a main body shell, a main body control panel, a signal display module, a signal detection module, a video acquisition module, an environment sensing module, a communication module and a power supply module. By integrating various sensors, the traffic efficiency is effectively improved, and congestion is reduced. Traffic flow detection and vehicle queuing length calculation are carried out through the signal detection module and the video acquisition module, the vehicle queuing length, the traffic flow and pedestrian passing rate data are fused by adopting an advanced data fusion algorithm, the time length of a signal lamp is dynamically adjusted, and real-time monitoring and dynamic adjustment of traffic flow are realized. And the traffic flow and the passing efficiency of pedestrians are better considered. The whole device is compact in design and easy to install and maintain, real-time performance and stability of the system are ensured, and intelligent traffic signal state control is more intelligent and flexible.

Description

Technical Field

[0001] The present application relates to the technical field of road traffic signal control, and in particular to an intelligent traffic signal status display and control integrated device and a control method thereof. Background Art

[0002] With the acceleration of urbanization, road traffic congestion is becoming more and more serious, especially at intersections. The traditional traffic light system cannot respond to changes in traffic flow in real time, resulting in problems such as long vehicle queues and low traffic efficiency. The disadvantages of traditional traffic control methods are gradually emerging: ① Peak traffic congestion: During rush hours, the main roads are crowded, while other roads have relatively few vehicles. Since the green-to-signal ratio is fixed, it is easy to cause secondary congestion. ② Emergency vehicle traffic problems: For emergency situations such as fire trucks, ambulances, and police cars, traditional traffic signals cannot automatically change the green-to-signal ratio, which is easy to cause secondary congestion and traffic accidents. ③ Economic impact: Traffic congestion not only affects citizens' travel, but also has a negative impact on the development of the national economy, especially in second- and third-tier cities. The situation is more severe.

[0003] In order to alleviate these problems, some transitional intelligent traffic signal control systems have been introduced. These systems are usually based on vehicle detectors (such as geomagnetic sensors, infrared sensors, etc.) to sense the vehicle queues on the lanes, and analyze the data through the central processor to adjust the duration of the signal lights. However, these systems have the following shortcomings: ① Single data source limitation: Traditional vehicle detectors can only provide limited information, such as the presence or absence of vehicles, but cannot provide detailed information such as the specific location, speed or queue length of the vehicle, which limits the accuracy and flexibility of signal control. ② Poor environmental adaptability: Many systems do not take into account the impact of environmental factors on signal display. For example, the visibility of signal lights will vary under different lighting conditions, but few systems can automatically adjust the brightness of signal lights to adapt to environmental changes. ③ Lack of comprehensive data processing capabilities: In existing systems, each sensor module works independently and lacks an effective data fusion mechanism, resulting in insufficient use of information and inability to achieve more accurate traffic status assessment and signal control decisions. ④ Lack of information on the status of pedestrians: The existing intelligent transportation system mainly focuses on vehicle flow and queuing conditions, but does not adequately monitor information such as pedestrian traffic status and waiting time. This may lead to inaccurate control of pedestrian traffic lights, affecting pedestrian safety and traffic efficiency.

[0004] Therefore, it is particularly important to develop an intelligent traffic signal control system that can intelligently adjust the duration of traffic lights, improve traffic flow and reduce congestion. Summary of the invention

[0005] In order to solve the above problems, the present invention proposes an intelligent traffic signal status display and control integrated device and a control method thereof. The device integrates a variety of advanced sensing technologies, including millimeter wave radar, lidar and video acquisition modules, which can provide more accurate vehicle detection and queue length calculation. At the same time, the brightness of the signal light is automatically adjusted through the environmental perception module to ensure good visibility under different lighting conditions. In addition, the present invention also adopts an advanced data fusion algorithm to dynamically adjust the duration of the signal light in combination with the queue length and traffic flow to improve traffic efficiency and reduce congestion. The entire device is compact in design, easy to install and maintain, and has efficient communication capabilities, ensuring the real-time and stability of the system.

