Green wave coordination control method, device, equipment and medium

Abstract

The invention discloses a green wave coordination control method and device, equipment and a medium. The method comprises the following steps: in response to a green wave coordination indication, determining a plurality of coordination paths contained in a target path and coordination priorities of the plurality of coordination paths according to steering flow of each intersection in a target area; multiple rounds of iteration are carried out on the multiple coordination paths, in each round of iteration, the maximum number of coordination vehicles serves as a constraint, the coordination paths are split based on the priorities of the coordination paths and the steering flow, split to-be-processed paths and corresponding path priorities are obtained, and on the basis of the path priorities and the reference phase differences of all intersections, the coordination paths are obtained. And determining a candidate phase difference of each intersection. And then, taking the candidate phase difference output by the previous round of iteration as the reference phase difference participating in the operation of the next round of iteration again until the iteration is performed for a preset number of times, so as to improve the overall green wave coordination effect of the road network region.

Description

Technical Field

[0001] The present application relates to the field of data processing technology, and in particular to a green wave coordinated control method, device, equipment and medium. Background Art

[0002] Green wave coordinated control is the most important traffic signal control method currently used in road network management to improve travel experience. The purpose of green wave coordinated control is to control the phase difference of traffic lights at various intersections in the road network so that vehicles will not have to wait for red lights as much as possible while passing through the road network.

[0003] The current network lines are complex and interdependent. The industry mostly uses the trunk line coordination green wave calculation method based on the priority of the roads in the road network to solve the single optimal solution for each road step by step, so as to achieve regional green wave coordination control. However, this method can only achieve the best green wave coordination effect on a few trunk roads, and it needs to sacrifice the green wave bandwidth of other roads. The higher the complexity of the road network, the worse the overall green wave coordination effect in the road network area. In view of this, how to improve the regional green wave coordination effect of the road network as a whole from a macro perspective is an urgent problem to be solved at present. Summary of the invention

[0004] The embodiment of the present application provides a green wave coordination control method, device, equipment and medium. It is used to improve the overall green wave coordination effect of the road network area. To achieve the above purpose, the technical solution of the embodiment of the present application is implemented in the following way:

[0005] In a first aspect, an embodiment of the present application provides a green wave coordinated control method, including:

[0006] In response to the green wave coordination indication, determining a plurality of coordination paths included in the target area and coordination priorities of the plurality of coordination paths according to the turning flow at each intersection in the target area;

[0007] The multiple coordinated paths are iterated for multiple rounds until a preset number of iterations are reached; in each round of iteration, the maximum number of coordinated vehicles is used as a constraint, and the coordinated paths are split based on the coordination priority and the turning flow to obtain the paths to be processed in this round and the path priorities of the paths to be processed; the maximum green wave bandwidth is used as a constraint, and based on the reference phase differences of each intersection and the path priority, the candidate phase differences of each intersection are determined; wherein the reference phase difference of the first round is a preset value, and the reference phase difference of a non-first round is a candidate phase difference of the previous round;

[0008] The estimated number of coordinated vehicles corresponding to each round of iteration is determined according to the candidate phase differences in each round of iteration, and the candidate phase difference in the iteration round with the largest estimated number of coordinated vehicles is used as the target phase difference for each intersection.

[0009] In a second aspect, an embodiment of the present application further provides a green wave coordination control device, including:

[0010] The path acquisition unit is configured to: in response to the green wave coordination indication, determine a plurality of coordinated paths included in the target area and coordination priorities of the plurality of coordinated paths according to the turning flow at each intersection in the target area;

[0011] The iterative processing unit is configured to: perform multiple rounds of iterative processing on the multiple coordinated paths until a preset number of iterations is reached; in each round of iteration, the maximum number of coordinated vehicles is used as a constraint, and the coordinated paths are split based on the coordination priority and the turning flow to obtain the paths to be processed in this round and the path priorities of the paths to be processed; based on the reference phase difference of each intersection and the path priority, the candidate phase difference of each intersection is determined based on the maximum green wave bandwidth constraint; wherein the reference phase difference of the first round is a preset value, and the reference phase difference of a non-first round is a candidate phase difference of the previous round;

[0012] The phase difference calculation unit is configured to determine the expected number of coordinated vehicles corresponding to each round of iteration according to the candidate phase differences in each round of iteration, and use the candidate phase difference in the iteration round with the largest expected number of coordinated vehicles as the target phase difference for each intersection.

[0013] In a third aspect, an embodiment of the present application further provides an electronic device, including a data transmission unit and a processor:

[0014] The data transmission unit is configured to: receive a green wave coordination indication;

[0015] The processor is configured to: in response to the green wave coordination indication, determine a plurality of coordination paths included in the target area and coordination priorities of the plurality of coordination paths according to the turning flow at each intersection in the target area;

[0016] The multiple coordinated paths are iterated for multiple rounds until a preset number of iterations are reached; in each round of iteration, the maximum number of coordinated vehicles is used as a constraint, and the coordinated paths are split based on the coordination priority and the turning flow to obtain the paths to be processed in this round and the path priorities of the paths to be processed; the maximum green wave bandwidth is used as a constraint, and based on the reference phase differences of each intersection and the path priority, the candidate phase differences of each intersection are determined; wherein the reference phase difference of the first round is a preset value, and the reference phase difference of a non-first round is a candidate phase difference of the previous round;

[0017] The estimated number of coordinated vehicles corresponding to each round of iteration is determined according to the candidate phase differences in each round of iteration, and the candidate phase difference in the iteration round with the largest estimated number of coordinated vehicles is used as the target phase difference for each intersection.

[0018] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a computer, the computer executes any one of the methods described in the first aspect.

[0019] In a fifth aspect, an embodiment of the present application further provides a computer program product, comprising: a computer program code, which, when executed on a computer, enables the computer to execute any one of the methods described in the first aspect.

[0020] In an embodiment of the present application, in response to a green wave coordination indication, multiple coordinated paths included in the target path and the coordination priorities of the multiple coordinated paths are determined according to the turning flow at each intersection in the target area. After the coordinated paths in the target area are determined by the turning flow, multiple rounds of iterations are performed on the multiple coordinated paths. In each round of iteration, the maximum number of coordinated vehicles is used as a constraint, and the coordinated paths are split based on the priority of the coordinated paths and the turning flow to obtain the split paths to be processed and the corresponding path priorities. And based on the maximum number of coordinated vehicles as a constraint, the candidate phase difference of each intersection is determined based on the path priority and the reference phase difference of each intersection. Then, the candidate phase difference output from the previous round of iteration is used as the reference phase difference for the next round of calculation and iterated again until the preset number of iterations is reached.

[0021] In each iteration of the above process, the path optimization is performed with the maximum number of coordinated vehicles as the constraint, and the signal optimization is performed based on the path optimization results with the maximum green wave bandwidth as the constraint to obtain the candidate phase difference for each iteration. Therefore, the corresponding expected number of coordinated vehicles can be determined through the candidate phase difference, and the candidate phase difference in the iteration round with the largest expected number of coordinated vehicles is used as the target phase difference finally adopted by each intersection, so as to improve the overall green wave coordination effect of the road network area.

[0022] Other features and advantages of the present application will be described in the subsequent description, and partly become apparent from the description, or be understood by practicing the present application. The purpose and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the written description, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] 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.

