Intersection priority control method based on intelligent bus and system composition thereof

Abstract

The embodiment of the invention discloses an intersection priority control method and system composition based on an intelligent bus, and the method comprises the steps: receiving a priority passing request sent by a vehicle-mounted terminal through a road side unit, and enabling the priority passing request to comprise request time, the request time is equal to the sum of the time for arriving at the stop line of the current intersection and the time for passing through the current intersection; responding to the optimal passing request, adjusting the signal lamp state according to the signal lamp state data of the current intersection and the request time, and returning a request processing result; and returning the request processing result to the vehicle-mounted terminal through the road side unit to make a speed rule so as to enable the vehicle to pass through the current intersection preferentially. Through the above mode, the time required for passing through the intersection and the time point for arriving at the intersection can be calculated in real time, the switching of the traffic lights is controlled, the green light time is utilized to the maximum extent, and the passing efficiency of public traffic is improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of intelligent public transportation, and in particular to an intersection priority control method based on intelligent public transportation and a system composition thereof. Background Art

[0002] Currently, most cities have set up dedicated bus routes on public roads, and combined with the bus priority system at intersections, this has improved the transportation efficiency of public transportation to a certain extent and reduced road congestion caused by buses.

[0003] In the current general bus priority system, when a bus passes a certain intersection, the sensor detects the arrival of the bus and sends a priority request signal to the traffic light. After calculation, the signal light of the bus-only road is switched to green in advance, allowing the bus to pass through the intersection first, reducing the waiting time of the bus at the intersection and achieving the goal of improving transportation efficiency. However, in this process, the driver cannot obtain the specific information of the traffic light signal. Therefore, after the sensor triggers the priority request, the driver does not know how long it will take for the light to turn green, or after the light turns green, due to the current road congestion, it may not be able to pass the intersection under the green light (generally, the intersection priority system is based on big data to perform statistical analysis to determine the duration of the green light, and cannot determine how much time should be given to the bus to pass the intersection based on the actual situation of the road), which leads to a waste of resources and increases urban congestion. Summary of the invention

[0004] In view of the above problems, an embodiment of the present invention provides a method for intersection priority control based on intelligent public transportation and a system composition thereof, which overcomes the above problems or at least partially solves the above problems.

[0005] According to one aspect of an embodiment of the present invention, a method for intersection priority control based on intelligent public transportation is provided, the method comprising: receiving a priority passage request sent by a vehicle-mounted terminal through a roadside unit, the priority passage request including a request time, the request time being equal to the sum of the time to reach the stop line of the current intersection and the time to pass the current intersection; responding to the preferred passage request, adjusting the signal light state according to the signal light state data of the current intersection and the request time and returning the request processing result; returning the request processing result to the vehicle-mounted terminal through the roadside unit to perform speed rules to enable the vehicle to pass the current intersection with priority.

[0006] In an optional manner, the response to the preferred passage request adjusts the signal light status according to the signal light status data of the current intersection and the request time and returns the request processing result, including: if the traffic pressure at the current intersection is too high, the preferred passage request is rejected and the signal light status remains unchanged; if the signal light status of the current intersection is red, the red light duration is compared with the time threshold related to the vehicle flow at the current intersection, the signal light status is adjusted according to the comparison result and the request processing result is returned; if the signal light status of the current intersection is green, the signal light status is adjusted according to the green light duration and the request time and the request processing result is returned.

[0007] In an optional manner, the red light duration is compared with a time threshold related to the current vehicle flow at the intersection, the signal light state is adjusted according to the comparison result and the request processing result is returned, including: if the red light duration is less than the time threshold, the preferred passage request is rejected and the signal light state remains unchanged; if the red light duration is greater than or equal to the time threshold, the preferred passage request is accepted and the signal light state of the current intersection is controlled to change from red to green.

[0008] In an optional manner, adjusting the traffic light state according to the green light duration and the request time and returning the request processing result includes: if the sum of the green light duration and the request time is less than the maximum allowed duration of the green light, accepting the preferred passage request and dynamically extending the green light duration.