[0006] To achieve the above objectives, this application provides the following solutions: An intelligent traffic signal status display and control integrated device, comprising: a main body shell, a main body control panel, a signal display module, a signal detection module, a video acquisition module, an environment perception module, a communication module and a power supply module; the signal display module comprises red, yellow and green signal lights, which are embedded in the main body shell and used to indicate the vehicle traffic status; the signal detection module comprises a millimeter wave radar module and a laser radar module, the millimeter wave radar module is installed on the main body shell, facing obliquely forward, and is used to illuminate vehicles waiting for red lights within the lane stop line and calculate the length of the vehicle queue; the laser radar module is installed directly below the main body shell and is used to count vehicles passing through the intersection; the video acquisition module comprises two video acquisition modules, which are installed on the main body shell and face the front of the main body shell. On the outer shell, it is used to capture vehicle images and assist the millimeter-wave radar module in calculating the length of vehicle queues; the environmental perception module is used to assist in adjusting the brightness of the signal display module, and the environmental perception module includes a humidity sensor module and a photosensor module; the main control board includes a processor and a memory, which are used to receive sensor data, calculate queue length and vehicle flow, and adjust the signal light duration according to a preset algorithm; the communication module is used to send the control data processed by the main control board to the signal display module, and can upload the original data of the signal display module, the signal detection module, the video acquisition module and the environmental perception module to the server for information integration; the power supply module is used for independent power supply of the entire device.

[0007] Furthermore, an integrally formed positioning column is provided in the main shell, which is used for fixing the main control panel, the signal display module, the signal detection module, the video acquisition module, the environmental perception module, the communication module and the power supply module. The mounting holes of the main control panel, the signal display module, the signal detection module, the video acquisition module, the environmental perception module, the communication module and the power supply module are sleeved on the positioning column. The positioning column is a hollow structure. The positioning column is melted by inserting a hot melt pen into the hollow structure of the positioning column to complete the fixing of the main control panel, the signal display module, the signal detection module, the video acquisition module, the environmental perception module, the communication module and the power supply module.

[0008] Furthermore, the main housing includes a first panel and a second panel, the signal display module, the video acquisition module and the environmental perception module are arranged on the first panel, and the main control panel, the signal detection module, the communication module and the power supply module are arranged on the second panel.

[0009] Furthermore, an integrally formed rain shield is provided at the place where the video acquisition module is installed on the main housing; the two video acquisition modules are placed on the same horizontal line to ensure that the field of view and shielding of the two video acquisition modules achieve a better effect, and the horizontal distance d between the two video acquisition modules satisfies , where l represents the effective width of the main body shell, and θ represents the field of view angle of the video acquisition module.

[0010] A control method for an intelligent traffic signal status display and control integrated device, comprising: Step 1: Calculate the queue length Q. The control unit receives data from the millimeter wave radar module and the video acquisition module, and improves the accuracy of the queue length calculation by fusing the information from the two data sources, the millimeter wave radar module and the video acquisition module.

[0011] Step 1.1, obtain the pixel position Dx of the vehicle through the video acquisition module; the two video acquisition modules capture the vehicle image within the lane stop line, and the parallax distance Dx=dx1-dx2, where dx1 and dx2 represent the horizontal distances between the images of the same pixel point x in the two video acquisition modules.

[0012] Step 1.2, the actual distance Dp corresponding to the pixel position Dx is measured by the millimeter wave radar module; assuming that the measurement frequency of the millimeter wave radar is fr, the vehicle distance data obtained each time is Dp, Dp=c*Δ / t2, where c is the speed of light and Δt is the time difference from microwave emission to reception.

[0013] Step 1.3, fuse the data of the video acquisition module and the millimeter-wave radar module to obtain the actual position Qi of the vehicle; the fusion formula is: Qi = φQ(Dx, Dp), where φQ represents the parallax feature fusion module, Dx represents the pixel position of the vehicle obtained by the video acquisition module, and Dp represents the actual distance Dp corresponding to the pixel position Dx measured by the millimeter-wave radar.

[0014] Step 1.4. Calculate the queue length Q based on the actual position Qi of the vehicle. Assume that the number of vehicles within the lane stop line is n, and obtain the queue length Q through the actual position Qi (i=1, 2, ..., n) of the vehicle: , where n is the total number of vehicles, n ≥ 0.

[0015] Step 2: Calculate the vehicle flow F.

[0016] Furthermore, the laser radar counts the vehicles passing through the intersection. Suppose within a period of time T, the number of vehicles detected by the laser radar is N, then the traffic flow F can be expressed as: F=NT.