[0024] Figure 1An overall flow chart of a green wave coordination control method provided in an embodiment of the present application;

[0025] Figure 2 A schematic diagram of the turning flow at an intersection provided in an embodiment of the present application;

[0026] Figure 3 A flowchart for determining coordination paths and coordination priorities provided in an embodiment of the present application;

[0027] Figure 4 A schematic diagram of a scene at intersection 1 provided in an embodiment of the present application;

[0028] Figure 5 A schematic diagram of generating a corresponding coordinated path 1 according to an intersection 1 provided in an embodiment of the present application;

[0029] Figure 6 A flowchart of the upper-level planning process in each iteration provided in an embodiment of the present application;

[0030] Figure 7 A schematic diagram of a closed area provided in an embodiment of the present application;

[0031] Figure 8 A schematic diagram of re-adding a coordination path to a road network after deleting a problematic path provided in an embodiment of the present application;

[0032] Fig. 9 A flowchart of the lower-level planning process in each iteration provided in an embodiment of the present application;

[0033] Fig.10 A schematic diagram of determining candidate phase differences for each intersection in a path to be processed provided in an embodiment of the present application;

[0034] Fig.11 A schematic diagram of a locked intersection provided in an embodiment of the present application;

[0035] Fig.12 A schematic diagram of a case where there is only one non-locked intersection between adjacent locked intersections provided in an embodiment of the present application;

[0036] Fig.13 A schematic diagram of a plurality of non-locked intersections between adjacent locked intersections provided in an embodiment of the present application;

[0037] Fig.14 A schematic diagram of the relative phase difference of non-locked intersections between adjacent locked intersections provided in an embodiment of the present application;

[0038] Fig.15 A structural diagram of a green wave coordination control device provided in an embodiment of the present application;

[0039] Fig.16A structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0041] It should be noted that the terms "first," "second," etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0042] To facilitate understanding of the technical solution of this application, the following is an expanded description of the background technology:

[0043] As mentioned above, the industry mostly uses the trunk coordinated green wave calculation method based on the priority of roads in the road network to solve the single optimal solution for each road step by step. This method can only achieve the best green wave coordination effect on a few trunk roads, and it needs to sacrifice the green wave bandwidth of other roads. The more complex the road network is, the more it needs to reduce the green wave bandwidth of other roads in the road network to ensure the green wave coordination effect of the trunk roads, and the overall green wave coordination effect of the road network area will deteriorate.

[0044] Considering that the path optimization solution is realized based on the premise of a given signal scheme, the change of vehicle flow will lead to the change of path priority, and the change of priority will reversely affect the optimization of the signal scheme. This is a typical two-layer planning problem. Based on this, the inventive concept of the embodiment of the present application is: according to the turning flow of each intersection in the target area, determine the multiple coordinated paths contained in the target path and the coordination priority of the multiple coordinated paths. After determining the coordinated path in the target area by the turning flow, a two-layer planning method is used to perform multiple rounds of iterations on the multiple coordinated paths. Each round of iteration includes upper and lower double-layer planning. In the upper-layer planning, the maximum number of coordinated vehicles is constrained, and the coordinated path is split based on the priority of the coordinated path and the turning flow, and the split path to be processed and the corresponding path priority are obtained. In the lower-layer planning, the maximum green wave bandwidth is constrained, and the candidate phase difference of each intersection is determined according to the reference phase difference of each intersection and the path priority obtained in the upper layer. Then, the candidate phase difference output by the previous round of iteration is used as the reference phase difference for the next round of operation to iterate again.

[0045] In each iteration of the above process, the path optimization is performed with the maximum number of coordinated vehicles as the constraint, and the signal optimization is performed based on the path optimization results with the maximum green wave bandwidth as the constraint to obtain the candidate phase difference for each iteration. Therefore, the corresponding expected number of coordinated vehicles can be determined through the candidate phase difference, and the candidate phase difference in the iteration round with the largest expected number of coordinated vehicles is used as the target phase difference finally adopted by each intersection, so as to improve the overall green wave coordination effect of the road network area.

[0046] Next, Figure 1 As shown, Figure 1 The overall process of a green wave coordinated control method provided by an embodiment of the present application is shown, including the following steps:

[0047] Step 101: In response to a green wave coordination indication, a plurality of coordination paths included in the target area and coordination priorities of the plurality of coordination paths are determined according to the turning flow at each intersection in the target area;

[0048] The turning flow at an intersection is the traffic flow in each turning direction at the intersection within a preset period of time. Figure 2 Take the intersection shown in the figure as an example, which includes four intersections: north to south, south to north, west to east, and east to west. Each intersection supports vehicles turning left, turning right, and going straight, that is, each intersection includes three turning flows: left turn, right turn, and going straight. For example, the south to north intersection shown in the figure includes three turning flows: south to west, south to north, and south to east.

[0049] When implemented, it can be Figure 3 The process shown in the figure determines the coordination path and corresponding coordination priority in the target area. Figure 3 As shown, the following steps are included:

[0050] Step 301: determining the intersections to be processed for generating the coordinated path according to the turning flow at each intersection;

[0051] During implementation, the following processing can be performed on each intersection in the order of the turning flow at each intersection from large to small:

[0052] If the intersection is not in the coordinated path, or the sum of the intersection turning flows in the coordinated path where the intersection is located is less than a preset threshold, the intersection is treated as a to-be-processed intersection;

[0053] If the intersection is in any coordinated path and the sum of the intersection turning flow of the coordinated path is not less than the preset threshold, the next intersection is processed.

[0054] Specific as Figure 4 As shown, when implementing Figure 4 Among the many intersections shown, find intersection 1 with the largest turning flow, and then determine whether intersection 1 is within the generated coordinated path. Assuming that no coordinated path has been generated yet, intersection 1 is taken as the intersection to be processed, and the coordinated path corresponding to intersection 1 is generated through subsequent steps 302 to 303.

[0055] Continue as Figure 4 As shown, it is assumed that the coordination path corresponding to intersection 1 is coordination path 1 shown in the figure. Then the above process needs to be repeated to find the next coordination path from the target area.

[0056] Since the intersection 1 with the largest turning flow in the target area is already located in the coordinated path 1, it is necessary to further determine whether the sum of the intersection turning flows of each intersection included in the coordinated path 1 is less than the preset threshold. If it is not less than the preset threshold, it means that the coordinated path is the main path specified in the "GB14886 Road Traffic Signal Light Setting and Installation Specifications". At this time, the intersection cannot be used to generate other coordinated paths, so the next intersection is processed. That is, find the intersection with the largest turning flow other than this intersection from each intersection and repeat the above process.

[0057] In some embodiments, the intersection with the maximum turning flow can be found in advance from various intersections, and then a coordinated path corresponding to the intersection is generated through subsequent steps 302 to 303. Then, the intersection with the maximum turning flow is found again from the remaining intersections that are not located on the main path, and the coordinated path generation process is repeated until a new coordinated path cannot be generated.

[0058] Step 302: taking the to-be-processed intersection as the first to-be-processed node for generating a coordinated path, determining a target turning flow rate of the to-be-processed node; wherein the target turning flow rate is the maximum turning flow rate of the to-be-processed node in each turning direction;

[0059] Still with the above Figure 4 Take the coordination path 1 corresponding to the intersection 1 as an example for explanation. Figure 5 Schematic diagram of generating a corresponding coordinated path 1 according to intersection 1. Figure 5 As shown, in some embodiments, intersection 1 can be pre-selected as the first node to be processed in coordination path 1, and then the target turning flow of intersection 1 is determined, that is, the maximum turning flow of intersection 1 in each turning direction is determined. The purpose here is to determine the turning direction of the maximum turning flow of the intersection.

[0060] Step 303: taking an intersection adjacent to the node to be processed in the target direction of the target turning flow as the next node to be processed, until there is no intersection adjacent to the node to be processed in the target direction of the target turning flow corresponding to the node to be processed, generating a coordination path corresponding to the intersection to be processed according to the node to be processed; wherein the target direction includes an up direction and / or a down direction;

[0061] Continue as Figure 5 As shown, assuming that in intersection 1, which is the first node to be processed, the turning direction of the maximum turning flow is straight ahead, then find the intersections adjacent to intersection 1 in the upward and downward directions of the straight ahead direction of intersection 1 from each intersection, and use them as the intersections to be processed in the next round of processing.

[0062] The intersection adjacent to intersection 1 in the downward direction of the straight direction of intersection 1 is intersection 2, and the intersection adjacent to intersection 1 in the upward direction of the straight direction of intersection 1 is intersection 8. That is, intersection 2 and intersection 8 are the next nodes to be processed.

[0063] When processing intersection 2 and intersection 8, continue to find the maximum turning flow in intersection 2 and intersection 8, and find the next intersection adjacent to intersection 2 and intersection 8 in the upstream and downstream directions of the maximum turning flow as the next node to be processed. Since intersection 1 is an intersection adjacent to intersection 2 in the upstream direction, and intersection 1 is an intersection adjacent to intersection 8 in the downstream direction, and intersection 1 has been processed, then only intersection 3 adjacent to intersection 2 in the downstream direction and intersection 9 adjacent to intersection 8 in the upstream direction need to be used as the next nodes to be processed.

