Trunk green wave processing method, device, electronic equipment and storage medium

Abstract

This disclosure provides a method, apparatus, electronic device, and storage medium for green wave processing on main roads, relating to intelligent transportation and artificial intelligence fields such as cloud computing. The method may include: determining an optimization objective and corresponding constraints for the main road to be processed; the optimization objective includes maximizing the continuous green wave bandwidth of the main road and maximizing the green wave bandwidth between adjacent intersections on the main road; the main road is a road segment including at least three consecutive intersections; generating a target solution result based on predetermined main road information, constraints, and optimization objectives; the target solution result is used to configure green wave traffic-related parameters at each intersection on the main road. Applying the scheme described in this disclosure can improve green wave traffic efficiency, etc.

Description

Technical Field

[0001] This disclosure relates to the field of artificial intelligence technology, and in particular to trunk line green wave processing methods, apparatuses, electronic devices and storage media in the fields of intelligent transportation and cloud computing. Background Technology

[0002] Green wave optimization on trunk lines is an important means of alleviating urban traffic congestion. Green wave refers to vehicles passing through a time and space interval without stopping. Green wave bandwidth refers to the time width of this time and space interval. The larger the green wave bandwidth, the more obvious the green wave passage effect. Summary of the Invention

[0003] This disclosure provides a method, apparatus, electronic device, and storage medium for trunk green wave processing.

[0004] A trunk line green wave processing method includes:

[0005] For the trunk line to be processed, the optimization objectives and the constraints corresponding to the optimization objectives are determined. The optimization objectives include maximizing the continuous green wave bandwidth of the trunk line and maximizing the green wave bandwidth between adjacent intersections in the trunk line. The trunk line is a road segment that includes at least three consecutive intersections.

[0006] Based on the predetermined trunk line information, the constraints, and the optimization objective, a target solution result is generated. The target solution result is used to configure the green wave traffic-related parameters at each intersection in the trunk line.

[0007] A trunk line green wave processing device includes: a first processing module and a second processing module;

[0008] The first processing module is used to determine the optimization target and the constraints corresponding to the optimization target for the trunk line to be processed. The optimization target includes maximizing the continuous green wave bandwidth of the trunk line and maximizing the green wave bandwidth between adjacent intersections in the trunk line. The trunk line is a road segment including at least three consecutive intersections.

[0009] The second processing module is used to generate a target solution result based on the predetermined trunk line information, the constraints, and the optimization objective. The target solution result is used to configure the green wave traffic-related parameters of each intersection in the trunk line.

[0010] An electronic device, comprising:

[0011] At least one processor; and

[0012] A memory communicatively connected to the at least one processor; wherein,

[0013] The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method described above.

[0014] A non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the methods described above.

[0015] A computer program product includes a computer program / instructions that, when executed by a processor, implement the method described above.

[0016] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0017] The accompanying drawings are provided to better understand this solution and do not constitute a limitation of this disclosure. Wherein:

[0018] Figure 1 This is a flowchart of an embodiment of the trunk green wave processing method described in this disclosure;

[0019] Figure 2 This is a schematic diagram of the semi-cycle intersection and the common cycle intersection described in this disclosure;

[0020] Figure 3 The image in the middle is a schematic diagram of the bidirectional green wave optimization scenario described in this disclosure;

[0021] Figure 4 This is a schematic diagram of the structural composition of Embodiment 400 of the trunk green wave processing device described in this disclosure;

[0022] Figure 5 A schematic block diagram of an electronic device 500 that can be used to implement embodiments of the present disclosure is shown. Detailed Implementation

[0023] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0024] Furthermore, it should be understood that the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0025] Figure 1 This is a flowchart illustrating an embodiment of the trunk line green wave processing method described in this disclosure. Figure 1 As shown, the specific implementation methods are as follows.

[0026] In step 101, for the trunk line to be processed, the optimization objectives and the corresponding constraints are determined. The optimization objectives include maximizing the continuous green wave bandwidth of the trunk line and maximizing the green wave bandwidth between adjacent intersections in the trunk line. The trunk line is a road segment that includes at least three consecutive intersections.

[0027] In step 102, a target solution result is generated based on the predetermined trunk line information, constraints, and optimization objectives. The target solution result is used to configure the green wave traffic-related parameters for each intersection in the trunk line.

[0028] By adopting the scheme described in the above method embodiments, multiple different optimization objectives can be set, such as maximizing the continuous green wave bandwidth of the trunk line and maximizing the green wave bandwidth between adjacent intersections in the trunk line. This comprehensively considers the overall traffic effect of the trunk line and the traffic effect between adjacent intersections, thereby improving the accuracy of the obtained objective solution results. Correspondingly, by using the objective solution results to configure the green wave traffic-related parameters of each intersection in the trunk line, the green wave traffic effect can be improved, such as reducing vehicle parking, alleviating traffic congestion, and improving traffic safety.

[0029] The trunk line to be processed can be any segment of the trunk line that needs green wave optimization, which may include multiple consecutive intersections, usually more than three.

[0030] For the trunk line to be processed, optimization objectives can be determined, such as maximizing the continuous green wave bandwidth of the trunk line and maximizing the green wave bandwidth between adjacent intersections on the trunk line. Additionally, in some embodiments of this disclosure, the optimization objectives may also include one or all of the following: minimizing the number of green wave bandwidth interruptions and optimizing the green wave bandwidth location.

[0031] This allows for the simultaneous consideration of multiple factors during green wave optimization on trunk lines, such as continuous green wave bandwidth, green wave bandwidth between adjacent intersections, green wave partitioning (interruption), and green wave bandwidth location, thereby further improving the accuracy of the target solution and the green wave traffic effect.

[0032] In addition to determining the optimization objective, it is also necessary to determine the constraints corresponding to the optimization objective. In some embodiments of this disclosure, for any intersection i, 1≤i≤N-1, where N represents the number of intersections included in the trunk line, the constraints corresponding to intersection i can be determined based on the predetermined information corresponding to intersection i and the predetermined information corresponding to intersection i+1.

[0033] Accordingly, the target solution results can be generated based on the constraints for the optimization objective.

[0034] In some embodiments of this disclosure, the predetermined information corresponding to intersection i may include some or all of the following: a first time difference (e i The first time difference is the time difference between the time it takes for the positive green wave to flow into intersection i and the time it takes for the positive green light to start at intersection i; the second time difference... The second time difference is the time difference between the time when the reverse green wave enters intersection i and the time when the reverse green light starts at intersection i; the first bandwidth (b i The first bandwidth is the bandwidth of the positive green wave between intersection i and intersection i+1; the second bandwidth... The second bandwidth is the bandwidth of the reverse green wave between intersection i and intersection i+1; the first parameter (s) i The first parameter represents the cycle duration type of intersection i; the first duration (r) i The first duration is the duration of the non-green light in the forward direction at intersection i; the second duration... The second duration is the non-green light duration in the opposite direction at intersection i; the third duration (g i The third duration is the forward green light duration at intersection i; the fourth duration... The fourth duration is the reverse green light duration at intersection i; the fifth duration (t) i The fifth duration is the forward travel time between intersection i and intersection i+1; the sixth duration... The sixth duration is the reverse travel time between intersection i and intersection i+1; the first proportion (h i The first proportion is the proportion of the positive coordination phase preceding the phase at intersection i; the second proportion... The second proportion is the proportion of the reverse coordination phase preceding the phase at intersection i; the first phase difference (o i The first phase difference is the actual phase difference between intersection i and intersection i+1; the second phase difference (φ) i The second phase difference is the difference between the midpoint of the positive non-green light duration at intersection i and the midpoint of the positive non-green light duration at intersection i+1; the third phase difference... The third phase difference is the difference between the midpoint of the non-green light duration in the reverse direction at intersection i and the midpoint of the non-green light duration in the reverse direction at intersection i+1.

[0035] In some embodiments of this disclosure, the predetermined information corresponding to intersection i+1 may include some or all of the following: third time difference (e i+1 The third time difference is the time difference between the time when the positive green wave flows into intersection i+1 and the time when the positive green light at intersection i+1 begins; the fourth time difference... The fourth time difference is the time difference between the time it takes for the reverse green wave to flow into intersection i+1 and the time it takes for the reverse green light to start at intersection i+1; the second parameter (s) i+1 The second parameter indicates the cycle duration type of intersection i+1; the seventh duration (r) i+1 The seventh duration is the duration of the non-green light in the positive direction at intersection i+1; the eighth duration... The eighth duration is the non-green light duration in the opposite direction at intersection i+1; the third percentage (h) i+1 The third proportion is the proportion of the positive coordination phase preceding the phase at intersection i+1; the fourth proportion... The fourth proportion is the proportion of the reverse coordination phase preceding the phase at intersection i+1; the ninth duration (g) i+1 The ninth duration is the duration of the green light for the direction at intersection i+1; the tenth duration... The tenth duration is the reverse green light duration at intersection i+1.

[0036] Additionally, in some embodiments of this disclosure, the cycle duration type may include: a common cycle and a half cycle, where the half cycle is half of the common cycle, wherein the cycle duration in response to intersection i is the common cycle, s i The value of can be 0, and the period of response to intersection i is half a period, s. i The value of can be 1, and the period duration responding to intersection i+1 is a common period, s i+1 The value of can be 0, and the period of response at intersection i+1 is half a period, s i+1 The value of can be 1. In addition, the time and duration involved in the predetermined information are all normalized results. The normalization includes dividing the time or duration before normalization by the common period.

[0037] In practical applications, for intersections with low traffic volume, in order to shorten the stopping delay of vehicles in each direction, the cycle length can be set to half of the common cycle. Such intersections are called half-cycle intersections. Figure 2 This is a schematic diagram of the semi-cycle intersection and the common cycle intersection described in this disclosure. Figure 2 As shown, intersection i is a half-cycle intersection, while intersection i+1 is a common-cycle intersection. Taking intersection i as an example, s can be used... i This indicates whether the intersection is a half-cycle intersection. If intersection i is a half-cycle intersection, then s i =1, otherwise, s i =0.