[0017] Specifically, the laser radar emits a laser beam and receives the reflected beam, and calculates the distance to the target object by measuring the time difference of the beam. Assuming the measurement frequency of the laser radar is fl, the vehicle distance data obtained each time is dj (where j represents the jth vehicle), dj=c*Δt / 2, where c is the speed of light and Δt is the time difference from laser emission to reception.

[0018] Step 3: Calculate the pedestrian passing rate P.

[0019] Furthermore, pedestrian traffic information is obtained through the video acquisition module source, and the pedestrian passage rate P=R / K, where P is the pedestrian passage rate (person / second), R is the number of pedestrians passing per unit time, and K is the total number of pedestrians passing per unit time.

[0020] Step 4: Signal status adjustment.

[0021] Step 4.1: Calculate the saturation λ.

[0022] Furthermore, according to the queue length Q and the vehicle flow F, the saturation λ=e(Q) / s(F) is calculated, where e(Q) is the vehicle arrival rate (vehicles / h) and s(F) is the saturation flow rate (vehicles / h).

[0023] Step 4.2: Dynamically adjust the green light duration.

[0024] Furthermore, assuming that the current green light duration is G and the red light duration is R, the green light duration G′ of the next cycle can be adjusted by the following formula: G′=G+f(λ, Q, αF, βP), where f(λ, Q, αF, βP) is a function based on saturation, queue length, vehicle flow and pedestrian throughput rate, which is used to dynamically adjust the green light duration to balance the traffic needs of vehicles and pedestrians; α represents the adjustment coefficient of the impact of vehicle flow on the green light cycle, and β represents the adjustment coefficient of the impact of pedestrian throughput rate on the green light cycle, which is used to balance the impact of pedestrian throughput rate and vehicle flow, and is usually adjusted by the traffic management department according to actual needs.

[0025] Furthermore, α, β∈[0,1], and α+β=1.

[0026] Furthermore, the saturation degree λ represents the ratio of the vehicle arrival rate to the saturation flow rate.

[0027] Furthermore, the vehicle arrival rate represents the number of vehicles arriving at the intersection within a certain period of time, and the saturation flow rate represents the maximum number of vehicles that the intersection can handle within a unit time.

[0028] Furthermore, at intersections with priority for pedestrians, such as intersections on school roads, pedestrians can be given priority, that is, α=0, β=1. The system will take the pedestrian passing rate P as the dominant priority, increase the red light duration and reduce the green light duration, giving priority to the safe passage of pedestrians. Specifically, the device will dynamically adjust the green light cycle so that pedestrians can cross the road within a safe time.

[0029] Furthermore, if it is an intersection with fewer pedestrians, the value of α can be reduced and the value of β can be increased according to the actual traffic flow historical data to achieve the highest traffic efficiency.

[0030] Beneficial effects of the technical solution of this application: 1. Improve traffic efficiency: Through real-time monitoring and dynamic adjustment of traffic light duration, lane-level traffic signal status control and display are achieved, which effectively reduces the length of vehicle queues and waiting time, and improves the traffic capacity of intersections.

[0031] 2. Data fusion and comprehensive processing: Combining multiple data sources such as millimeter-wave radar, lidar and video acquisition modules, the data fusion algorithm improves the accuracy and reliability of queue length calculation. By analyzing traffic flow and pedestrian traffic status, the duration and change of traffic lights are adjusted in real time to ensure the efficiency and safety of pedestrians and vehicles.

[0032] 3. Reduce congestion: The system can automatically adjust the green-to-signal ratio according to real-time traffic flow and queue length, avoiding secondary congestion caused by fixed timing.

[0033] 4. Integrated design, space-saving, beautiful and neat: The main shell, signal control module, signal acquisition module, video detection module, lidar module, millimeter-wave radar module, environmental perception module and power supply module are integrated into a compact device, which reduces the equipment footprint and improves installation flexibility; the integrated display and control design avoids the visual confusion caused by the scattered installation of multiple devices and enhances the overall beauty of the urban landscape.

[0034] 5. Strong environmental adaptability: The brightness of the signal lights is automatically adjusted through the environmental perception module to ensure good visibility of the signal lights under different lighting conditions, thereby improving driving safety.

[0035] 6. Easy to install and maintain: It reduces the complexity and time of on-site construction, simplifies the installation process, improves installation efficiency, reduces maintenance costs, and facilitates rapid deployment and long-term operation.