[0064] Repeat the above process until no unprocessed nodes are found at each intersection. Figure 5 The maximum turning flow of intersection 7 is straight, that is, from west to east. Since intersection 6 adjacent to intersection 7 in the upward direction has been processed, and there are no other intersections in its downward direction, it means that all intersections included in the coordinated path 1 corresponding to intersection 1 have been found ( Figure 5Next, the vehicle travel path formed by intersections 1 to 11 is used as the coordination path 1 corresponding to intersection 1.

[0065] Step 304: Determine the coordination priority according to the order of coordination path generation from first to last.

[0066] pass Figure 5 After the process shown in the figure determines the coordinated path 1 corresponding to the intersection 1, it returns to the above step 301 to find the next intersection that can be used to generate the coordinated path. Then the intersection is used as the first node to be processed in the coordinated path corresponding to the intersection, and the process repeats Figure 5 The process shown in the figure is continued until no new coordination path can be formed. At this point, all coordination paths in the target area are obtained, and then the order in which the coordination paths are generated from first to last is used as the coordination priority of the coordination path.

[0067] Step 102: performing multiple rounds of iterative processing on the multiple coordinated paths until a preset number of iterations is reached; in each round of iteration, the maximum number of coordinated vehicles is used as a constraint, and the coordinated paths are split based on the coordination priority and the turning flow to obtain the paths to be processed in this round and the path priorities of the paths to be processed; taking the maximum green wave bandwidth as a constraint, based on the reference phase differences of each intersection and the path priority, the candidate phase differences of each intersection are determined; wherein the reference phase difference of the first round is a preset value, and the reference phase difference of a non-first round is a candidate phase difference of the previous round;

[0068] As mentioned above, considering that the path optimization solution is based on the premise of a given signal scheme, changes in traffic volume will lead to changes in path priority, and changes in priority will in turn affect the optimization of the signal scheme. This is a typical two-level planning problem. In each round of iteration, the embodiment of the present application adopts a two-level planning to obtain the optimal phase difference of each intersection in the current iteration round, i.e., the candidate phase difference.

[0069] Each round of iteration may include upper-level planning and lower-level planning.

[0070] In the upper-level planning, the maximum number of coordinated vehicles is used as a constraint, and the coordinated paths are split based on the coordination priority and the turning flow to obtain the pending paths and the path priorities of the pending paths in this round. The purpose of the upper-level planning is to further split and refine the coordinated paths generated based on the turning flow under the constraint of the maximum number of coordinated vehicles, and obtain more detailed pending paths to be coordinated and the corresponding path priorities.

[0071] In the lower-level planning, the maximum green wave bandwidth is used as a constraint, and the candidate phase difference of each intersection is determined according to the reference phase difference of each intersection and the path priority obtained by the upper-level planning. The purpose of the lower-level planning is to use the path priority obtained by the upper-level planning to determine how to set the phase difference for each intersection to ensure that its green wave bandwidth reaches the maximum.

[0072] First, the upper-level planning process in each iteration is explained:

[0073] The specific processing flow for the upper-level planning in each iteration is as follows: Figure 6 As shown, the following steps are included:

[0074] Step 601: adding each coordination path to the road network of the target area in order of coordination priority from first to last;

[0075] Step 602: Determine whether there is a closed area;

[0076] That is, after adding the coordination path to the road network, it is determined whether a closed area consisting of multiple coordination paths is formed in the road network due to the addition of the coordination path. If not, return to step 601 to add the next hop coordination path.

[0077] Step 603: If there is a closed area, the maximum number of coordinated vehicles is used as a constraint, and according to the turning flow of the intersections in the closed area, the preset coordination speed, the coordination green-signal ratio, and the intersection distance between every two adjacent intersections, the problem path that does not have coordination authority in the closed area is determined;

[0078] Step 604: Deleting problematic paths from the road network; wherein each problematic path is part or all of at least one coordinated path;

[0079] For a closed area composed of multiple coordinated paths, there must be a path in the closed area where the phase difference at both ends of the intersection cannot be calculated. This path is usually called a "breakpoint". Figure 7 Take this as an example to illustrate: Figure 7 The two coordinated paths shown in the figure form a rectangular closed area containing four intersections ABCD.

[0080] Assuming that intersection A is the starting point, the phase difference of its adjacent intersection B and the phase difference of its adjacent intersection C need to be calculated based on the phase difference preset at intersection A in the green wave coordination scenario. After the phase difference of intersections B and C is calculated, the phase differences of intersections A to C are fixed, and the intersection whose phase difference has not yet been determined is intersection D. Since intersection D is adjacent to both intersections B and C, it is necessary to choose whether to calculate the phase difference of intersection D based on the currently determined phase difference of intersection B or the currently determined phase difference of intersection C.

[0081] If the phase difference of intersection D is calculated based on intersection B, then for path CD, the phase difference of intersection D has been calculated in the path BC segment, that is, the phase difference of intersection D cannot be determined by intersection CD, and path CD is the breakpoint at this time. Correspondingly, if the phase difference of intersection D is calculated based on intersection C, then for path BD, the phase difference of intersection D has been calculated in the path CD segment, that is, the phase difference of intersection D cannot be determined by intersection BD, and path BD is the breakpoint at this time. Which path is selected as the breakpoint will directly affect the overall green wave coordination effect. The purpose of this step is to find the problem path as a breakpoint in the closed area with the maximum number of coordinated vehicles as the constraint. The problem path is deleted to achieve the splitting and expansion of the coordination road, so as to complete a more detailed green wave coordination control.

[0082] To facilitate understanding of the above process, the calculation process of obtaining the phase difference of any intersection is first explained. The intersection for which the phase difference needs to be obtained is represented by intersection S1, and an auxiliary intersection S0 for calculating the phase difference of intersection S1 needs to be determined from the intersections adjacent to intersection S1. Then, the phase difference of intersection S1 is calculated by the enumeration phase difference method shown in the following formulas (1) to (6).

[0083] During implementation, intersection S0 is first regarded as the upstream intersection, and intersection S1 is regarded as the downstream intersection. The following formulas (1) to (3) are used to calculate the maximum green wave bandwidth D from the upstream to the downstream direction of the two intersections: 1_i .

[0084] Formula (1) is used to calculate the green light interval range T1 from the upstream intersection S0 to the downstream intersection S1;

[0085] T1={O t-1 +(L / v),O t-1 +(L / v)+g t-1}(1)

[0086] Among them, O t-1 is the preset phase difference of intersection S0; L is the distance between the two intersections; v is the preset coordination speed; g t-1 The coordinated phase green-to-signal ratio preset for intersection S0;

[0087] Formula (2) is used to calculate the green light interval range T2 from the downstream intersection S1 to the upstream intersection S0;

[0088] T2={O t,i +N*C,O t,i +N*C+g t}(2)

[0089] Where C is the preset coordination cycle; N is the range of the number of cycles set based on the coordination cycle C; gt The green-to-signal ratio of the coordinated phase preset at intersection S1; t,i is the phase difference currently enumerated for selection at intersection S1, O t,i =i,i-[0,C).

[0090] Formula (3) is used to calculate the green wave bandwidth D from the upstream intersection S0 to the downstream intersection S1 1_i ;

[0091] D 1_i =min((O t-1 +(L / v)+g t-1 ), (O t，i +N*C+g t ))-max((O t-1 +(L / v)),(O t，i +N*C))(3)

[0092] Then, consider intersection S1 as the upstream intersection and intersection S0 as the downstream intersection, and use the following formulas (4) to (6) to calculate the maximum green wave bandwidth D from the upstream to the downstream direction of the two intersections: 2_i .