[0038] In the traditional approach, the cycle duration of each intersection on the trunk line is a common cycle, meaning that each intersection is a common cycle intersection. However, the solution described in this disclosure can optimize the semi-cycle intersections by using semi-cycle constraints to address the issue of large and small intersections on the trunk line, thereby further improving the optimization effect. The specific intersections / intersections to be designated as semi-cycle intersections can be specified in advance.

[0039] in addition, Figure 3 The image in the middle is a schematic diagram of the bidirectional green wave optimization scenario described in this disclosure. Figure 2 and Figure 3 The diagram shows the specific meaning of each piece of information in the pre-planned information corresponding to intersection i and intersection i+1. Figure 2 and Figure 3 The horizontal axis represents time, and the vertical axis represents space. Furthermore, Figure 2 and Figure 3 In the diagram, for each intersection, the diagonal line indicates the duration of the green light, while the other parts (such as the black lines and vertical lines) indicate the duration of the non-green light.

[0040] Taking the positive direction as an example, for e i Assuming the common period is 100 seconds, and that the time for the positive green wave to enter intersection i is 30 / 100 (the 30th second, normalized result), and that the start time of the positive green light at intersection i is 20 / 100 (the 20th second, normalized result), then e i The value of is the time difference between the time it takes for the positive green wave to flow into intersection i and the start time of the positive green light at intersection i: 0.3 - 0.2 = 0.1. i This represents the bandwidth, or time width, of the positive green wave between intersection i and intersection i+1. i This represents the duration of the non-green light in the positive direction at intersection i, i.e., the duration of the non-coordinated phase. g i h represents the duration of the green light in the forward direction at intersection i, i.e., the duration of the coordinated phase. i This indicates the percentage of the preceding phase in the positive coordinated phase at intersection i. For example, if the common cycle is 100 seconds, and the coordinated phase (green light) starts at the 21st second and ends at the 50th second, then the percentage of the preceding phase in the coordinated phase is 20 / 100. i φ represents the actual phase difference between intersection i and intersection i+1. i This represents the difference between the midpoint of the forward non-green light (non-coordinated phase) duration at intersection i and the midpoint of the forward non-green light duration at intersection i+1. The meanings of the information in the reverse direction and the information corresponding to intersection i+1 are similar and will not be repeated here. Additionally, Figure 3 The Δ shown i express The midpoint of r i The difference between the midpoints, when r i The midpoint is at The value is positive when it comes after the midpoint, and correspondingly, Δ i+1 express The midpoint of r i+1 The difference between the midpoints, and so on.

[0041] With the help of the above information, various constraints can be generated, thus laying a good foundation for the subsequent generation of objective solution results.

[0042] Additionally, 0-1 variables sc can also be recorded. i Indicates whether the positive and negative green waves are within the same period duration, sc i =0 indicates that the positive and negative green waves occur within different period durations, sc i =1 indicates that the positive and negative green waves are within the same cycle duration.

[0043] In some embodiments of this disclosure, the constraints may include some or all of the following: continuous bandwidth constraints, bidirectional coordination constraints, bandwidth constraints between adjacent intersections, start time constraints of the green wave bandwidth starting intersection, bandwidth location constraints, and bandwidth equalization constraints. Preferably, all of them may be included, which will be described separately below.

[0044] 1) Continuous bandwidth constraint

[0045] In some embodiments of this disclosure, the continuous bandwidth constraint may include: a forward constraint and a reverse constraint; the forward constraint may include: the sum of the first bandwidth and the first time difference is less than or equal to a first difference, the first difference being the difference obtained by subtracting the first parameter / 2 and the first duration from 1 in sequence; the reverse constraint may include: the sum of the second bandwidth and the second time difference is less than or equal to a second difference, the second difference being the difference obtained by subtracting the first parameter / 2 and the second duration from 1 in sequence.

[0046] That is:

[0047] e i +b i ≤1-0.5s i -r i (1)

[0048]

[0049] Similarly, for intersection i+1, we have:

[0050] e i+1 +b i ≤1-0.5s i+1 -r i+1 (3)

[0051]

[0052] Taking formula (1) as an example, e i +b i The duration of the green light must be less than or equal to the green light duration, and the green light duration is equal to the total duration (total duration 1) minus the non-green light duration, i.e., r. i Considering that intersection i might be a half-cycle intersection, a further 0.5s is introduced. i The half-cycle that will be reduced will be considered as non-green light duration.

[0053] 2) Two-way coordination constraints

[0054] In some embodiments of this disclosure, the bidirectional coordination constraint may include: a positive constraint and a negative constraint; wherein, the positive constraint may include: a first bandwidth less than or equal to (1-π) / 2π. i M, where M is a positive integer, and π i As a decision variable, π is the response to the interruption of the positive green wave bandwidth between intersection i and intersection i+1. i The value of π is 1; otherwise, π i The value of is 0, and the sum of the second phase difference, (seventh duration + 0.5 * second parameter) / 2, and the third time difference is less than or equal to the following sum: (first duration + 0.5 * first parameter) / 2, first time difference, fifth duration, and π. i The sum of M, and the sum of the second phase difference, (seventh duration + 0.5 * second parameter) / 2, and the third time difference are greater than or equal to the following differences: (first duration + 0.5 * first parameter) / 2, the sum of the first time difference and the fifth duration, and π. i The difference of M; the reverse constraint may include: the second bandwidth is less than or equal to As a decision variable, it responds to the interruption of the reverse green wave bandwidth between intersection i and intersection i+1. The value is 1, otherwise, The value is 0, and the sum of the third phase difference, (second duration + 0.5 * first parameter) / 2, and the second time difference is less than or equal to the following sum: (eighth duration + 0.5 * second parameter) / 2, fourth time difference, sixth duration, and... The sum of the sums of the third phase difference, (second duration + 0.5 * first parameter) / 2, and the second time difference is greater than or equal to the following differences: (eighth duration + 0.5 * second parameter) / 2, the sum of the fourth time difference and the sixth duration, and the sum of the sums of the second and third phase differences. The difference.

[0055] from Figure 2 and Figure 3 As can be seen from this, for intersection i, we have:

[0056]

[0057] Where, m i The third parameter can be any integer and can represent the number of cycles in cross-cycle coordination.

[0058] In addition, Δ i It can be represented as:

[0059]

[0060] Among them, f i This indicates the proportion of the positive coordination phase following the phase at intersection i. This indicates the proportion of the rear phase of the coordinated phase at intersection i. For example, if the common cycle is 100 seconds, and the coordinated phase (green light) starts at the 21st second and ends at the 50th second, then the proportion of the rear phase of the coordinated phase is 50 / 100. (sc) i This indicates whether the positive and negative green waves are within the same period duration. If the positive and negative green waves are within different period durations, such as... Figure 3 As shown in the diagram at intersection i, then sc i =0, otherwise, sc i =1.

[0061] In addition, from Figure 3 It can also be seen that for intersection i, we have:

[0062]

[0063] Among them, when b i The constraint in (7) only applies when b > 0. i =0 indicates no such constraint.

[0064] Accordingly, a 0-1 decision variable π can be introduced. i , π i =1 indicates that there is no green wave bandwidth between intersection i and intersection i+1, π i =0 indicates that there is a green wave bandwidth between intersection i and intersection i+1. In other words, if the positive green wave bandwidth between intersection i and intersection i+1 is interrupted, then π i =1, otherwise, π i =0.

[0065] Accordingly, the constraints in (7) can be transformed into the following form:

[0066] b i ≤(1-π i M; (8)

[0067]

[0068] Where M is a positive integer, usually a large positive number, t iThis represents the forward travel time between intersection i and intersection i+1.

[0069] Similarly, for reverse constraints, we have:

[0070]

[0071] in, Let i be the reverse travel time between intersection i and intersection i+1. As a decision variable, it responds to the interruption of the reverse green wave bandwidth between intersection i and intersection i+1. The value is 1, otherwise, The value of is 0.

[0072] In addition, in some embodiments of this disclosure, t i The acquisition method may include: obtaining the first ratio of the positive distance between intersection i and intersection i+1 to the positive green wave vehicle speed, and obtaining the product of the first ratio and the adjustment coefficient as t. i The adjustment coefficient is greater than 0 and is a value within a predetermined range; The acquisition method may include: obtaining a second ratio of the reverse distance between intersection i and intersection i+1 to the reverse green wave vehicle speed, and obtaining the product of the second ratio and the adjustment coefficient as...

[0073] That is:

[0074]

[0075] Where, d i v represents the positive distance between intersection i and intersection i+1. i This represents the positive green wave vehicle speed, and z represents the adjustment coefficient. This represents the reverse distance between intersection i and intersection i+1. This represents the reverse green wave speed. The values ​​of the forward and reverse green wave speeds can be considered as known values.

[0076] The range of values ​​for z can be as follows:

[0077]

[0078] Among them, C l and C u The values ​​can all be preset, such as C. l C represents the given minimum period duration. u The maximum given period duration can be a positive integer.

[0079] The continuous bandwidth constraints and bidirectional coordination constraints mentioned above are mainly constraints imposed on the overall traffic performance of the trunk line. In response to the difficulty of coordinating long trunk lines, the overall bandwidth of the trunk line is improved by allowing bandwidth interruptions, thereby improving the optimization effect of the green wave on the trunk line.

[0080] 3) Bandwidth constraints between adjacent intersections

[0081] That is, bandwidth continuity is not considered, only the bandwidth constraints between any two adjacent intersections are considered, such as the bandwidth constraints between intersection 1 and intersection 2, and the bandwidth constraints between intersection 2 and intersection 3.