[0036] 7. Intelligent management: It realizes the automation and intelligence of traffic signal control, reduces the need for manual intervention, and improves the scientificity and effectiveness of traffic management. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in 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.

[0038] Figure 1 This is an overall flow chart of a control method for an intelligent traffic signal status display and control integrated device provided in this application; Figure 2 This is a front isometric view of the overall structure of an intelligent traffic signal status display and control integrated device provided in this application; Figure 3 This is a rear isometric view of the overall structure of an intelligent traffic signal status display and control integrated device provided in this application; Figure 4 This is a front view of the interior of the second panel of an intelligent traffic signal status display and control integrated device provided in this application; Figure 5 A schematic diagram of the relationship between the horizontal distance between two video acquisition modules and the effective width of the main shell of an intelligent traffic signal status display and control integrated device provided in this application.

[0039] Description of the numbers in the figure: 1. Main shell; 2. Main control panel; 3. Signal display module; 4. Signal detection module; 5. Video acquisition module; 6. Environmental perception module; 7. Communication module; 8. Power supply module; 11. First panel; 12. Second panel; 41. Millimeter wave radar module; 42. LiDAR module; 61. Humidity sensor module; 62. Photosensor module; d. Horizontal distance between two video acquisition modules; l. Effective width of the main shell. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0041] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0042] Embodiment 1: Combination Figure 2 to Figure 4 As shown, an intelligent traffic signal status display and control integrated device includes: a main body shell 1, a main body control panel 2, a signal display module 3, a signal detection module 4, a video acquisition module 5, an environment perception module 6, a communication module 7 and a power supply module 8; the signal display module 3 includes red, yellow and green three-color signal lights, which are embedded in the main body shell 1 and are used to indicate the vehicle traffic status; the signal detection module 4 includes a millimeter wave radar module 41 and a laser radar module 42, the millimeter wave radar module 41 is installed on the main body shell 1, facing obliquely forward, and is used to illuminate the vehicles waiting for the red light within the lane stop line and calculate the length of the vehicle queue; the laser radar module 42 is installed directly below the main body shell 1, and is used to count the vehicles passing through the intersection; the video acquisition module 5 includes two video acquisition modules, which are installed on the main body shell 1 and the laser radar module 42. On the body shell 1, it is used to capture vehicle images and assist the millimeter-wave radar module 41 in calculating the length of vehicle queues and detecting the passage of pedestrians at crosswalks; the environmental perception module 6 is used to assist in adjusting the brightness of the signal display module 3, and the environmental perception module 6 includes a humidity sensor module 61 and a photosensor module 62; the main control board 2 includes a processor and a memory, which are used to receive sensor data, calculate the queue length and vehicle flow, and adjust the signal light duration according to a preset algorithm; the communication module 7 is used to send the control data processed by the main control board 2 to the signal display module 3, and can upload the original data of the signal display module 3, the signal detection module 4, the video acquisition module 5 and the environmental perception module 6 to the server for information integration; the power supply module 8 is used for independent power supply of the entire device.

[0043] Furthermore, an integrally formed positioning column is provided in the main shell 1, which is used to fix the main control panel 2, the signal display module 3, the signal detection module 4, the video acquisition module 5, the environmental perception module 6, the communication module 7 and the power supply module 8. The mounting holes of the main control panel 2, the signal display module 3, the signal detection module 4, the video acquisition module 5, the environmental perception module 6, the communication module 7 and the power supply module 8 are sleeved on the positioning column. The positioning column is a hollow structure. The positioning column is melted by inserting a hot melt pen into the hollow structure of the positioning column to complete the fixation of the main control panel 2, the signal display module 3, the signal detection module 4, the video acquisition module 5, the environmental perception module 6, the communication module 7 and the power supply module 8.

[0044] Furthermore, the main housing 1 includes a first panel 11 and a second panel 12, the signal display module 3, the video acquisition module 5 and the environment perception module 6 are arranged on the first panel 11, and the main control panel 2, the signal detection module 4, the communication module 7 and the power supply module 8 are arranged on the second panel 12.

[0045] Furthermore, an integrally formed rain shield is provided at the location where the video acquisition module is installed in the main housing 1; the two video acquisition modules are placed on the same horizontal line to ensure that the field of view and shielding of the two video acquisition modules achieve a better effect, such as Figure 5 As shown, the horizontal distance d between the two video acquisition modules in the video acquisition module 5 and the effective width l of the main housing satisfy the relationship , where θ represents the field of view angle of the video acquisition module.