[0093] Formula (4) is used to calculate the green light interval range from the upstream intersection S1 to the downstream intersection S0

[0094]

[0095] Among them, O t,0 The coordinated phase start time difference preset for intersection S1;

[0096] Formula (5) is used to calculate the green light interval range from the downstream intersection S0 to the upstream intersection S1

[0097]

[0098] Among them, O t-1,0 The coordinated phase start time difference preset for intersection S0;

[0099] Formula (6) is used to calculate the green wave bandwidth D from the upstream intersection S1 to the downstream intersection S0 2_i ;

[0100] D 2_i =min((Ot,i+O t，0 +(L / v)+g t ), (O t-1 +O t-1，0 +N*C+g t-1 ))-max((O t，i +Ot，0 +(L / v)),(O t-1 +O t-1，0 +N*C)) (6)

[0101] As mentioned above, O t,i is the current enumerated phase difference of intersection S1, O t,i =i, i-[0,C). By enumerating i, the above formulas (1) to (6) can be used to calculate the green wave bandwidth corresponding to each i, that is, D 1_i +D 2_i Then the i corresponding to the maximum green wave bandwidth is taken as the phase difference of intersection S1.

[0102] After introducing how to calculate the phase difference of any intersection through the above process, the specific implementation of the above step 604 is explained next.

[0103] by Figure 7 Taking the closed area shown as an example, when executing step 604, the intersection with the largest turning flow can be found from intersections A to D, assuming it is intersection A. Next, the phase difference of intersection B adjacent to intersection A and the phase difference of intersection C adjacent to intersection A need to be determined based on the phase difference of intersection A.

[0104] When implemented, the above formulas (1) to (6) can be used to calculate the phase difference O at intersection A. a , determine the phase difference O between intersection B and intersection C b and O C At this time, the phase differences of intersections A to C have been determined, among which the phase difference of intersection A is O a is the preset initial value in the green wave coordination scenario, which is equivalent to O in the above formulas (1) to (6). t-1 The phase difference between intersection B and intersection C is calculated based on intersection A, which is equivalent to O in the above formulas (1) to (6). t,i .

[0105] After the phase difference between intersection B and intersection C is determined, the above formulas (1) to (6) are still used to first calculate the phase difference O of intersection D based on the phase difference of intersection B. d1 , and then calculate the phase difference O of intersection D based on the phase difference of intersection C d2 When calculating the phase difference at intersection D, the phase difference O involved in the calculation b or c This is equivalent to O in the above formulas (1) to (6). t-1 , the calculated phase difference O of intersection D d1 or d2 This is equivalent to O in the above formulas (1) to (6). t,i .

[0106] Thus, two groups of phase differences can be obtained for the four intersections A to D in the closed area, group 1 is O a , O b , O C and O d1 , group 2 is O a , O b , O C and O d2 Next, the number of coordinated vehicles Q corresponding to the two sets of phase differences is solved by the following formula (7): i .

[0107]

[0108] Among them, D i1 ~D i4 is the maximum green wave bandwidth of intersection A~intersection D under the current phase difference; S1~S4 are the vehicle saturation flow rates of intersection A~intersection D per hour, and q1~q4 are the single lane periodic flow rates of intersection A~intersection D.

[0109] Assume that the phase difference shown in group 1 is substituted into the above formula (7) to obtain Q i If it is greater than group 2, it means that O d1 As the phase difference of intersection D is better than that of O d2 , which will be used to solve O d2 The path CD is taken as the breakpoint in the closed area, namely the problem path. Then the problem path is deleted and the next coordination path is added to repeat the judgment of steps 602 to 604. Figure 8 This process is shown as an example. Figure 8 As shown, assuming that the coordination path 1 and the coordination path 2 form a closed area ABCD, after deleting the problem path CD, the coordination path 3 is added. The newly added coordination path 3 forms a new closed area ABDFGE in the road network. At this time, the process of steps 602 to 604 above can be used to find and delete the problem path in the new closed area ABDFGE.

[0110] Step 605: determine whether there is a coordinated path that has not been added to the road network; if so, return to step 601 and add the next coordinated path to the road network;

[0111] Step 606: If it does not exist, the coordination paths remaining after removing the problematic paths from the road network are used as the paths to be processed, and the path priority of the paths to be processed is determined according to the coordination priorities of the remaining coordination paths.

[0112] After the above processing, the remaining coordinated paths in the final road network should not be able to combine closed areas. At this time, the remaining coordinated paths are all used as paths to be processed, and the path priority of the paths to be processed is determined according to the coordination priority of the remaining coordinated paths.

[0113] In specific implementation, the following processing can be performed in descending order of coordination path priority:

[0114] It is determined whether the current coordination path is split. If not, the current coordination path is used as the path to be processed, and the coordination priority of the current coordination path is used as the path priority of the path to be processed.

[0115] If split, the sub-paths obtained by the splitting are divided into path priorities according to a preset order. The path priority order between the split sub-paths can be set based on actual needs, and this application does not limit this.

[0116] It should be noted that, assuming that coordination path 2 is split into sub-path 1 and sub-path 2, both sub-path 1 and sub-path 2 are paths to be processed. When determining the path priority of sub-path 1 and sub-path 2, which of sub-path 1 and sub-path 2 has a higher priority can be set according to actual needs, but it must be ensured that the path priority of sub-path 1 and sub-path 2 cannot be higher than the path priority of the path to be processed generated by the path with a coordination priority before coordination path 2 (for example, coordination path 1), and cannot be lower than the path priority of the path to be processed generated by the path with a coordination priority after the coordination path (for example, coordination path 3).

[0117] For ease of understanding, the following representation can be used. Assume that there are three coordinated paths in the road network, of which coordinated path 2 is split into sub-path 1 and sub-path 2, coordinated path 3 is split into sub-path 3 and sub-path 4, and coordinated path 1 is not split. Then coordinated path 1 is used as path 1 to be processed, and its path priority is 1. Sub-path 1 is used as path 2 to be processed, and its path priority is 2.1. Sub-path 2 is used as path 3 to be processed, and its path priority is 2.2. Sub-path 3 is used as path 4 to be processed, and its path priority is 3.1. Sub-path 4 is used as path 5 to be processed, and its path priority is 3.2.

[0118] Next, the underlying planning process in each iteration is explained:

[0119] As mentioned above, the lower-level planning uses the maximum green wave bandwidth as a constraint, and determines the candidate phase difference of each intersection based on the reference phase difference of each intersection and the path priority obtained by the upper-level planning. The purpose of the lower-level planning is to use the path priority obtained by the upper-level planning to determine how to set the phase difference for each intersection to ensure that its green wave bandwidth is maximized. Fig. 9 As shown, the following steps are included:

[0120] Step 901: adding each to-be-processed path to the road network of the target area in order of path priority from earliest to latest;

[0121] Step 902: Determine whether the intersection of the path to be processed contains multiple locked intersections;

[0122] The locked intersection is an intersection for which a candidate phase difference has been determined in this round of iteration. This step is to determine whether there is a locked intersection for which a candidate phase difference has been determined among the intersections included in the to-be-processed path added this time.

[0123] Step 903: If the path to be processed does not contain a locked intersection or contains only a locked intersection, then along the target direction of the path to be processed, according to the candidate phase difference of the first intersection, the turning flow, the preset coordination speed, the coordination green signal ratio, and the intersection distance between every two adjacent intersections, the maximum green wave bandwidth is used as a constraint to determine the candidate phase difference of each intersection in turn;

[0124] Among them, if the path to be processed does not include a locked intersection, the first intersection is selected from the intersections of the path to be processed based on the path direction of the path to be processed, and the reference phase difference of the first intersection is the candidate phase difference of the first intersection; if the path to be processed contains a unique locked intersection, the locked intersection is the first intersection.

[0125] After the first path to be processed is added to the road network, since the candidate phase differences of each intersection in the path to be processed have not been calculated, the path to be processed must not contain a locked intersection.

[0126] At this time, the first intersection can be selected from multiple intersections of the path to be processed according to the path direction of the path to be processed, for example Fig.10 The path to be processed shown is a north-south main road, so the first intersection A from south to north in the path can be used as the first intersection, and the reference phase difference of the intersection A is the candidate phase difference.

[0127] It should be noted that if the current iteration is the first iteration, the reference phase difference of the intersection is the phase difference preset in the green wave coordination scenario. If the current iteration is not the first iteration, the reference phase difference of the intersection is the candidate phase difference calculated in the previous iteration.