[0082] In some embodiments of this disclosure, the bandwidth constraint between adjacent intersections may include: a forward constraint and a reverse constraint; wherein, the forward constraint may include: the forward green wave bandwidth between intersection i and intersection i+1 is greater than or equal to 0, and the forward green wave bandwidth is greater than or equal to the third difference between the end time and the start time of the forward green wave bandwidth, and the forward green wave bandwidth is less than or equal to the sum of the third difference and M(1-fifth auxiliary parameter), and the forward green wave bandwidth is less than or equal to M(1-sixth auxiliary parameter), wherein the values ​​of the fifth auxiliary parameter and the sixth auxiliary parameter are 0 or 1 respectively, and the fifth auxiliary parameter... The sum of the parameter and the sixth auxiliary parameter is 1, and M is a positive integer; the reverse constraint may include: the reverse green wave bandwidth between intersection i and intersection i+1 is greater than or equal to 0, and the reverse green wave bandwidth is greater than or equal to the fourth difference between the end time and the start time of the reverse green wave bandwidth, and the reverse green wave bandwidth is less than or equal to the sum of the fourth difference and M(1-seventh auxiliary parameter), and the reverse green wave bandwidth is less than or equal to M(1-eighth auxiliary parameter). The values ​​of the seventh auxiliary parameter and the eighth auxiliary parameter are 0 or 1, and the sum of the seventh auxiliary parameter and the eighth auxiliary parameter is 1.

[0083] In some embodiments of this disclosure, the start time of the positive green wave bandwidth may simultaneously meet the following constraints: the start time of the positive green wave bandwidth is greater than or equal to the first proportion; the start time of the positive green wave bandwidth is greater than or equal to the sum of the following: the difference between the third proportion and the fifth duration, the first phase difference, and the third parameter, where the third parameter is an integer; the start time of the positive green wave bandwidth is less than or equal to the sum of the first proportion and M(1-first auxiliary parameter); the start time of the positive green wave bandwidth is less than or equal to the sum of the following: the difference between the third proportion and the fifth duration, the first phase difference, the third parameter, and M(1-second auxiliary parameter), where the values ​​of the first auxiliary parameter and the second auxiliary parameter are 0 or 1 respectively, and the sum of the first auxiliary parameter and the second auxiliary parameter is 1; the positive green wave bandwidth The end time can simultaneously meet the following constraints: the end time of the positive green wave bandwidth is less than or equal to the sum of the first proportion and the third duration; the end time of the positive green wave bandwidth is less than or equal to the sum of the following: the difference between the ninth duration and the fifth duration, the third proportion, the first phase difference, and the third parameter; the end time of the positive green wave bandwidth is greater than or equal to the following difference: the difference between the sum of the first proportion and the third duration and M(1-third auxiliary parameter); the end time of the positive green wave bandwidth is greater than or equal to the following difference: the difference between the difference between the ninth duration and the fifth duration, the third proportion, the first phase difference, and the third parameter, and the difference between M(1-fourth auxiliary parameter), where the values ​​of the third auxiliary parameter and the fourth auxiliary parameter are 0 or 1 respectively, and the sum of the third auxiliary parameter and the fourth auxiliary parameter is 1.

[0084] In addition, in some embodiments of this disclosure, the start time of the reverse green wave bandwidth may simultaneously meet the following constraints: the start time of the reverse green wave bandwidth is greater than or equal to the second proportion; the start time of the reverse green wave bandwidth is greater than or equal to the sum of the following: the fourth proportion, the sixth duration, the third parameter, and the first phase difference, wherein the third parameter is an integer; the start time of the reverse green wave bandwidth is less than or equal to the sum of the second proportion and M(1-ninth auxiliary parameter); the start time of the reverse green wave bandwidth is less than or equal to the sum of the following: the fourth proportion, the sixth duration, the third parameter, the first phase difference, and M(1-tenth auxiliary parameter), wherein the values ​​of the ninth and tenth auxiliary parameters are 0 or 1 respectively, and the sum of the ninth and tenth auxiliary parameters is 1; the end time of the reverse green wave bandwidth. The timing can simultaneously meet the following constraints: the end time of the reverse green wave bandwidth is less than or equal to the sum of the second proportion and the fourth duration; the end time of the reverse green wave bandwidth is less than or equal to the sum of the following: the fourth proportion, the sixth duration, the third parameter, the first phase difference, and the tenth duration; the end time of the reverse green wave bandwidth is greater than or equal to the following difference: the difference between the sum of the second proportion and the fourth duration and M(1-eleventh auxiliary parameter); the end time of the reverse green wave bandwidth is greater than or equal to the following difference: the difference between the sum of the fourth proportion, the sixth duration, the third parameter, the first phase difference, and the tenth duration and M(1-twelfth auxiliary parameter), where the values ​​of the eleventh and twelfth auxiliary parameters are 0 or 1 respectively, and the sum of the eleventh and twelfth auxiliary parameters is 1.

[0085] For a positive green wave, the start time of the positive green wave bandwidth between any two adjacent intersections should be:

[0086] gs i =max(h i h i+1 -t i +o i +m i (17)

[0087] Among them, gs i This indicates that the start time of the positive green wave bandwidth must be greater than the start time of the green light at each intersection. i The true phase difference between intersection i and intersection i+1 can be expressed as:

[0088]

[0089] f i+1 This indicates the proportion of the positive coordination phase following the phase at intersection i+1.

[0090] Accordingly, (17) can be linearized to the following constraint:

[0091] gs i ≥h i (19)

[0092] gs i ≥h i+1 -t i +o i +m i (20)

[0093] gs i ≤h i +M(1-v i，1 ); (twenty one)

[0094] gs i ≤h i+1 -t i +o i +m i +M(1-v i，2 ); (twenty two)

[0095] v i，1 +v i，2 =1; (23)

[0096] Among them, v i，1 Indicates the first auxiliary parameter, v i，2 This represents the second auxiliary parameter, which is a 0-1 variable.

[0097] The end time of the positive green wave bandwidth between any two adjacent intersections should be:

[0098] ge i =min(h) i +g i h i+1 +g i+1 -t i +o i +m i ); (twenty four)

[0099] Among them, ge i This indicates that the end time of the positive green wave bandwidth must be less than the end time of the green light at each intersection.

[0100] Accordingly, (24) can be linearized to the following constraints:

[0101] ge i ≤h i +g i (25)

[0102] ge i ≤h i+1 +g i+1 -t i +o i +mi (26)

[0103] ge i ≥h i +g i -M(1-v i，3 (27)

[0104] ge i ≥h i+1 +g i+1 -t i +o i +m i -M(1-v i，4 (28)

[0105] v i，3 +v i，4 =1; (29)

[0106] Among them, v i，3 This represents the third auxiliary parameter, v. i，4 This represents the fourth auxiliary parameter, which is a 0-1 variable.

[0107] Thus, the positive green wave bandwidth between any two adjacent intersections should be:

[0108] pb i =max(0, ge i --gs i (30)

[0109] Among them, pb i This indicates the bandwidth of the positive green wave.

[0110] It can be linearized to the following constraints:

[0111] pb i ≥0; (31)

[0112] pb i ≥ge i -gs i (32)

[0113] pb i ≤ge i -gs i +M(1-v i，5 (33)

[0114] pb i ≤M(1-v i，6 (34)

[0115] ν i，5 +ν i，6 =1; (35)

[0116] Where, ν i，5 Indicates the fifth auxiliary parameter, ν i，6 This represents the sixth auxiliary parameter, which consists of 0-1 variables.

[0117] Similarly, the start time of the reverse green wave bandwidth between adjacent intersections The following constraints should be met:

[0118]

[0119] in, This represents the ninth auxiliary parameter. This represents the tenth auxiliary parameter, which consists of variables ranging from 0 to 1.

[0120] End time of reverse green wave bandwidth between adjacent intersections The following constraints should be met:

[0121]

[0122] in, This represents the eleventh auxiliary parameter. This represents the twelfth auxiliary parameter, which consists of variables ranging from 0 to 1.

[0123] Thus, the reverse green wave bandwidth between adjacent intersections It should be:

[0124]

[0125] Similarly, it can be linearized to the following constraints:

[0126]

[0127] ν i，7 +ν i，8 =1; (51)

[0128] Where, ν i，7 ν represents the seventh auxiliary parameter. i，8 This represents the eighth auxiliary parameter, which consists of 0-1 variables.

[0129] The above constraints are mainly based on the traffic flow between adjacent intersections on the trunk line. This further considers the bandwidth between each pair of intersections on the basis of continuous bandwidth, thereby further improving the green wave optimization effect on the trunk line.

[0130] 4) Start time constraint of the green wave bandwidth starting intersection

[0131] In some embodiments of this disclosure, the start time constraint of the starting intersection of the green wave bandwidth may include: if any intersection is the starting intersection of the positive green wave bandwidth, the time difference between the time when the positive green wave flows into the intersection and the start time of the positive green light of the intersection is set to 0; if any intersection is the starting intersection of the reverse green wave bandwidth, the time difference between the time when the reverse green wave flows into the intersection and the start time of the reverse green light of the intersection is set to 0.

[0132] For example, if the first intersection in the forward direction is the starting intersection of the forward green wave bandwidth, and the last intersection in the reverse direction is the starting intersection of the reverse green wave bandwidth, then for such intersections, in order to ensure the initial green wave continuity, the following requirements can be met:

[0133] e1 = 0; (52)

[0134]

[0135] in, This represents the time difference between the time when the reverse green wave flows into intersection N when i=N and the time when the reverse green light at intersection N begins.

[0136] Additionally, if the positive green wave bandwidth between intersections i and i+1 is interrupted, i.e., π i =1, intersection i+1 is the starting intersection of a new green wave bandwidth, in which case e is also required. i+1 =0, and the reverse is similar.

[0137] Accordingly, equations (54)-(55) are the start time constraints of the starting intersection of the forward green wave bandwidth when the forward green wave bandwidth is interrupted, and equations (56)-(57) are the start time constraints of the starting intersection of the reverse green wave bandwidth when the reverse green wave bandwidth is interrupted.

[0138] e i+1 ≥(π i -1)M; (54)

[0139] e i+1 ≤(1-π i M; (55)

[0140]

[0141] By applying the above constraints, the start time of the green light at the initial intersection can be made the start time of the green wave bandwidth, thus enabling vehicles to enjoy the green wave bandwidth immediately and improving the optimization effect of the green wave on the trunk line.