[0046] Embodiment 2: Taking a typical four-lane intersection as an example, a set of intelligent traffic signal display and control integrated device of the present invention is installed at the east-west intersection and the north-south intersection respectively, and each set of intelligent traffic signal display and control integrated device of the present invention includes four intelligent traffic signal display and control integrated devices, that is, one is installed above each lane; it should be noted that this embodiment only shows a preferred implementation method of an intelligent traffic signal status display and control integrated device, which can be set according to the needs of actual applications. For example, the four intelligent traffic signal display and control integrated devices corresponding to each lane may include an intelligent traffic signal display and control integrated device provided with a main control panel 2, a signal display module 3, a signal detection module 4, a video acquisition module 5, an environmental perception module 6, a communication module 7 and a power supply module 8, and the other three intelligent traffic signal display and control integrated devices may not be provided with a video acquisition module 5, an environmental perception module 6 and a millimeter wave radar module 41, but each intelligent traffic signal display and control integrated device must include a laser radar module 42 to realize the counting of the traffic volume of each lane.

[0047] When the green light in the east-west direction turns on, the laser radar module 42 in the four intelligent traffic signal display and control integrated devices counts the vehicles passing through the intersection; the signal light in the north-south direction turns red, and the millimeter-wave radar module 41 and the video acquisition module in the intelligent traffic signal display and control integrated device set with video acquisition module 5 and millimeter-wave radar module 41 in the north-south direction start working to calculate the queue length. Based on these data, the control unit predicts the traffic demand of each lane in the next cycle and adjusts the signal light duration accordingly to optimize the traffic flow. According to the actual operation effect of the actual intersection, the algorithm and parameter settings are continuously optimized to improve the control accuracy and efficiency.

[0048] Embodiment three: The photosensitive sensor module 62 in the intelligent traffic signal integrated display and control device equipped with the environmental perception module 6 senses the changes in the ambient brightness, and combines with the humidity sensor module 61 to collect the ambient weather conditions, and jointly adjusts the brightness of the signal display modules 3 of the four intelligent traffic signal integrated display and control devices to ensure good visibility under different lighting conditions and provide power utilization of the power supply module 8.

[0049] Embodiment 4: A method for controlling an intelligent traffic signal status display and control integrated device, such as Figure 1 As shown, including, Step 1: Calculate the queue length Q. The control unit receives data from the millimeter wave radar module and the video acquisition module, and improves the accuracy of the queue length calculation by fusing the information from the two data sources, the millimeter wave radar module and the video acquisition module.

[0050] Step 1.1, obtain the pixel position Dx of the vehicle through two video acquisition modules; the two video acquisition modules capture the vehicle image within the lane stop line, and the parallax distance Dx=dx1-dx2, where dx1 and dx2 represent the horizontal distances of the same pixel point x in the two video acquisition modules.

[0051] Step 1.2, the actual distance Dp corresponding to the pixel position Dx is measured by the millimeter wave radar module; assuming that the measurement frequency of the millimeter wave radar is fr, the vehicle distance data obtained each time is Dp, Dp=c*Δ / t2, where c is the speed of light and Δt is the time difference from microwave emission to reception.

[0052] Step 1.3: Fuse the data from the video acquisition module and the millimeter-wave radar module to obtain the actual position Qi of the vehicle; the fusion formula is: Qi = φQ(Dx, Dp), where φQ represents the parallax feature fusion module, Dx represents the pixel position of the vehicle obtained by the video acquisition module, and Dp represents the actual distance Dp corresponding to the pixel position Dx measured by the millimeter-wave radar.

[0053] Step 1.4: Calculate the queue length Q based on the actual position Qi of the vehicle; let the number of vehicles within the lane stop line be n, and obtain the queue length through the actual position Qi (i=1, 2, ..., n) of the vehicle , where n is the total number of vehicles, n ≥ 0.

[0054] Step 2: Calculate the traffic flow F. The laser radar counts the vehicles passing through the intersection. Suppose that within a period of time T, the number of vehicles detected by the laser radar is N. The traffic flow F can be expressed as: F=NT.