[0128] Then, the above formulas (1) to (6) are used to enumerate the phase differences of the adjacent intersections in each candidate phase difference (i.e., t,i =i, i∈[0,c)) under the green wave bandwidth (i.e., D 1_i +D 2_i). Then the candidate phase difference with the largest green wave bandwidth is taken as the candidate phase difference. Thus, the candidate phase difference of the second intersection B in the path to be processed is obtained. After the candidate phase difference of the second intersection B from south to north is determined, the candidate phase difference of the third intersection C is calculated by the above (1) to (6) according to the candidate phase difference just determined at the second intersection, thereby calculating the reference phase difference of each intersection in the path to be processed in turn.

[0129] Another example Fig.11 As shown, assuming that the above Fig.10 After the process calculates the candidate phase differences of the intersections in the first path to be processed 1 added to the road network, another path to be processed 2 is added to the road network. If there is an intersection 2 between path to be processed 2 and path to be processed 1, then since the candidate phase difference of the intersection has been calculated during the candidate phase difference calculation of path to be processed 1, the intersection 2 is a locked intersection. At this time, the locked intersection 2 can be used as the first intersection. Then, based on the candidate phase difference determined for intersection 2, the above formulas (1) to (6) are used to calculate the candidate phase difference of each intersection in the upstream and downstream directions, starting from intersection 2. The specific method for calculating the candidate phase difference between each two adjacent intersections is the same as above. Fig.10 The process shown is the same and will not be repeated here.

[0130] Step 904: If the path to be processed includes multiple locked intersections, determine whether the non-locked intersection between any two adjacent locked intersections is unique;

[0131] Step 905: If it is unique, then determine the green wave bandwidth between the non-locked intersection and each locked intersection of any two adjacent locked intersections under each candidate phase difference according to the turning flow, the preset coordination speed, the coordinated green-to-signal ratio, and the intersection distance between every two adjacent intersections, and use the maximum green wave bandwidth as a constraint to determine the candidate phase difference of the non-locked intersection from the candidate phase differences according to the green wave bandwidth.

[0132] like Fig.12 As shown, assuming that intersection A and intersection C are two adjacent locked intersections, since the candidate phase differences of the locked intersections have been determined, no calculation is required. At this time, only the candidate phase difference of the non-locked intersection between the locked intersections, that is, intersection B, needs to be calculated.

[0133] During implementation, the green wave bandwidth of intersection B under each candidate phase difference can be enumerated using the above formulas (1) to (6) according to the candidate phase difference of intersection A. Then, the green wave bandwidth of intersection B under each candidate phase difference can be enumerated using the above formulas (1) to (6) according to the candidate phase difference of intersection C.

[0134] For example, if the candidate phase difference at intersection B is [0, C), then formulas (1) to (6) are used to calculate the green wave bandwidth corresponding to locked intersection A and the green wave bandwidth corresponding to locked intersection C at intersection B under each candidate phase difference within the range of the candidate phase difference O t,i = [0, C). For example, O t,i = 0, the green wave bandwidth of intersection B corresponding to intersection A has D ab_0 and D ba_0 , and the green wave bandwidth of intersection B corresponding to intersection C has D Cb_0 and D bC_0 . Another example, O t,i = 1, the green wave bandwidth of intersection B corresponding to intersection A has D ab_1 and D ba_1 , and the green wave bandwidth of intersection B corresponding to intersection C has D Cb_1 and D bC_1 ,

[0135] It can be seen that at each candidate phase difference, intersection B will obtain the green wave bandwidths in the upstream and downstream directions with each locked intersection. Next, the bandwidth sum of the green wave bandwidth of intersection B for locked intersection A and the green wave bandwidth of intersection B for locked intersection C under each same candidate phase difference can be determined through the following formula (8).

[0136] A = {O t.i}丨max(D ab + D ba + D bc + D cb ); O t.i = i, i ∈ [0, C) (8)

[0137] where A is the bandwidth sum; D ba is the green wave bandwidth from intersection B to locked intersection A; D ab is the green wave bandwidth from locked intersection A to intersection B; D bc is the green wave bandwidth from intersection B to locked intersection C; D cv is the green wave bandwidth from locked intersection C to intersection B;

[0138] Then, the phase difference O corresponding to the minimum range difference of the bandwidth sum under each same candidate phase difference is determined through the following formula (9).

[0139] O = min(max(D ab , D ba , D bc , D cb ) - min(D ab , D ba , D bc , D cb )) (9)

[0140] That is, enumerate the range of the green wave bandwidth of intersection B relative to the locked intersection A and the locked intersection C under each candidate phase difference, and then select the phase difference O corresponding to the minimum range as the candidate phase difference of intersection B. The above process can be used to calculate the candidate phase difference of any two adjacent locked intersections when there is a non-locked intersection between the two adjacent locked intersections.

[0141] Step 906: If it is not one, then selecting a second intersection from a plurality of non-locked intersections based on the path direction of the path to be processed;

[0142] like Fig.13 As shown, assuming that the locked intersection A and the locked intersection C include non-locked intersections B and D, firstly, an intersection is selected from the non-locked intersections B and D as the second intersection based on the path direction of the path to be processed. For example, if the path to be processed where intersections B and D are located is a main road from west to east, then the intersection B located in the upward direction of the main road can be selected as the second intersection.

[0143] Step 907: along the target direction of the path to be processed, starting from the second intersection, according to the turning flow, the preset coordination speed, the coordination green signal ratio, and the intersection distance between every two adjacent intersections, the relative phase difference between every two adjacent non-locked intersections is calculated in sequence; wherein the target direction includes an up direction and a down direction;

[0144] Still Fig.13 As an example, the phase difference O preset at the second intersection B in the green wave coordination scenario can be used for implementation. B’ , the above formulas (1) to (6) are used to enumerate the green wave bandwidth of intersection D under each candidate phase difference. B’ This is equivalent to O in the above formulas (1) to (6). t-1 .

[0145] Then, the candidate phase difference O corresponding to the maximum green wave bandwidth is d The phase difference O preset with the second intersection B in the green wave coordination scenario B’ The difference between the second intersection B and the intersection D is used as the relative phase difference between the second intersection B and the intersection D.

[0146] In addition, the scenario where there are more than two non-locked intersections between any two locked intersections is described, such as Fig.14 As shown, there are three non-locked intersections B, D, and E between the locked intersections A and C. After the relative phase difference between the second intersection B and the second intersection D is determined through the above process, the phase difference O of the candidate intersection D can be used to determine the relative phase difference between the second intersection B and the second intersection D. d , use the above formulas (1) to (6) to enumerate the green wave bandwidth of intersection E under each candidate phase difference. Then, the candidate phase difference O corresponding to the maximum green wave bandwidth is B’ With O dThe difference is taken as the relative phase difference between intersection D and intersection E. The relative phase difference between every two adjacent non-locked intersections between any two locked intersections can be determined through the above process.

[0147] Step 908: Determine the green wave bandwidth between the second intersection and each of the two adjacent locked intersections under each candidate phase difference according to the turning flow, the preset coordination speed, the coordination green signal ratio, and the intersection distance between every two adjacent intersections;

[0148] Step 909: Taking the maximum green wave bandwidth as a constraint, determining a candidate phase difference of the second intersection from the candidate phase differences according to the green wave bandwidth; wherein the candidate phase difference is determined according to a preset coordination period range;

[0149] Step 910: Determine candidate phase differences between any two locked intersections, except the second intersection, based on the candidate phase difference of the second intersection and the relative phase difference between every two adjacent non-locked intersections.

[0150] Still Fig.13 The example is used for illustration. Fig.12 The same method as in calculating the candidate phase difference of intersection B is to enumerate the extreme differences between the green wave bandwidths of the second intersection B relative to the locked intersection A and the locked intersection C under each candidate phase difference, and then select the phase difference corresponding to the minimum extreme difference as the candidate phase difference of intersection B.

[0151] After the candidate phase difference of the second intersection B is determined, the candidate phase difference of the intersection D can be determined according to the candidate phase difference of the second intersection B and the relative phase difference between the second intersection B and the intersection D. Assume that the candidate phase difference of the second intersection B is 0 B , then the candidate phase difference of intersection D is O B +(O d -O B )'.