[0142] 5) Bandwidth location constraints

[0143] In some embodiments of this disclosure, the bandwidth location constraint may include: a forward constraint and a reverse constraint; wherein, the forward constraint may include: the difference between the midpoint of the forward green wave bandwidth and the midpoint of the forward green light duration of the downstream intersection of intersection i is less than or equal to the fifth parameter, that is, the forward green wave bandwidth needs to be as close as possible to the midpoint of the forward green light duration of the downstream intersection of intersection i; the reverse constraint may include: the difference between the midpoint of the reverse green wave bandwidth and the midpoint of the reverse green light duration of the upstream intersection of intersection i is less than or equal to the sixth parameter, that is, the reverse green wave bandwidth needs to be as close as possible to the midpoint of the reverse green light duration of the upstream intersection of intersection i; both the fifth parameter and the sixth parameter are greater than or equal to 0.

[0144] Generally speaking, for two adjacent intersections, the closer the green wave bandwidth is to the midpoint of the green light duration, the better the green wave effect. Correspondingly, for the positive green wave bandwidth, it should be as close as possible to the midpoint of the positive green light duration of the downstream intersection.

[0145] For example, for intersection i+1 downstream of intersection i, the green light duration before the green wave bandwidth can be expressed as gs. i +t i -o i -h i+1 The green light duration after the green wave bandwidth can be expressed as 1-ge i -t i +o i -f i+1 The time difference between the two (po) i (i.e., the fifth parameter) should satisfy:

[0146] po i ≥gs i +2t i -2o i -h i+1 -1+ge i -f i+1 (58)

[0147] po i ≥1-ge i -2t i +2o i -f i+1 -gs i +h i+1 (59)

[0148] In other words, po i The smaller the absolute value, the closer the green wave bandwidth is to the midpoint of the green light duration.

[0149] For the reverse green wave bandwidth, it needs to be as close as possible to the midpoint of the reverse green light duration at the upstream intersection, corresponding to the time difference ( That is, the sixth parameter) is:

[0150]

[0151] Through the above processing, the bandwidth position of the green wave can be constrained to near the midpoint of the green light duration, thereby further improving the optimization effect of trunk green wave.

[0152] 6) Bandwidth balancing constraints

[0153] In some embodiments of this disclosure, the bandwidth equalization constraint exists only when the forward and reverse weight coefficients of the trunk are equal. The bandwidth equalization constraint may include: the difference between the forward green wave bandwidth and the reverse green wave bandwidth is less than or equal to a fourth parameter, and the difference between the reverse green wave bandwidth and the forward green wave bandwidth is less than or equal to a fourth parameter, where the fourth parameter is greater than or equal to 0.

[0154] When the forward and reverse weighting coefficients of the trunk line are equal, that is At this time, bandwidth balancing constraints can be further increased to ensure the balance of green wave bandwidth between adjacent intersections.

[0155] That is:

[0156]

[0157] The above two equations are equivalent to constraining ω i It needs to be greater than or equal to The absolute value of ω i This represents the fourth parameter, which can be greater than or equal to 0.

[0158] After determining the constraints, the objective solution can be generated based on the predetermined trunk information, constraints, and optimization objectives. In some embodiments of this disclosure, the objective solution can be generated using a maximum bandwidth (maxBand) model based on the predetermined trunk information, constraints, and optimization objectives.

[0159] The specific information included in the planned trunk line information can be determined according to actual needs. For example, it may include the total length of the trunk line, which intersections it includes, the distance between adjacent intersections, and the average vehicle speed.

[0160] The maxBand model is a mathematical model for solving multi-objective decision problems. The core idea of ​​this model is to find a balanced solution based on certain constraints, considering multiple decision objectives (corresponding to the optimization objectives described in this disclosure), so that the optimal balance can be achieved among the various objectives.

[0161] The scheme described in this disclosure improves the constraints and optimization objectives of the traditional maxBand model, thereby achieving better optimization results for trunk green wave.

[0162] Specifically, the optimization objective can be comprehensively expressed as:

[0163]

[0164] Among them, the first item The primary optimization objective is to maximize the continuous bandwidth; the second term... Third item and the fourth item These represent the maximum green wave bandwidth, the fewest green wave bandwidth interruptions, and the optimal green wave bandwidth location between adjacent intersections, respectively.

[0165] when hour, otherwise k、 The specific values ​​of A, B, and C can be determined according to actual needs. Both bandwidth location constraints and bandwidth equalization constraints can be weak constraints.

[0166] The specific results included in the objective solution can be determined according to actual needs, such as including b as shown in equation (64). i , pb i , g i+1 , π i , po i , ω i In addition, along with these results, we will also obtain other results related to these results, such as the reservation information corresponding to intersection i and various related information in the reservation information corresponding to intersection i+1.

[0167] The constraints are used to limit the values ​​of each result in the objective solution. These constraints are interconnected; for example, b... i It needs to satisfy the constraints of equations (1) and (3), and equations (1) and (3) both involve e. i and e i+1 Wait, then with e i and e i+1 For example, e i and e i+1 In addition to satisfying the constraints of equations (1) and (3), it is also necessary to satisfy the constraints of equations (9) and (10), etc. For example, equation (9) also involves t. i , t i In addition to satisfying the constraint of equation (9), it is also necessary to satisfy the constraints of equations (10), (20), (22), (26) and (28). Accordingly, the various constraints interact with each other and are related together. Each result in the objective solution needs to satisfy all the relevant constraints.

[0168] The process of generating the objective solution is the process of solving a constrained optimization problem, that is, under a series of constraints, finding a set of parameter values ​​that make the objective value of a certain function or a set of functions reach the optimum. The constraints can be equality constraints or inequality constraints.

[0169] Subsequently, based on the target solution results, the relevant parameters for green wave traffic at each intersection in the trunk line can be configured, such as configuring the cycle duration, green light duration, and non-green light duration at each intersection, so as to achieve the effect of green wave traffic.

[0170] It should be noted that, for the sake of simplicity, the foregoing method embodiments are described as a series of actions. However, those skilled in the art should understand that this disclosure is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this disclosure. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this disclosure.

[0171] The above is an introduction to the method embodiments. The following describes the solution described in this disclosure further through device embodiments.

[0172] Figure 4 This is a schematic diagram of the structural composition of Embodiment 400 of the trunk green wave processing device described in this disclosure. Figure 4 As shown, it includes: a first processing module 401 and a second processing module 402.

[0173] The first processing module 401 is used to determine the optimization target and the corresponding constraints for the trunk line to be processed. The optimization target includes maximizing the continuous green wave bandwidth of the trunk line and maximizing the green wave bandwidth between adjacent intersections in the trunk line. The trunk line is a road segment including at least three consecutive intersections.

[0174] The second processing module 402 is used to generate target solution results based on predetermined trunk line information, constraints and optimization objectives. The target solution results are used to configure the green wave traffic-related parameters of each intersection in the trunk line.

[0175] By adopting the scheme described in the above-mentioned device embodiment, multiple different optimization objectives can be set, such as maximizing the continuous green wave bandwidth of the trunk line and maximizing the green wave bandwidth between adjacent intersections in the trunk line. This comprehensively considers the overall traffic effect of the trunk line and the traffic effect between adjacent intersections, thereby improving the accuracy of the obtained objective solution results. Correspondingly, by using the objective solution results to configure the green wave traffic-related parameters of each intersection in the trunk line, the green wave traffic effect can be improved, such as reducing vehicle parking, alleviating traffic congestion, and improving traffic safety.

[0176] For the trunk line to be processed, optimization objectives can be determined, such as maximizing the continuous green wave bandwidth of the trunk line and maximizing the green wave bandwidth between adjacent intersections on the trunk line. Additionally, in some embodiments of this disclosure, the optimization objectives may also include one or all of the following: minimizing the number of green wave bandwidth interruptions and optimizing the green wave bandwidth location.

[0177] In addition to determining the optimization objective, it is also necessary to determine the constraints corresponding to the optimization objective. In some embodiments of this disclosure, the first processing module 401 can determine the constraints corresponding to any intersection i, 1≤i≤N-1, where N represents the number of intersections included in the trunk line, based on the predetermined information corresponding to intersection i and the predetermined information corresponding to intersection i+1.

[0178] In some embodiments of this disclosure, the predetermined information corresponding to intersection i may include some or all of the following: a first time difference, which is the time difference between the time when a positive green wave flows into intersection i and the time when the positive green light starts at intersection i; a second time difference, which is the time difference between the time when a reverse green wave flows into intersection i and the time when the reverse green light starts at intersection i; a first bandwidth, which is the bandwidth of the positive green wave between intersection i and intersection i+1; a second bandwidth, which is the bandwidth of the reverse green wave between intersection i and intersection i+1; a first parameter, which is used to represent the cycle duration type of intersection i; a first duration, which is the positive non-green light duration of intersection i; a second duration, which is the reverse non-green light duration of intersection i; and a third duration, which is the positive non-green light duration of intersection i. The following are the time intervals for each phase: First, the green light duration; Second, the green light duration for the reverse direction at intersection i; Third, the green light duration for the reverse direction at intersection i+1; Fourth, the green light duration for the reverse direction at intersection i+1; Fifth, the green light duration for the forward direction at intersection i; Sixth, the green light duration for the reverse direction at intersection i+1; First percentage, the percentage of the forward coordinated phase preceding the preceding phase at intersection i; Second percentage, the percentage of the reverse coordinated phase preceding the preceding phase at intersection i; First phase difference, the actual phase difference between intersection i and intersection i+1; Second phase difference, the difference between the midpoint of the forward non-green light duration at intersection i and the midpoint of the forward non-green light duration at intersection i+1; Third phase difference, the difference between the midpoint of the reverse non-green light duration at intersection i and the midpoint of the reverse non-green light duration at intersection i+1.