[0055] Step 3: Calculate the pedestrian passing rate P; Pedestrian traffic information is obtained through the video acquisition module source. The pedestrian passage rate P=R / K, where P is the pedestrian passage rate (person / second), R is the number of pedestrians passing per unit time, and K is the total number of pedestrians passing per unit time.

[0056] Step 4: Signal status adjustment.

[0057] Step 4.1, calculate the saturation λ; According to the queue length Q and vehicle flow F, the saturation λ=e(Q) / s(F) is calculated, where e(Q) is the vehicle arrival rate (vehicles / h) and s(F) is the saturation flow rate (vehicles / h).

[0058] Step 4.2, Dynamically adjust the green light duration; Assume that the current green light duration is G and the red light duration is R, then the green light duration G′ of the next cycle can be adjusted by the following formula: G′=G+f(λ, Q, αF, βP), where f(λ, Q, αF, βP) is a function based on saturation, queue length, vehicle flow and pedestrian throughput rate, which is used to dynamically adjust the green light duration to balance the traffic needs of vehicles and pedestrians; α represents the adjustment coefficient of the impact of vehicle flow on the green light cycle, and β represents the adjustment coefficient of the impact of pedestrian throughput rate on the green light cycle, which is used to balance the impact of pedestrian throughput rate and vehicle flow, and is usually adjusted by the traffic management department according to actual needs.

[0059] Furthermore, α, β∈[0,1], and α+β=1.

[0060] Furthermore, the saturation degree λ represents the ratio of the vehicle arrival rate to the saturation flow rate.

[0061] Furthermore, the vehicle arrival rate represents the number of vehicles arriving at the intersection within a certain period of time, and the saturation flow rate represents the maximum number of vehicles that the intersection can handle within a unit time.

[0062] Furthermore, at intersections with priority for pedestrians, such as intersections on school roads, pedestrians can be given priority, that is, α=0, β=1. The system will take the pedestrian passing rate P as the dominant priority, increase the red light duration and reduce the green light duration, giving priority to the safe passage of pedestrians. Specifically, the device will dynamically adjust the green light cycle so that pedestrians can cross the road within a safe time.

[0063] Furthermore, if it is an intersection with fewer pedestrians, the value of α can be reduced and the value of β can be increased according to the actual traffic flow historical data to achieve the highest traffic efficiency.

[0064] It is worth noting that this embodiment only shows a preferred implementation method of an intelligent traffic signal status display and control integrated device, and the intelligent traffic signal status display and control integrated device provided by this application is not limited to this implementation method; the specific setting shape, position, angle, quantity, etc. can be set according to the needs of actual application.

[0065] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "first", "second", "inner", "outer", "surface", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0066] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood by specific circumstances.

[0067] The embodiments described above are only descriptions of the preferred methods of the present application, and are not intended to limit the scope of the present application. Without departing from the design spirit of the present application, various modifications and improvements made to the technical solutions of the present application by ordinary technicians in this field should fall within the protection scope determined by the claims of the present application.

Claims

1. An intelligent traffic signal status display and control integrated device, characterized in that: include: Main body shell, main body control panel, signal display module, signal detection module, video acquisition module, environment perception module, communication module and power supply module; The signal display module includes red, yellow and green signal lights, which are embedded in the main body shell and are used to indicate the traffic status of vehicles; the signal detection module includes a millimeter wave radar module and a laser radar module, and the millimeter wave radar module is installed on the main body shell, facing diagonally forward, and is used to illuminate vehicles waiting for red lights within the lane stop line and calculate the length of the vehicle queue; the laser radar module is installed directly below the main body shell and is used to count the vehicles passing through the intersection; the video acquisition module includes two video acquisition modules, which are installed on the main body shell and are used to capture vehicle images to assist the millimeter wave radar module in calculating the length of the vehicle queue and detecting the passage of pedestrians at the crosswalk; the environmental perception module is used to assist in adjusting the brightness of the signal display module, and the environmental perception module includes a humidity sensor module and a photosensor module; the main control board includes a processor and a memory, which are used to receive sensor data, calculate the queue length and vehicle flow, and adjust the signal light duration according to a preset algorithm; The communication module is used to send the control data processed by the main control panel to the signal display module, and can upload the original data of the signal display module, the signal detection module, the video acquisition module and the environment perception module to the server for information integration; The power supply module is used for independent power supply of the entire device.