[0152] Therefore, the maximum green wave bandwidth can be used as a constraint to determine the candidate phase difference of the second intersection between any two locked intersections, and based on the candidate phase difference of the second intersection and the relative phase difference of every two adjacent non-locked intersections between the two locked intersections, the candidate phase difference of each non-locked intersection between the two locked intersections can be determined.

[0153] Step 911: Determine whether all the paths to be processed have been added to the road network;

[0154] Step 912: If yes, then end this round of iteration and obtain the candidate phase differences of each intersection in the target area; otherwise, return to step 901 and add the next path to be processed to the road network.

[0155] Step 103: determining the estimated number of coordinated vehicles corresponding to each round of iteration according to the candidate phase differences in each round of iteration, and taking the candidate phase difference in the iteration round with the largest estimated number of coordinated vehicles as the target phase difference for each intersection.

[0156] After each round of iteration, the maximum green wave bandwidth of each intersection in this round is determined based on the candidate phase difference of each intersection obtained in this round of iteration. Since the candidate phase difference is the green wave bandwidth that is the most constrained, it is obtained by enumerating the phase difference through the above formulas (1) to (6). Therefore, for each intersection, the green wave bandwidth corresponding to the candidate phase difference of the intersection is the maximum green wave bandwidth of the intersection.

[0157] The expected number of coordinated vehicles corresponding to this round of iteration is determined based on the maximum green wave bandwidth of each intersection, the average single-lane cycle flow rate, and the vehicle saturation flow rate per hour.

[0158] During implementation, the content shown in the above formula (7) can be referred to. According to the green wave bandwidth (i.e., the maximum green wave bandwidth) corresponding to the current candidate phase difference of each intersection in this round of iteration, the mean of the single-lane cycle flow rate, and the vehicle saturation flow rate per hour, the expected number of coordinated vehicles at each intersection under the candidate phase difference is solved, i.e., the expected number of coordinated vehicles corresponding to this round of iteration. Then, the candidate phase difference of each intersection obtained in the iteration round with the largest number of expected coordinated vehicles in each round of iteration is used as the target phase difference for green wave coordinated control of each intersection.

[0159] Based on the same inventive concept, the embodiment of the present application also provides a green wave coordination control device, specifically as follows Fig.15 As shown, including:

[0160] The path acquisition unit 1501 is configured to: in response to the green wave coordination indication, determine a plurality of coordinated paths included in the target area and coordination priorities of the plurality of coordinated paths according to the turning flow at each intersection in the target area;

[0161] The iterative processing unit 1502 is configured to: perform multiple rounds of iterative processing on the multiple coordinated paths until a preset number of iterations is reached; in each round of iteration, the maximum number of coordinated vehicles is used as a constraint, and the coordinated paths are split based on the coordination priority and the turning flow to obtain the paths to be processed in this round and the path priorities of the paths to be processed; based on the reference phase difference of each intersection and the path priority, the candidate phase difference of each intersection is determined based on the maximum green wave bandwidth constraint; wherein the reference phase difference of the first round is a preset value, and the reference phase difference of a non-first round is a candidate phase difference of the previous round;

[0162] The phase difference calculation unit 1503 is configured to determine the expected number of coordinated vehicles corresponding to each round of iteration according to the candidate phase differences in each round of iteration, and use the candidate phase difference in the iteration round with the largest expected number of coordinated vehicles as the target phase difference for each intersection.

[0163] In some embodiments, the process of determining the multiple coordinated paths included in the target area and the coordination priorities of the multiple coordinated paths according to the turning traffic at each intersection in the target area is performed, and the path acquisition unit 1501 is specifically configured as follows:

[0164] Determining the intersections to be processed for generating the coordinated path according to the turning flow at each of the intersections;

[0165] Taking the to-be-processed intersection as the first to-be-processed node for generating a coordinated path, determining a target turning flow rate of the to-be-processed node; wherein the target turning flow rate is the maximum turning flow rate of the to-be-processed node in each turning direction;

[0166] The intersection adjacent to the node to be processed in the target direction of the target turning flow is used as the next node to be processed, until there is no intersection adjacent to the node to be processed in the target direction of the target turning flow corresponding to the node to be processed, and a coordination path corresponding to the intersection to be processed is generated according to the node to be processed; wherein the target direction includes an up direction and / or a down direction;

[0167] The coordination priority is determined according to the order in which the coordination paths are generated from first to last.

[0168] In some embodiments, to determine the to-be-processed intersections for generating the coordinated path according to the turning traffic at each intersection, the path acquisition unit 1501 is specifically configured as follows:

[0169] According to the order of the turning flow at each intersection from large to small, the following processing is performed on each intersection in turn:

[0170] If the intersection is not in the coordinated path, or the sum of the intersection turning flows in the coordinated path where the intersection is located is less than a preset threshold, the intersection is used as the intersection to be processed;

[0171] If the intersection is in any coordinated path, and the sum of the intersection turning flows of the coordinated path is not less than a preset threshold, the next intersection is processed.

[0172] In some embodiments, the coordination path is split based on the coordination priority and the steering flow to obtain the path to be processed in this round and the path priority of the path to be processed. The iterative processing unit 1502 is specifically configured as follows:

[0173] Adding each coordination path to the road network of the target area in turn according to the coordination priority order from first to last, and after adding any coordination path to the road network, determining whether there is a closed area composed of multiple coordination paths in the road network;

[0174] If a closed area is formed, the maximum number of coordinated vehicles is used as a constraint, and according to the turning flow, preset coordination speed, coordination green-signal ratio, and the intersection distance between every two adjacent intersections at the intersection in the closed area, the problem path that does not have coordination authority in the closed area is determined, and the problem path is deleted from the road network; wherein each problem path is part or all of at least one coordinated path;

[0175] The coordination paths remaining after removing the problematic paths in the road network are used as the paths to be processed, and the path priorities of the paths to be processed are determined according to the coordination priorities of the remaining coordination paths.

[0176] In some embodiments, the iterative processing unit 1502 is specifically configured to:

[0177] Adding each to-be-processed path to the road network of the target area in turn according to the order of priority of the paths from first to last; after adding any to-be-processed path to the road network, determining whether the intersections in the to-be-processed path include a locked intersection with a determined candidate phase difference;

[0178] If the path to be processed does not contain a locked intersection or contains only a locked intersection, then along the target direction of the path to be processed, according to the candidate phase difference of the first intersection, the turning flow, the preset coordination speed, the coordinated green-signal ratio, and the intersection distance between every two adjacent intersections, the maximum green wave bandwidth is constrained to determine the candidate phase difference of each intersection in turn;

[0179] Among them, if the path to be processed does not include a locked intersection, the first intersection is selected from the intersections of the path to be processed based on the path direction of the path to be processed, and the reference phase difference of the first intersection is the candidate phase difference of the first intersection; if the path to be processed contains a unique locked intersection, the locked intersection is the first intersection.

[0180] In some embodiments, the iteration processing unit 1502 is further configured to:

[0181] If the path to be processed includes multiple locked intersections, the candidate phase difference of the non-locked intersections between any two adjacent locked intersections is determined by:

[0182] If there is only one non-locked intersection between any two adjacent locked intersections, the green wave bandwidth between the non-locked intersection and each locked intersection of any two adjacent locked intersections under each candidate phase difference is determined according to the turning flow, the preset coordination speed, the coordinated green-to-signal ratio, and the intersection distance between every two adjacent intersections, and the candidate phase difference of the non-locked intersection is determined from the candidate phase differences according to the green wave bandwidth, with the maximum green wave bandwidth as a constraint.