[0179] In some embodiments of this disclosure, the predetermined information corresponding to intersection i+1 may include some or all of the following: a third time difference, which is the time difference between the time when the positive green wave flows into intersection i+1 and the time when the positive green light starts at intersection i+1; a fourth time difference, which is the time difference between the time when the reverse green wave flows into intersection i+1 and the time when the reverse green light starts at intersection i+1; a second parameter, which is used to represent the cycle duration type of intersection i+1; a seventh duration, which is the duration of the positive non-green light at intersection i+1; an eighth duration, which is the duration of the reverse non-green light at intersection i+1; a third percentage, which is the percentage of the preceding phase of the positive coordinated phase at intersection i+1; a fourth percentage, which is the percentage of the preceding phase of the reverse coordinated phase at intersection i+1; a ninth duration, which is the duration of the positive green light at intersection i+1; and a tenth duration, which is the duration of the reverse green light at intersection i+1.

[0180] Additionally, in some embodiments of this disclosure, the cycle duration type may include: a common cycle and a half cycle, where the half cycle is half of the common cycle, wherein the cycle duration in response to intersection i is the common cycle, s i The value of can be 0, and the period of response to intersection i is half a period, s. i The value of can be 1, and the period duration responding to intersection i+1 is a common period, s i+1 The value of can be 0, and the period of response at intersection i+1 is half a period, s i+1 The value of can be 1. In addition, the time and duration involved in the predetermined information are all normalized results. The normalization includes dividing the time or duration before normalization by the common period.

[0181] In some embodiments of this disclosure, the constraints may include: continuous bandwidth constraints; continuous bandwidth constraints may include: forward constraints and reverse constraints; forward constraints may include: the sum of the first bandwidth and the first time difference is less than or equal to the first difference, the first difference being the difference obtained by subtracting the first parameter / 2 and the first duration from 1 in sequence; reverse constraints may include: the sum of the second bandwidth and the second time difference is less than or equal to the second difference, the second difference being the difference obtained by subtracting the first parameter / 2 and the second duration from 1 in sequence.

[0182] In some embodiments of this disclosure, the constraint may further include: a two-way coordination constraint; the two-way coordination constraint may include: a positive constraint and a negative constraint; wherein, the positive constraint may include: a first bandwidth less than or equal to (1-π) / 2π. i M, where M is a positive integer, and π i As a decision variable, π is the response to the interruption of the positive green wave bandwidth between intersection i and intersection i+1. i The value of π is 1; otherwise, π iThe value of is 0, and the sum of the second phase difference, (seventh duration + 0.5 * second parameter) / 2, and the third time difference is less than or equal to the following sum: (first duration + 0.5 * first parameter) / 2, first time difference, fifth duration, and π. i The sum of M, and the sum of the second phase difference, (seventh duration + 0.5 * second parameter) / 2, and the third time difference are greater than or equal to the following differences: (first duration + 0.5 * first parameter) / 2, the sum of the first time difference and the fifth duration, and π. i The difference of M; the reverse constraint may include: the second bandwidth is less than or equal to As a decision variable, it responds to the interruption of the reverse green wave bandwidth between intersection i and intersection i+1. The value is 1, otherwise, The value is 0, and the sum of the third phase difference, (second duration + 0.5 * first parameter) / 2, and the second time difference is less than or equal to the following sum: (eighth duration + 0.5 * second parameter) / 2, fourth time difference, sixth duration, and... The sum of the sums of the third phase difference, (second duration + 0.5 * first parameter) / 2, and the second time difference is greater than or equal to the following differences: (eighth duration + 0.5 * second parameter) / 2, the sum of the fourth time difference and the sixth duration, and the sum of the sums of the second and third phase differences. The difference.

[0183] In addition, in some embodiments of this disclosure, the first processing module 401 can obtain a first ratio of the forward distance between intersection i and intersection i+1 to the forward green wave vehicle speed, and obtain the product of the first ratio and the adjustment coefficient as t. i The adjustment coefficient is greater than 0 and is a value within a predetermined range. The first processing module 401 can also obtain a second ratio of the reverse distance between intersection i and intersection i+1 to the reverse green wave vehicle speed, and obtain the product of the second ratio and the adjustment coefficient as...

[0184] In some embodiments of this disclosure, the constraints may further include: bandwidth constraints between adjacent intersections; the bandwidth constraints between adjacent intersections may include: forward constraints and reverse constraints; wherein, the forward constraints may include: the forward green wave bandwidth between intersection i and intersection i+1 is greater than or equal to 0, and the forward green wave bandwidth is greater than or equal to the third difference between the end time and the start time of the forward green wave bandwidth, and the forward green wave bandwidth is less than or equal to the sum of the third difference and M(1-fifth auxiliary parameter), and the forward green wave bandwidth is less than or equal to M(1-sixth auxiliary parameter), wherein the values ​​of the fifth auxiliary parameter and the sixth auxiliary parameter are... The values ​​of the fifth and sixth auxiliary parameters are 0 or 1, and the sum of the fifth and sixth auxiliary parameters is 1. M is a positive integer. The reverse constraints may include: the reverse green wave bandwidth between intersection i and intersection i+1 is greater than or equal to 0, the reverse green wave bandwidth is greater than or equal to the fourth difference between the end time and the start time of the reverse green wave bandwidth, the reverse green wave bandwidth is less than or equal to the sum of the fourth difference and M(1-seventh auxiliary parameter), and the reverse green wave bandwidth is less than or equal to M(1-eighth auxiliary parameter). The values ​​of the seventh and eighth auxiliary parameters are 0 or 1, and the sum of the seventh and eighth auxiliary parameters is 1.

[0185] In some embodiments of this disclosure, the start time of the positive green wave bandwidth may simultaneously meet the following constraints: the start time of the positive green wave bandwidth is greater than or equal to the first proportion; the start time of the positive green wave bandwidth is greater than or equal to the sum of the following: the difference between the third proportion and the fifth duration, the first phase difference, and the third parameter, where the third parameter is an integer; the start time of the positive green wave bandwidth is less than or equal to the sum of the first proportion and M(1-first auxiliary parameter); the start time of the positive green wave bandwidth is less than or equal to the sum of the following: the difference between the third proportion and the fifth duration, the first phase difference, the third parameter, and M(1-second auxiliary parameter), where the values ​​of the first auxiliary parameter and the second auxiliary parameter are 0 or 1 respectively, and the sum of the first auxiliary parameter and the second auxiliary parameter is 1; the positive green wave bandwidth The end time can simultaneously meet the following constraints: the end time of the positive green wave bandwidth is less than or equal to the sum of the first proportion and the third duration; the end time of the positive green wave bandwidth is less than or equal to the sum of the following: the difference between the ninth duration and the fifth duration, the third proportion, the first phase difference, and the third parameter; the end time of the positive green wave bandwidth is greater than or equal to the following difference: the difference between the sum of the first proportion and the third duration and M(1-third auxiliary parameter); the end time of the positive green wave bandwidth is greater than or equal to the following difference: the difference between the difference between the ninth duration and the fifth duration, the third proportion, the first phase difference, and the third parameter, and the difference between M(1-fourth auxiliary parameter), where the values ​​of the third auxiliary parameter and the fourth auxiliary parameter are 0 or 1 respectively, and the sum of the third auxiliary parameter and the fourth auxiliary parameter is 1.

[0186] In addition, in some embodiments of this disclosure, the start time of the reverse green wave bandwidth may simultaneously meet the following constraints: the start time of the reverse green wave bandwidth is greater than or equal to the second proportion; the start time of the reverse green wave bandwidth is greater than or equal to the sum of the following: the fourth proportion, the sixth duration, the third parameter, and the first phase difference, wherein the third parameter is an integer; the start time of the reverse green wave bandwidth is less than or equal to the sum of the second proportion and M(1-ninth auxiliary parameter); the start time of the reverse green wave bandwidth is less than or equal to the sum of the following: the fourth proportion, the sixth duration, the third parameter, the first phase difference, and M(1-tenth auxiliary parameter), wherein the values ​​of the ninth and tenth auxiliary parameters are 0 or 1 respectively, and the sum of the ninth and tenth auxiliary parameters is 1; the end time of the reverse green wave bandwidth. The timing can simultaneously meet the following constraints: the end time of the reverse green wave bandwidth is less than or equal to the sum of the second proportion and the fourth duration; the end time of the reverse green wave bandwidth is less than or equal to the sum of the following: the fourth proportion, the sixth duration, the third parameter, the first phase difference, and the tenth duration; the end time of the reverse green wave bandwidth is greater than or equal to the following difference: the difference between the sum of the second proportion and the fourth duration and M(1-eleventh auxiliary parameter); the end time of the reverse green wave bandwidth is greater than or equal to the following difference: the difference between the sum of the fourth proportion, the sixth duration, the third parameter, the first phase difference, and the tenth duration and M(1-twelfth auxiliary parameter), where the values ​​of the eleventh and twelfth auxiliary parameters are 0 or 1 respectively, and the sum of the eleventh and twelfth auxiliary parameters is 1.

[0187] In some embodiments of this disclosure, the constraints may further include: a start time constraint for the starting intersection of the green wave bandwidth; the start time constraint for the starting intersection of the green wave bandwidth may include: if any intersection is the starting intersection of the positive green wave bandwidth, the time difference between the time when the positive green wave flows into the intersection and the start time of the positive green light at the intersection is set to 0; if any intersection is the starting intersection of the reverse green wave bandwidth, the time difference between the time when the reverse green wave flows into the intersection and the start time of the reverse green light at the intersection is set to 0.

[0188] In some embodiments of this disclosure, the constraints may further include: bandwidth location constraints; the bandwidth location constraints may include: forward constraints and reverse constraints; wherein, the forward constraints may include: the difference between the midpoint of the forward green wave bandwidth and the midpoint of the forward green light duration of the downstream intersection of intersection i is less than or equal to the fifth parameter, and the reverse constraints may include: the difference between the midpoint of the reverse green wave bandwidth and the midpoint of the reverse green light duration of the upstream intersection of intersection i is less than or equal to the sixth parameter, and both the fifth parameter and the sixth parameter are greater than or equal to 0.