2. The intelligent traffic signal status display and control integrated device according to claim 1, characterized in that: An integrally formed positioning column is provided in the main shell, which is used for fixing the main control panel, the signal display module, the signal detection module, the video acquisition module, the environmental perception module, the communication module and the power supply module. The mounting holes of the main control panel, the signal display module, the signal detection module, the video acquisition module, the environmental perception module, the communication module and the power supply module are sleeved on the positioning column. The positioning column is a hollow structure. The positioning column is melted by inserting a hot melt pen into the hollow structure of the positioning column to complete the fixation of the main control panel, the signal display module, the signal detection module, the video acquisition module, the environmental perception module, the communication module and the power supply module.

3. The intelligent traffic signal status display and control integrated device according to claim 2, characterized in that: The main body shell includes a first panel and a second panel, the signal display module, the video acquisition module and the environment perception module are arranged on the first panel, and the main body control panel, the signal detection module, the communication module and the power supply module are arranged on the second panel.

4. The intelligent traffic signal status display and control integrated device according to claim 3, characterized in that: The main housing is provided with an integrally formed rain shield where the video acquisition module is installed; the two video acquisition modules are placed on the same horizontal line, and the horizontal distance d between the two video acquisition modules satisfies , where l represents the effective width of the main body shell, and θ represents the field of view angle of the video acquisition module.

5. A control method for an intelligent traffic signal status display and control integrated device, characterized in that: include Step 1: Calculate the queue length Q; Step 1.1, obtaining the pixel position Dx of the vehicle through the video acquisition module; the two video acquisition modules capture the image of the vehicle within the lane stop line, and the parallax distance Dx=dx1-dx2, wherein dx1 and dx2 represent the horizontal distances of the same pixel point x in the two video acquisition modules respectively; Step 1.2, the actual distance Dp corresponding to the pixel position Dx is measured by the millimeter wave radar module; assuming that the measurement frequency of the millimeter wave radar is fr, the vehicle distance data obtained each time is Dp, Dp = c*Δ / t2, where c is the speed of light and Δt is the time difference from microwave emission to reception; Step 1.3, fusing the data of the video acquisition module and the millimeter-wave radar module to obtain the actual position Qi of the vehicle; the fusion formula is: Qi = φQ(Dx, Dp), where φQ represents the parallax feature fusion module, Dx represents the pixel position of the vehicle obtained by the video acquisition module, and Dp represents the actual distance Dp corresponding to the pixel position Dx measured by the millimeter-wave radar; Step 1.

4. Calculate the queue length Q based on the actual position Qi of the vehicle. Assume that the number of vehicles within the lane stop line is n, and obtain the queue length Q through the actual position Qi (i=1, 2, ..., n) of the vehicle: , where n is the total number of vehicles, n ≥ 0; Step 2: Calculate the traffic flow F; The laser radar counts the vehicles passing through the intersection. If the number of vehicles detected by the laser radar within a period of time T is N, the traffic flow F can be expressed as: F=NT; Step 3: Calculate the pedestrian passing rate P; The pedestrian passing information is obtained through the video acquisition module source. The pedestrian passing rate P=R / K, where P is the pedestrian passing rate, R is the number of pedestrians passing per unit time, and K is the total number of pedestrians passing per unit time; Step 4: signal status adjustment; Step 4.1: Calculate the saturation λ; According to the queue length Q and vehicle flow F, the saturation λ=e(Q) / s(F) is calculated, where e(Q) is the vehicle arrival rate and s(F) is the saturation flow rate; Step 4.2: Dynamically adjust the green light duration; Assume that the current green light duration is G and the red light duration is R, then the green light duration G′ of the next cycle can be adjusted by the following formula: G′=G+f(λ, Q, αF, βP), where f(λ, Q, αF, βP) is a function based on saturation, queue length, vehicle flow and pedestrian throughput rate, which is used to dynamically adjust the green light duration to balance the traffic needs of vehicles and pedestrians; α represents the adjustment coefficient of the impact of vehicle flow on the green light cycle, and β represents the adjustment coefficient of the impact of pedestrian throughput rate on the green light cycle, which is used to balance the impact of pedestrian throughput rate and vehicle flow; the relationship between the adjustment coefficients α and β satisfies that α, β∈[0,1], and α+β=1.

Images