[0183] In some embodiments, the iteration processing unit 1502 is further configured to:

[0184] If there are multiple non-locked intersections between any two adjacent locked intersections, selecting a second intersection from the multiple non-locked intersections based on the path direction of the path to be processed;

[0185] Along the target direction of the path to be processed, starting from the second intersection, according to the turning flow, the preset coordination speed, the coordination green signal ratio, and the intersection distance between every two adjacent intersections, the relative phase difference between every two adjacent non-locked intersections is calculated in sequence; wherein the target direction includes an up direction and a down direction;

[0186] According to the turning flow, the preset coordination speed, the coordination green-signal ratio, and the intersection distance between every two adjacent intersections, determine the green wave bandwidth between the second intersection and each of the two adjacent locked intersections under each phase difference to be selected, and determine the candidate phase difference of the second intersection from the phase differences to be selected according to the green wave bandwidth, taking the maximum green wave bandwidth as a constraint; wherein the phase difference to be selected is determined according to a preset coordination period range;

[0187] According to the candidate phase difference of the second intersection and the relative phase difference between each two adjacent non-locked intersections, the candidate phase differences of the remaining intersections except the second intersection between any two locked intersections are determined.

[0188] In some embodiments, the phase difference calculation unit 1503 is specifically configured to:

[0189] For any round of iteration, determining the maximum green wave bandwidth of each intersection in this round according to the candidate phase differences of each intersection in this round of iteration;

[0190] The expected number of coordinated vehicles corresponding to this round of iteration is determined based on the maximum green wave bandwidth of each intersection, the average single-lane cycle flow rate, and the vehicle saturation flow rate per hour.

[0191] Based on the same inventive concept, the present application embodiment also provides an electronic device, specifically Fig.16As shown, it includes a data transmission unit 1601 and a processor 1602;

[0192] The data transmission unit 1601 is configured to: receive a green wave coordination indication;

[0193] The processor 1602 is configured to: in response to the green wave coordination indication, determine a plurality of coordination paths included in the target area and coordination priorities of the plurality of coordination paths according to the turning flow at each intersection in the target area;

[0194] The multiple coordinated paths are iterated for multiple rounds until a preset number of iterations are reached; in each round of iteration, the maximum number of coordinated vehicles is used as a constraint, and the coordinated paths are split based on the coordination priority and the turning flow to obtain the paths to be processed in this round and the path priorities of the paths to be processed; the maximum green wave bandwidth is used as a constraint, and based on the reference phase differences of each intersection and the path priority, the candidate phase differences of each intersection are determined; wherein the reference phase difference of the first round is a preset value, and the reference phase difference of a non-first round is a candidate phase difference of the previous round;

[0195] The estimated number of coordinated vehicles corresponding to each round of iteration is determined according to the candidate phase differences in each round of iteration, and the candidate phase difference in the iteration round with the largest estimated number of coordinated vehicles is used as the target phase difference for each intersection.

[0196] In some embodiments, the processor 1602 is specifically configured to perform the process of determining the multiple coordinated paths included in the target area and the coordination priorities of the multiple coordinated paths according to the turning flow at each intersection in the target area:

[0197] Determining the intersections to be processed for generating the coordinated path according to the turning flow at each of the intersections;

[0198] Taking the to-be-processed intersection as the first to-be-processed node for generating a coordinated path, determining a target turning flow rate of the to-be-processed node; wherein the target turning flow rate is the maximum turning flow rate of the to-be-processed node in each turning direction;

[0199] The intersection adjacent to the node to be processed in the target direction of the target turning flow is used as the next node to be processed, until there is no intersection adjacent to the node to be processed in the target direction of the target turning flow corresponding to the node to be processed, and a coordination path corresponding to the intersection to be processed is generated according to the node to be processed; wherein the target direction includes an up direction and / or a down direction;

[0200] The coordination priority is determined according to the order in which the coordination paths are generated from first to last.

[0201] In some embodiments, to perform the step of determining the intersections to be processed for generating the coordinated path according to the turning traffic at each intersection, the processor 1602 is specifically configured to:

[0202] According to the order of the turning flow at each intersection from large to small, the following processing is performed on each intersection in turn:

[0203] If the intersection is not in the coordinated path, or the sum of the intersection turning flows in the coordinated path where the intersection is located is less than a preset threshold, the intersection is used as the intersection to be processed;

[0204] If the intersection is in any coordinated path, and the sum of the intersection turning flows of the coordinated path is not less than a preset threshold, the next intersection is processed.

[0205] In some embodiments, the maximum number of coordinated vehicles is used as a constraint, and the coordinated path is split based on the coordination priority and the steering flow to obtain the path to be processed in this round and the path priority of the path to be processed. The processor 1602 is specifically configured as follows:

[0206] Adding each coordination path to the road network of the target area in turn according to the coordination priority order from first to last, and after adding any coordination path to the road network, determining whether there is a closed area composed of multiple coordination paths in the road network;

[0207] If a closed area is formed, the maximum number of coordinated vehicles is used as a constraint, and according to the turning flow, preset coordination speed, coordination green-signal ratio, and the intersection distance between every two adjacent intersections at the intersection in the closed area, the problem path that does not have coordination authority in the closed area is determined, and the problem path is deleted from the road network; wherein each problem path is part or all of at least one coordinated path;

[0208] The coordination paths remaining after removing the problematic paths in the road network are used as the paths to be processed, and the path priorities of the paths to be processed are determined according to the coordination priorities of the remaining coordination paths.

[0209] In some embodiments, the processor 1602 is specifically configured to:

[0210] Adding each to-be-processed path to the road network of the target area in turn according to the order of priority of the paths from first to last; after adding any to-be-processed path to the road network, determining whether the intersections in the to-be-processed path include a locked intersection with a determined candidate phase difference;

[0211] If the path to be processed does not contain a locked intersection or contains only a locked intersection, then along the target direction of the path to be processed, according to the candidate phase difference of the first intersection, the turning flow, the preset coordination speed, the coordinated green-signal ratio, and the intersection distance between every two adjacent intersections, the maximum green wave bandwidth is constrained to determine the candidate phase difference of each intersection in turn;

[0212] Among them, if the path to be processed does not include a locked intersection, the first intersection is selected from the intersections of the path to be processed based on the path direction of the path to be processed, and the reference phase difference of the first intersection is the candidate phase difference of the first intersection; if the path to be processed contains a unique locked intersection, the locked intersection is the first intersection.

[0213] In some embodiments, the processor 1602 is further configured to:

[0214] If the path to be processed includes multiple locked intersections, the candidate phase difference of the non-locked intersections between any two adjacent locked intersections is determined by:

[0215] If there is only one non-locked intersection between any two adjacent locked intersections, the green wave bandwidth between the non-locked intersection and each locked intersection of any two adjacent locked intersections under each candidate phase difference is determined according to the turning flow, the preset coordination speed, the coordinated green-to-signal ratio, and the intersection distance between every two adjacent intersections, and the candidate phase difference of the non-locked intersection is determined from the candidate phase differences according to the green wave bandwidth, with the maximum green wave bandwidth as a constraint.

[0216] In some embodiments, the processor 1602 is further configured to:

[0217] If there are multiple non-locked intersections between any two adjacent locked intersections, selecting a second intersection from the multiple non-locked intersections based on the path direction of the path to be processed;

[0218] Along the target direction of the path to be processed, starting from the second intersection, according to the turning flow, the preset coordination speed, the coordination green signal ratio, and the intersection distance between every two adjacent intersections, the relative phase difference between every two adjacent non-locked intersections is calculated in sequence; wherein the target direction includes an up direction and a down direction;

[0219] According to the turning flow, the preset coordination speed, the coordination green-signal ratio, and the intersection distance between every two adjacent intersections, determine the green wave bandwidth between the second intersection and each of the two adjacent locked intersections under each phase difference to be selected, and determine the candidate phase difference of the second intersection from the phase differences to be selected according to the green wave bandwidth, taking the maximum green wave bandwidth as a constraint; wherein the phase difference to be selected is determined according to a preset coordination period range;

[0220] According to the candidate phase difference of the second intersection and the relative phase difference between each two adjacent non-locked intersections, the candidate phase differences of the remaining intersections except the second intersection between any two locked intersections are determined.

[0221] In some embodiments, to perform the step of determining the maximum number of coordinated vehicles corresponding to each round of iteration according to the candidate phase difference of each round of iteration, the processor 1602 is specifically configured to:

[0222] For any round of iteration, determining the maximum green wave bandwidth of each intersection in this round according to the candidate phase differences of each intersection in this round of iteration;

[0223] The expected number of coordinated vehicles corresponding to this round of iteration is determined based on the maximum green wave bandwidth of each intersection, the average single-lane cycle flow rate, and the vehicle saturation flow rate per hour.