[0189] In some embodiments of this disclosure, the constraints may further include: bandwidth equalization constraints, which exist only when the forward and reverse weight coefficients of the trunk are equal. The bandwidth equalization constraints may include: the difference between the forward green wave bandwidth and the reverse green wave bandwidth is less than or equal to a fourth parameter, and the difference between the reverse green wave bandwidth and the forward green wave bandwidth is less than or equal to a fourth parameter, where the fourth parameter is greater than or equal to 0.

[0190] After determining the constraints, the second processing module 402 can generate the target solution result based on the predetermined trunk information, constraints, and optimization objective. In some embodiments of this disclosure, the second processing module 402 can generate the target solution result using the maxBand model based on the predetermined trunk information, constraints, and optimization objective.

[0191] Figure 4 The specific workflow of the device embodiment shown can be found in the relevant descriptions in the foregoing method embodiments, and will not be repeated here.

[0192] The solutions described in this disclosure can be applied to the field of artificial intelligence, particularly in areas such as intelligent transportation and cloud computing. Artificial intelligence is the study of enabling computers to simulate certain human thought processes and intelligent behaviors (such as learning, reasoning, thinking, and planning). It involves both hardware and software technologies. Artificial intelligence hardware technologies generally include sensors, dedicated AI chips, cloud computing, distributed storage, and big data processing. Artificial intelligence software technologies mainly include computer vision, speech recognition, natural language processing, machine learning / deep learning, big data processing, and knowledge graph technologies.

[0193] The collection, storage, use, processing, transmission, provision, and disclosure of user personal information involved in the technical solution disclosed herein comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0194] According to embodiments of this disclosure, this disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0195] Figure 5 A schematic block diagram of an electronic device 500 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0196] like Figure 5 As shown, device 500 includes a computing unit 501, which can perform various appropriate actions and processes based on a computer program stored in read-only memory (ROM) 502 or a computer program loaded from storage unit 508 into random access memory (RAM) 503. RAM 503 may also store various programs and data required for the operation of device 500. The computing unit 501, ROM 502, and RAM 503 are interconnected via bus 504. Input / output (I / O) interface 505 is also connected to bus 504.

[0197] Multiple components in device 500 are connected to I / O interface 505, including: input unit 506, such as keyboard, mouse, etc.; output unit 507, such as various types of monitors, speakers, etc.; storage unit 508, such as disk, optical disk, etc.; and communication unit 509, such as network card, modem, wireless transceiver, etc. Communication unit 509 allows device 500 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0198] The computing unit 501 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any suitable processor, controller, microcontroller, etc. The computing unit 501 performs the various methods and processes described above, such as those described in this disclosure. For example, in some embodiments, the methods described in this disclosure can be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 508. In some embodiments, part or all of the computer program can be loaded and / or installed on device 500 via ROM 502 and / or communication unit 509. When the computer program is loaded into RAM 503 and executed by the computing unit 501, one or more steps of the methods described in this disclosure can be performed. Alternatively, in other embodiments, the computing unit 501 may be configured to perform the methods described herein by any other suitable means (e.g., by means of firmware).

[0199] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard parts (ASSPs), systems-on-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0200] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0201] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory, read-only memory, erasable programmable read-only memory (EPROM), flash memory, optical fiber, compact disc read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0202] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a cathode ray tube (CRT) or liquid crystal display (LCD) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0203] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with embodiments of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0204] Computer systems can include clients and servers. Clients and servers are generally located far apart and typically interact via communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with each other. Servers can be cloud servers, servers in distributed systems, or servers incorporating blockchain technology.

[0205] It should be understood that the various forms of processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0206] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A method for processing green wave signals on trunk lines, comprising: For the trunk line to be processed, the optimization objectives and the corresponding constraints are determined. The optimization objectives include maximizing the continuous green wave bandwidth of the trunk line and maximizing the green wave bandwidth between adjacent intersections in the trunk line. The trunk line is a road segment including at least three consecutive intersections. The constraints include: continuous bandwidth constraints, bidirectional coordination constraints, and bandwidth constraints between adjacent intersections. Based on the predetermined trunk line information, the constraints, and the optimization objective, the objective solution result is generated using the maximum bandwidth model. The objective solution result is used to configure the green wave traffic-related parameters of each intersection in the trunk line. The predetermined trunk line information includes: the total length of the trunk line, the intersections included in the trunk line, the distance between adjacent intersections, and the average vehicle speed.

2. The method according to claim 1, wherein, The optimization objectives also include one or all of the following: minimizing the number of green wave bandwidth interruptions and optimizing the green wave bandwidth location.

3. The method according to claim 2, wherein, The constraints corresponding to the optimization objective are determined as follows: for any intersection i, 1 ≤ N-1, where N represents the number of intersections included in the trunk line. The constraints corresponding to intersection i are determined based on the predetermined information corresponding to intersection i and the predetermined information corresponding to intersection i+1.

4. The method according to claim 3, wherein, The predetermined information corresponding to intersection i includes some or all of the following: The first time difference is the time difference between the time when the positive green wave flows into the intersection i and the time when the positive green light of the intersection i starts. The second time difference is the time difference between the time when the reverse green wave flows into intersection i and the time when the reverse green light of intersection i begins. The first bandwidth is the bandwidth of the positive green wave between intersection i and intersection i+1; The second bandwidth is the bandwidth of the reverse green wave between intersection i and intersection i+1; The first parameter is used to represent the cycle duration type of intersection i; The first duration is the forward non-green light duration of intersection i; The second duration is the reverse non-green light duration of intersection i; The third duration is the forward green light duration at intersection i; The fourth duration is the reverse green light duration at intersection i; The fifth duration is the forward travel time between intersection i and intersection i+1; The sixth duration is the reverse travel time between intersection i and intersection i+1; The first proportion is the positive coordination phase preceding the phase proportion of intersection i; The second proportion is the proportion of the reverse coordination phase preceding the phase of intersection i; The first phase difference is the actual phase difference between intersection i and intersection i+1; The second phase difference is the difference between the midpoint of the positive non-green light duration of intersection i and the midpoint of the positive non-green light duration of intersection i+1. The third phase difference is the difference between the midpoint of the reverse non-green light duration of intersection i and the midpoint of the reverse non-green light duration of intersection i+1. The pre-defined information corresponding to intersection i+1 includes some or all of the following: The third time difference is the time difference between the time when the positive green wave flows into intersection i+1 and the time when the positive green light of intersection i+1 starts. The fourth time difference is the time difference between the time when the reverse green wave flows into the intersection i+1 and the time when the reverse green light of the intersection i+1 begins. The second parameter is used to represent the cycle duration type of intersection i+1; The seventh duration is the positive non-green light duration at intersection i+1; The eighth duration is the reverse non-green light duration at intersection i+1; The third proportion is the positive coordination phase preceding the phase proportion of intersection i+1; The fourth proportion is the proportion of the reverse coordination phase preceding the phase at intersection i+1. The ninth duration is the forward green light duration at intersection i+1; The tenth duration is the reverse green light duration at intersection i+1.

5. The method according to claim 4, wherein, The cycle duration types include: common cycle and half cycle, where the half cycle is half of the common cycle; wherein, the cycle duration in response to intersection i is the common cycle, and the first parameter is 0; the cycle duration in response to intersection i is the half cycle, and the first parameter is 1; and the cycle duration in response to intersection i+1 is the common cycle, and the second parameter is 0; the cycle duration in response to intersection i+1 is the half cycle, and the second parameter is 1. The time and duration in the predetermined information are both normalized results. The normalization includes dividing the time or duration before normalization by the common period.

6. The method according to claim 5, wherein, The continuous bandwidth constraint includes: positive constraint and negative constraint; The positive constraint includes: the sum of the first bandwidth and the first time difference is less than or equal to the first difference, which is the difference obtained by subtracting the first parameter / 2 and the first duration from 1 in sequence; The reverse constraint includes: the sum of the second bandwidth and the second time difference is less than or equal to the second difference, which is the difference obtained by subtracting the first parameter / 2 and the second duration from 1 in sequence.

7. The method according to claim 5, wherein, The bidirectional coordination constraints include: positive constraints and negative constraints; The positive constraints include: The first bandwidth is less than or equal to (1-πi)M, where M is a positive integer and πi is a decision variable. In response to the interruption of the positive green wave bandwidth between intersection i and intersection i+1, the value of πi is 1; otherwise, the value of πi is 0. Furthermore, the sum of the second phase difference, (seventh duration + 0.5 * second parameter) / 2, and the third time difference is less than or equal to the sum of the following: (first duration + 0.5 * first parameter) / 2, the first time difference, the fifth duration, and πiM. Furthermore, the sum of the second phase difference, (seventh duration + 0.5 * second parameter) / 2, and the third time difference is greater than or equal to the following difference: the difference between the sum of the first duration + 0.5 * first parameter) / 2, the first time difference, and the fifth duration, and πiM; The reverse constraint includes: The second bandwidth is less than or equal to , As a decision variable, in response to the interruption of the reverse green wave bandwidth between intersection i and intersection i+1, the The value of is 1; otherwise, the value of is... The value of is 0; Furthermore, the sum of the third phase difference, (second duration + 0.5 * first parameter) / 2, and the second time difference is less than or equal to the sum of the following: (eighth duration + 0.5 * second parameter) / 2, the fourth time difference, the sixth duration, and... The sum of the sums; Furthermore, the sum of the third phase difference, (second duration + 0.5 * first parameter) / 2, and the second time difference is greater than or equal to the following difference: (eighth duration + 0.5 * second parameter) / 2, the sum of the fourth time difference and the sixth duration, and the... The difference.

8. The method according to claim 7, wherein, The method for obtaining the fifth duration includes: obtaining a first ratio of the forward distance between intersection i and intersection i+1 to the forward green wave vehicle speed, and obtaining the product of the first ratio and the adjustment coefficient as the fifth duration, wherein the adjustment coefficient is greater than 0 and is a value within a predetermined range; The method for obtaining the sixth duration includes: obtaining a second ratio of the reverse distance between intersection i and intersection i+1 to the reverse green wave speed, and obtaining the product of the second ratio and the adjustment coefficient as the sixth duration.

9. The method according to claim 5, wherein, The bandwidth constraints between adjacent intersections include: forward constraints and reverse constraints; The positive constraints include: The positive green wave bandwidth between intersection i and intersection i+1 is greater than or equal to 0; And, the positive green wave bandwidth is greater than or equal to a third difference between the end time of the positive green wave bandwidth and the start time of the positive green wave bandwidth; Furthermore, the positive green wave bandwidth is less than or equal to the sum of the third difference and M(1-fifth auxiliary parameter); Furthermore, the positive green wave bandwidth is less than or equal to M(1-sixth auxiliary parameter), the values ​​of the fifth auxiliary parameter and the sixth auxiliary parameter are 0 or 1 respectively, and the sum of the fifth auxiliary parameter and the sixth auxiliary parameter is 1, where M is a positive integer; The reverse constraint includes: The reverse green wave bandwidth between intersection i and intersection i+1 is greater than or equal to 0; And, the reverse green wave bandwidth is greater than or equal to a fourth difference between the end time of the reverse green wave bandwidth and the start time of the reverse green wave bandwidth. Furthermore, the reverse green wave bandwidth is less than or equal to the sum of the fourth difference and M(1-seventh auxiliary parameter); Furthermore, the reverse green wave bandwidth is less than or equal to M(1-eighth auxiliary parameter), the values ​​of the seventh auxiliary parameter and the eighth auxiliary parameter are 0 or 1 respectively, and the sum of the seventh auxiliary parameter and the eighth auxiliary parameter is 1.

10. The method according to claim 9, wherein, The start time of the positive green wave bandwidth simultaneously meets the following constraints: The start time of the positive green wave bandwidth is greater than or equal to the first proportion; The start time of the positive green wave bandwidth is greater than or equal to the sum of the following: the difference between the third proportion and the fifth duration, the first phase difference, and the third parameter, where the third parameter is an integer; The start time of the positive green wave bandwidth is less than or equal to the sum of the first proportion and M(1-first auxiliary parameter); The start time of the positive green wave bandwidth is less than or equal to the sum of the following: the difference between the third proportion and the fifth duration, the first phase difference, the third parameter, and the sum of M(1-second auxiliary parameter), wherein the values ​​of the first auxiliary parameter and the second auxiliary parameter are 0 or 1, and the sum of the first auxiliary parameter and the second auxiliary parameter is 1. The end time of the positive green wave bandwidth simultaneously meets the following constraints: The end time of the positive green wave bandwidth is less than or equal to the sum of the first proportion and the third duration; The end time of the positive green wave bandwidth is less than or equal to the sum of the following: the difference between the ninth duration and the fifth duration, the third proportion, the first phase difference, and the third parameter. The end time of the positive green wave bandwidth is greater than or equal to the following difference: the difference between the sum of the first proportion and the third duration and M(1-third auxiliary parameter); The end time of the positive green wave bandwidth is greater than or equal to the following difference: the difference between the ninth duration and the fifth duration, the third proportion, the sum of the first phase difference and the third parameter, and the difference between M(1-fourth auxiliary parameter), wherein the values ​​of the third auxiliary parameter and the fourth auxiliary parameter are 0 or 1 respectively, and the sum of the third auxiliary parameter and the fourth auxiliary parameter is 1.

11. The method according to claim 9, wherein, The start time of the reverse green wave bandwidth simultaneously meets the following constraints: The start time of the reverse green wave bandwidth is greater than or equal to the second proportion; The start time of the reverse green wave bandwidth is greater than or equal to the sum of the following: the fourth proportion, the sixth duration, the third parameter, and the first phase difference, wherein the third parameter is an integer; The start time of the reverse green wave bandwidth is less than or equal to the sum of the second proportion and M(1-ninth auxiliary parameter); The start time of the reverse green wave bandwidth is less than or equal to the sum of the following: the fourth proportion, the sixth duration, the third parameter, the first phase difference and M(1-tenth auxiliary parameter), the ninth auxiliary parameter and the tenth auxiliary parameter are 0 or 1 respectively, and the sum of the ninth auxiliary parameter and the tenth auxiliary parameter is 1. The end time of the reverse green wave bandwidth simultaneously meets the following constraints: The end time of the reverse green wave bandwidth is less than or equal to the sum of the second proportion and the fourth duration; The end time of the reverse green wave bandwidth is less than or equal to the sum of the following: the fourth proportion, the sixth duration, the third parameter, the first phase difference, and the tenth duration; The end time of the reverse green wave bandwidth is greater than or equal to the following difference: the difference between the sum of the second proportion and the fourth duration and M (1-eleventh auxiliary parameter); The end time of the reverse green wave bandwidth is greater than or equal to the following difference: the difference between the fourth proportion, the sixth duration, the third parameter, the sum of the first phase difference and the tenth duration, and M(1-twelfth auxiliary parameter), wherein the eleventh auxiliary parameter and the twelfth auxiliary parameter are 0 or 1 respectively, and the sum of the eleventh auxiliary parameter and the twelfth auxiliary parameter is 1.

12. The method according to claim 3, wherein, The constraints also include: the start time constraint of the green wave bandwidth starting intersection; The start time constraint of the starting intersection of the green wave bandwidth includes: if any intersection is the starting intersection of the positive green wave bandwidth, the time difference between the time when the positive green wave flows into the intersection and the start time of the positive green light of the intersection is set to 0; if any intersection is the starting intersection of the reverse green wave bandwidth, the time difference between the time when the reverse green wave flows into the intersection and the start time of the reverse green light of the intersection is set to 0.

13. The method according to claim 9, wherein, The constraints also include: bandwidth location constraints; The bandwidth location constraints include: positive constraints and negative constraints; The positive constraint includes: the difference between the midpoint of the positive green wave bandwidth and the midpoint of the positive green light duration of the downstream intersection of intersection i is less than or equal to the fifth parameter; The reverse constraint includes: the difference between the midpoint of the reverse green wave bandwidth and the midpoint of the reverse green light duration of the upstream intersection of intersection i is less than or equal to the sixth parameter, and both the fifth parameter and the sixth parameter are greater than or equal to 0.

14. The method according to claim 9, wherein, The constraints also include: bandwidth equalization constraints; the bandwidth equalization constraints exist only when the forward and reverse weight coefficients of the trunk lines are equal. The bandwidth equalization constraint includes: the difference between the positive green wave bandwidth and the negative green wave bandwidth is less than or equal to a fourth parameter, and the difference between the negative green wave bandwidth and the positive green wave bandwidth is less than or equal to the fourth parameter, wherein the fourth parameter is greater than or equal to 0.

15. A trunk line green wave processing device, comprising: The first processing module and the second processing module; The first processing module is used to determine the optimization target and the corresponding constraints for the trunk line to be processed. The optimization target includes maximizing the continuous green wave bandwidth of the trunk line and maximizing the green wave bandwidth between adjacent intersections in the trunk line. The trunk line is a road segment including at least three consecutive intersections. The constraints include: continuous bandwidth constraints, bidirectional coordination constraints, and bandwidth constraints between adjacent intersections. The second processing module is used to generate a target solution result using a maximum bandwidth model based on the predetermined trunk line information, the constraints, and the optimization objective. The target solution result is used to configure the green wave traffic-related parameters of each intersection in the trunk line. The predetermined trunk line information includes: the total length of the trunk line, the intersections included in the trunk line and the distance between adjacent intersections, and the average vehicle speed.

16. The apparatus according to claim 15, wherein, The optimization objectives also include one or all of the following: minimizing the number of green wave bandwidth interruptions and optimizing the green wave bandwidth location.

17. The apparatus according to claim 16, wherein, For any intersection i, 1≤i≤N-1, where N represents the number of intersections included in the trunk line, the first processing module determines the constraint corresponding to intersection i based on the predetermined information corresponding to intersection i and the predetermined information corresponding to intersection i+1.

18. The apparatus according to claim 17, wherein, The predetermined information corresponding to intersection i includes some or all of the following: The first time difference is the time difference between the time when the positive green wave flows into the intersection i and the time when the positive green light of the intersection i starts. The second time difference is the time difference between the time when the reverse green wave flows into intersection i and the time when the reverse green light of intersection i begins. The first bandwidth is the bandwidth of the positive green wave between intersection i and intersection i+1; The second bandwidth is the bandwidth of the reverse green wave between intersection i and intersection i+1; The first parameter is used to represent the cycle duration type of intersection i; The first duration is the forward non-green light duration of intersection i; The second duration is the reverse non-green light duration of intersection i; The third duration is the forward green light duration at intersection i; The fourth duration is the reverse green light duration at intersection i; The fifth duration is the forward travel time between intersection i and intersection i+1; The sixth duration is the reverse travel time between intersection i and intersection i+1; The first proportion is the positive coordination phase preceding the phase proportion of intersection i; The second proportion is the proportion of the reverse coordination phase preceding the phase of intersection i; The first phase difference is the actual phase difference between intersection i and intersection i+1; The second phase difference is the difference between the midpoint of the positive non-green light duration of intersection i and the midpoint of the positive non-green light duration of intersection i+1. The third phase difference is the difference between the midpoint of the reverse non-green light duration of intersection i and the midpoint of the reverse non-green light duration of intersection i+1. The pre-defined information corresponding to intersection i+1 includes some or all of the following: The third time difference is the time difference between the time when the positive green wave flows into intersection i+1 and the time when the positive green light of intersection i+1 starts. The fourth time difference is the time difference between the time when the reverse green wave flows into the intersection i+1 and the time when the reverse green light of the intersection i+1 begins. The second parameter is used to represent the cycle duration type of intersection i+1; The seventh duration is the positive non-green light duration at intersection i+1; The eighth duration is the reverse non-green light duration at intersection i+1; The third proportion is the positive coordination phase preceding the phase proportion of intersection i+1; The fourth proportion is the proportion of the reverse coordination phase preceding the phase at intersection i+1. The ninth duration is the forward green light duration at intersection i+1; The tenth duration is the reverse green light duration at intersection i+1.