[0224] 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 any step of the green wave coordinated control method described above.

[0225] 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.

[0226] 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.

[0227] 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 comprising 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.

[0228] 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.

[0229] 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 green wave coordinated control method, characterized in that: The method comprises: In response to the green wave coordination indication, determining a plurality of coordination paths included in the target area and coordination priorities of the plurality of coordination paths according to the turning flow at each intersection in the target area; The multiple coordinated paths are iterated for multiple rounds until a preset number of iterations are reached; in each round of iteration, the maximum number of coordinated vehicles is used as a constraint, and the coordinated paths are split based on the coordination priority and the turning flow to obtain the paths to be processed in this round and the path priorities of the paths to be processed; the maximum green wave bandwidth is used as a constraint, and based on the reference phase differences of each intersection and the path priority, the candidate phase differences of each intersection are determined; wherein the reference phase difference of the first round is a preset value, and the reference phase difference of a non-first round is a candidate phase difference of the previous round; The estimated number of coordinated vehicles corresponding to each round of iteration is determined according to the candidate phase differences in each round of iteration, and the candidate phase difference in the iteration round with the largest estimated number of coordinated vehicles is used as the target phase difference for each intersection.

2. The method according to claim 1, characterized in that The step of determining a plurality of coordinated paths included in the target area and the coordination priorities of the plurality of coordinated paths according to the turning flow at each intersection in the target area includes: Determining the intersections to be processed for generating the coordinated path according to the turning flow at each of the intersections; Taking the to-be-processed intersection as the first to-be-processed node for generating a coordinated path, determining a target turning flow rate of the to-be-processed node; wherein the target turning flow rate is the maximum turning flow rate of the to-be-processed node in each turning direction; The intersection adjacent to the node to be processed in the target direction of the target turning flow is used as the next node to be processed, until there is no intersection adjacent to the node to be processed in the target direction of the target turning flow corresponding to the node to be processed, and a coordination path corresponding to the intersection to be processed is generated according to the node to be processed; wherein the target direction includes an up direction and / or a down direction; The coordination priority is determined according to the order in which the coordination paths are generated from first to last.

3. The method according to claim 2, characterized in that The step of determining the intersections to be processed for generating the coordinated path according to the turning flow at each intersection comprises: According to the order of the turning flow at each intersection from large to small, the following processing is performed on each intersection in turn: If the intersection is not in the coordinated path, or the sum of the intersection turning flows in the coordinated path where the intersection is located is less than a preset threshold, the intersection is used as the intersection to be processed; If the intersection is in any coordinated path, and the sum of the intersection turning flows of the coordinated path is not less than a preset threshold, the next intersection is processed.

4. The method according to claim 1, characterized in that: The method of taking the maximum number of coordinated vehicles as a constraint, splitting the coordinated path based on the coordination priority and the steering flow, and obtaining the to-be-processed path of this round and the path priority of the to-be-processed path includes: Adding each coordination path to the road network of the target area in turn according to the coordination priority order from first to last, and after adding any coordination path to the road network, determining whether there is a closed area composed of multiple coordination paths in the road network; If a closed area is formed, the maximum number of coordinated vehicles is used as a constraint, and according to the turning flow, preset coordination speed, coordination green-signal ratio, and the intersection distance between every two adjacent intersections at the intersection in the closed area, the problem path that does not have coordination authority in the closed area is determined, and the problem path is deleted from the road network; wherein each problem path is part or all of at least one coordinated path; The coordination paths remaining after removing the problematic paths in the road network are used as the paths to be processed, and the path priorities of the paths to be processed are determined according to the coordination priorities of the remaining coordination paths.

5. The method according to claim 1, characterized in that The method of determining the candidate phase difference of each intersection based on the reference phase difference of each intersection and the path priority with the maximum green wave bandwidth as a constraint includes: Adding each to-be-processed path to the road network of the target area in turn according to the order of priority of the paths from first to last; after adding any to-be-processed path to the road network, determining whether the intersections in the to-be-processed path include a locked intersection with a determined candidate phase difference; If the path to be processed does not contain a locked intersection or contains only a locked intersection, then along the target direction of the path to be processed, according to the candidate phase difference of the first intersection, the turning flow, the preset coordination speed, the coordinated green-signal ratio, and the intersection distance between every two adjacent intersections, the maximum green wave bandwidth is constrained to determine the candidate phase difference of each intersection in turn; Among them, if the path to be processed does not include a locked intersection, the first intersection is selected from the intersections of the path to be processed based on the path direction of the path to be processed, and the reference phase difference of the first intersection is the candidate phase difference of the first intersection; if the path to be processed contains a unique locked intersection, the locked intersection is the first intersection.

6. The method according to claim 5, characterized in that The method further comprises: If the path to be processed includes multiple locked intersections, the candidate phase difference of the non-locked intersections between any two adjacent locked intersections is determined by: If there is only one non-locked intersection between any two adjacent locked intersections, the green wave bandwidth between the non-locked intersection and each locked intersection of any two adjacent locked intersections under each candidate phase difference is determined according to the turning flow, the preset coordination speed, the coordinated green-to-signal ratio, and the intersection distance between every two adjacent intersections, and the candidate phase difference of the non-locked intersection is determined from the candidate phase differences according to the green wave bandwidth, with the maximum green wave bandwidth as a constraint.

7. The method according to claim 6, characterized in that The method further comprises: If there are multiple non-locked intersections between any two adjacent locked intersections, selecting a second intersection from the multiple non-locked intersections based on the path direction of the path to be processed; Along the target direction of the path to be processed, starting from the second intersection, according to the turning flow, the preset coordination speed, the coordination green signal ratio, and the intersection distance between every two adjacent intersections, the relative phase difference between every two adjacent non-locked intersections is calculated in sequence; wherein the target direction includes an up direction and a down direction; According to the turning flow, the preset coordination speed, the coordination green-signal ratio, and the intersection distance between every two adjacent intersections, determine the green wave bandwidth between the second intersection and each of the two adjacent locked intersections under each phase difference to be selected, and determine the candidate phase difference of the second intersection from the phase differences to be selected according to the green wave bandwidth, taking the maximum green wave bandwidth as a constraint; wherein the phase difference to be selected is determined according to a preset coordination period range; According to the candidate phase difference of the second intersection and the relative phase difference between each two adjacent non-locked intersections, the candidate phase differences of the remaining intersections except the second intersection between any two locked intersections are determined.

8. The method according to any one of claims 1 to 7, characterized in that: The step of determining the maximum number of coordinated vehicles corresponding to each round of iteration according to the candidate phase differences of each round of iteration includes: For any round of iteration, determining the maximum green wave bandwidth of each intersection in this round according to the candidate phase differences of each intersection in this round of iteration; The expected number of coordinated vehicles corresponding to this round of iteration is determined based on the maximum green wave bandwidth of each intersection, the average single-lane cycle flow rate, and the vehicle saturation flow rate per hour.

9. An electronic device, characterized in that: Including data transmission unit and processor: The data transmission unit is configured to: receive a green wave coordination indication; The processor is configured to: in response to the green wave coordination indication, determine a plurality of coordination paths included in the target area and coordination priorities of the plurality of coordination paths according to the turning flow at each intersection in the target area; Perform multiple rounds of iterative processing on the multiple coordinated paths until a preset number of iterations is reached; in each round of iteration, the maximum number of coordinated vehicles is used as a constraint, and the coordinated paths are split based on the coordination priority and the steering flow to obtain the paths to be processed in this round and the path priorities of the paths to be processed; Taking the maximum green wave bandwidth as a constraint, based on the reference phase difference of each intersection and the path priority, determining the candidate phase difference of each intersection; wherein the reference phase difference of the first round is a preset value, and the reference phase difference of the non-first round is the candidate phase difference of the previous round; The estimated number of coordinated vehicles corresponding to each round of iteration is determined according to the candidate phase differences in each round of iteration, and the candidate phase difference in the iteration round with the largest estimated number of coordinated vehicles is used as the target phase difference for each intersection.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a computer, the computer executes the method according to any one of claims 1 to 8.

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