19. The apparatus according to claim 18, wherein, The cycle duration types include: common cycle and half cycle, where the half cycle is half of the common cycle; wherein, the cycle duration in response to intersection i is the common cycle, and the first parameter is 0; the cycle duration in response to intersection i is the half cycle, and the first parameter is 1; and the cycle duration in response to intersection i+1 is the common cycle, and the second parameter is 0; the cycle duration in response to intersection i+1 is the half cycle, and the second parameter is 1. The time and duration in the predetermined information are both normalized results. The normalization includes dividing the time or duration before normalization by the common period.

20. The apparatus according to claim 19, wherein, The continuous bandwidth constraint includes: positive constraint and negative constraint; The positive constraint includes: the sum of the first bandwidth and the first time difference is less than or equal to the first difference, which is the difference obtained by subtracting the first parameter / 2 and the first duration from 1 in sequence; The reverse constraint includes: the sum of the second bandwidth and the second time difference is less than or equal to the second difference, which is the difference obtained by subtracting the first parameter / 2 and the second duration from 1 in sequence.

21. The apparatus according to claim 19, wherein, The bidirectional coordination constraints include: positive constraints and negative constraints; The positive constraints include: The first bandwidth is less than or equal to (1-πi)M, where M is a positive integer and πi is a decision variable. In response to the interruption of the positive green wave bandwidth between intersection i and intersection i+1, the value of πi is 1; otherwise, the value of πi is 0. Furthermore, the sum of the second phase difference, (seventh duration + 0.5 * second parameter) / 2, and the third time difference is less than or equal to the sum of the following: (first duration + 0.5 * first parameter) / 2, the first time difference, the fifth duration, and πiM. Furthermore, the sum of the second phase difference, (seventh duration + 0.5 * second parameter) / 2, and the third time difference is greater than or equal to the following difference: the difference between the sum of the first duration + 0.5 * first parameter) / 2, the first time difference, and the fifth duration, and πiM; The reverse constraint includes: The second bandwidth is less than or equal to , As a decision variable, in response to the interruption of the reverse green wave bandwidth between intersection i and intersection i+1, the The value of is 1; otherwise, the value of is... The value of is 0; Furthermore, the sum of the third phase difference, (second duration + 0.5 * first parameter) / 2, and the second time difference is less than or equal to the sum of the following: (eighth duration + 0.5 * second parameter) / 2, the fourth time difference, the sixth duration, and... The sum of the sums; Furthermore, the sum of the third phase difference, (second duration + 0.5 * first parameter) / 2, and the second time difference is greater than or equal to the following difference: (eighth duration + 0.5 * second parameter) / 2, the sum of the fourth time difference and the sixth duration, and the... The difference.

22. The apparatus according to claim 21, wherein, The first processing module obtains a first ratio of the forward distance between intersection i and intersection i+1 to the forward green wave vehicle speed, and obtains the product of the first ratio and the adjustment coefficient as the fifth duration. The adjustment coefficient is greater than 0 and is a value within a predetermined range. The first processing module obtains a second ratio of the reverse distance between intersection i and intersection i+1 to the reverse green wave speed, and obtains the product of the second ratio and the adjustment coefficient as the sixth duration.

23. The apparatus according to claim 19, wherein, The bandwidth constraints between adjacent intersections include: forward constraints and reverse constraints; The positive constraints include: The positive green wave bandwidth between intersection i and intersection i+1 is greater than or equal to 0; And, the positive green wave bandwidth is greater than or equal to a third difference between the end time of the positive green wave bandwidth and the start time of the positive green wave bandwidth; Furthermore, the positive green wave bandwidth is less than or equal to the sum of the third difference and M(1-fifth auxiliary parameter); Furthermore, the positive green wave bandwidth is less than or equal to M(1-sixth auxiliary parameter), the values ​​of the fifth auxiliary parameter and the sixth auxiliary parameter are 0 or 1 respectively, and the sum of the fifth auxiliary parameter and the sixth auxiliary parameter is 1, where M is a positive integer; The reverse constraint includes: The reverse green wave bandwidth between intersection i and intersection i+1 is greater than or equal to 0; And, the reverse green wave bandwidth is greater than or equal to a fourth difference between the end time of the reverse green wave bandwidth and the start time of the reverse green wave bandwidth. Furthermore, the reverse green wave bandwidth is less than or equal to the sum of the fourth difference and M(1-seventh auxiliary parameter); Furthermore, the reverse green wave bandwidth is less than or equal to M(1-eighth auxiliary parameter), the values ​​of the seventh auxiliary parameter and the eighth auxiliary parameter are 0 or 1 respectively, and the sum of the seventh auxiliary parameter and the eighth auxiliary parameter is 1.

24. The apparatus according to claim 23, wherein, The start time of the positive green wave bandwidth simultaneously meets the following constraints: The start time of the positive green wave bandwidth is greater than or equal to the first proportion; The start time of the positive green wave bandwidth is greater than or equal to the sum of the following: the difference between the third proportion and the fifth duration, the first phase difference, and the third parameter, where the third parameter is an integer; The start time of the positive green wave bandwidth is less than or equal to the sum of the first proportion and M(1-first auxiliary parameter); The start time of the positive green wave bandwidth is less than or equal to the sum of the following: the difference between the third proportion and the fifth duration, the first phase difference, the third parameter, and the sum of M(1-second auxiliary parameter), wherein the values ​​of the first auxiliary parameter and the second auxiliary parameter are 0 or 1, and the sum of the first auxiliary parameter and the second auxiliary parameter is 1. The end time of the positive green wave bandwidth simultaneously meets the following constraints: The end time of the positive green wave bandwidth is less than or equal to the sum of the first proportion and the third duration; The end time of the positive green wave bandwidth is less than or equal to the sum of the following: the difference between the ninth duration and the fifth duration, the third proportion, the first phase difference, and the third parameter. The end time of the positive green wave bandwidth is greater than or equal to the following difference: the difference between the sum of the first proportion and the third duration and M(1-third auxiliary parameter); The end time of the positive green wave bandwidth is greater than or equal to the following difference: the difference between the ninth duration and the fifth duration, the third proportion, the sum of the first phase difference and the third parameter, and the difference between M(1-fourth auxiliary parameter), wherein the values ​​of the third auxiliary parameter and the fourth auxiliary parameter are 0 or 1 respectively, and the sum of the third auxiliary parameter and the fourth auxiliary parameter is 1.

25. The apparatus according to claim 23, wherein, The start time of the reverse green wave bandwidth simultaneously meets the following constraints: The start time of the reverse green wave bandwidth is greater than or equal to the second proportion; The start time of the reverse green wave bandwidth is greater than or equal to the sum of the following: the fourth proportion, the sixth duration, the third parameter, and the first phase difference, wherein the third parameter is an integer; The start time of the reverse green wave bandwidth is less than or equal to the sum of the second proportion and M(1-ninth auxiliary parameter); The start time of the reverse green wave bandwidth is less than or equal to the sum of the following: the fourth proportion, the sixth duration, the third parameter, the first phase difference and M(1-tenth auxiliary parameter), the ninth auxiliary parameter and the tenth auxiliary parameter are 0 or 1 respectively, and the sum of the ninth auxiliary parameter and the tenth auxiliary parameter is 1. The end time of the reverse green wave bandwidth simultaneously meets the following constraints: The end time of the reverse green wave bandwidth is less than or equal to the sum of the second proportion and the fourth duration; The end time of the reverse green wave bandwidth is less than or equal to the sum of the following: the fourth proportion, the sixth duration, the third parameter, the first phase difference, and the tenth duration; The end time of the reverse green wave bandwidth is greater than or equal to the following difference: the difference between the sum of the second proportion and the fourth duration and M (1-eleventh auxiliary parameter); The end time of the reverse green wave bandwidth is greater than or equal to the following difference: the difference between the fourth proportion, the sixth duration, the third parameter, the sum of the first phase difference and the tenth duration, and M(1-twelfth auxiliary parameter), wherein the eleventh auxiliary parameter and the twelfth auxiliary parameter are 0 or 1 respectively, and the sum of the eleventh auxiliary parameter and the twelfth auxiliary parameter is 1.

26. The apparatus according to claim 17, wherein, The constraints also include: the start time constraint of the green wave bandwidth starting intersection; The start time constraint of the starting intersection of the green wave bandwidth includes: if any intersection is the starting intersection of the positive green wave bandwidth, the time difference between the time when the positive green wave flows into the intersection and the start time of the positive green light of the intersection is set to 0; if any intersection is the starting intersection of the reverse green wave bandwidth, the time difference between the time when the reverse green wave flows into the intersection and the start time of the reverse green light of the intersection is set to 0.

27. The apparatus according to claim 23, wherein, The constraints also include: bandwidth location constraints; The bandwidth location constraints include: positive constraints and negative constraints; The positive constraint includes: the difference between the midpoint of the positive green wave bandwidth and the midpoint of the positive green light duration of the downstream intersection of intersection i is less than or equal to the fifth parameter; The reverse constraint includes: the difference between the midpoint of the reverse green wave bandwidth and the midpoint of the reverse green light duration of the upstream intersection of intersection i is less than or equal to the sixth parameter, and both the fifth parameter and the sixth parameter are greater than or equal to 0.

28. The apparatus according to claim 23, wherein, The constraints also include: bandwidth equalization constraints; the bandwidth equalization constraints exist only when the forward and reverse weight coefficients of the trunk lines are equal. The bandwidth equalization constraint includes: the difference between the positive green wave bandwidth and the negative green wave bandwidth is less than or equal to a fourth parameter, and the difference between the negative green wave bandwidth and the positive green wave bandwidth is less than or equal to the fourth parameter, wherein the fourth parameter is greater than or equal to 0.

29. An electronic device comprising: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-14.

30. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to cause the computer to perform the method according to any one of claims 1-14.

31. A computer program product comprising a computer program / instructions that, when executed by a processor, implement the method of any one of claims 1-14.

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