[0009] According to another aspect of an embodiment of the present invention, a method for intersection priority control based on intelligent public transportation is provided, comprising: if the distance between the vehicle and the current intersection is less than a first preset distance, sending a priority passage request to a traffic management system through a roadside unit every first preset time, the priority passage request including a request time, the request time being equal to the sum of the time to reach the stop line of the current intersection and the time to pass the current intersection; receiving a request processing result fed back by the traffic management system through the roadside unit, and based on the request processing result, calculating the speed to reach the stop line of the current intersection according to the signal light status data of the current intersection and performing speed rules to pass the current intersection safely and smoothly, the signal light status data including the signal light status and the corresponding remaining time; if the distance between the vehicle and the current intersection is less than a second preset distance, stopping sending the priority passage request to the traffic management system, and executing the steps of calculating the speed to reach the stop line of the current intersection according to the signal light status data of the current intersection and performing speed rules to pass the current intersection safely and smoothly.

[0010] According to another aspect of an embodiment of the present invention, a traffic management system is provided, including: a request receiving unit, used to receive a priority passage request sent by a vehicle-mounted terminal through a roadside unit, the priority passage request including a request time, and the request time is equal to the sum of the time to reach the stop line of the current intersection and the time to pass the current intersection; a request response unit, used to respond to the preferred passage request, adjust the traffic light status according to the traffic light status data of the current intersection and the request time, and return the request processing result; a result returning unit, used to return the request processing result to the vehicle-mounted terminal through the roadside unit to perform speed rules to enable the vehicle to pass the current intersection with priority.

[0011] According to another aspect of an embodiment of the present invention, a vehicle-mounted terminal is provided, comprising: a request sending unit, for sending a priority passage request to a traffic management system through a roadside unit at first preset time intervals if the distance between the vehicle and the current intersection is less than a first preset distance, the priority passage request including a request time, the request time being equal to the sum of the time to reach the stop line of the current intersection and the time to pass the current intersection; a feedback processing unit, for receiving a request processing result fed back by the traffic management system through the roadside unit, and based on the request processing result, calculating the speed to reach the stop line of the current intersection according to the signal light status data of the current intersection and performing speed rules to pass the current intersection safely and smoothly, the signal light status data including the signal light status and the corresponding remaining time; a speed planning unit, for stopping sending the priority passage request to the traffic management system if the distance between the vehicle and the current intersection is less than a second preset distance, and executing the steps of calculating the speed to reach the stop line of the current intersection according to the signal light status data of the current intersection and performing speed rules to pass the current intersection safely and smoothly.

[0012] According to another aspect of an embodiment of the present invention, there is provided a smart bus-based intersection priority control system, comprising: a traffic management system as shown in claim 6, a roadside unit, and a vehicle-mounted terminal as shown in claim 7, which are communicatively connected in sequence.

[0013] According to another aspect of an embodiment of the present invention, there is provided a computing device, comprising: a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus; the memory is used to store at least one executable instruction, wherein the executable instruction enables the processor to execute the steps of the above-mentioned intersection priority control method based on intelligent public transportation.

[0014] According to another aspect of an embodiment of the present invention, a computer storage medium is provided, wherein at least one executable instruction is stored in the storage medium, and the executable instruction enables the processor to execute the steps of the above-mentioned intersection priority control method based on intelligent public transportation.

[0015] The embodiment of the present invention receives a priority passage request sent by a vehicle-mounted terminal through a roadside unit, wherein the priority passage request includes a request time, and the request time is equal to the sum of the time to reach the stop line of the current intersection and the time to pass the current intersection; responds to the preferred passage request, adjusts the signal light status according to the signal light status data of the current intersection and the request time, and returns the request processing result; returns the request processing result to the vehicle-mounted terminal through the roadside unit to perform speed rules to allow the vehicle to pass the current intersection with priority, and can calculate in real time the time required to pass the intersection and the time point to arrive at the intersection, control the switching of traffic lights, maximize the use of green light time, and improve the travel efficiency of public transportation.

[0016] The above description is only an overview of the technical solution of the embodiment of the present invention. In order to more clearly understand the technical means of the embodiment of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiment of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0018] Figure 1 A schematic diagram of the structure of an intersection priority control system based on intelligent public transportation provided by an embodiment of the present invention is shown;

[0019] Figure 2 A schematic diagram of a flow chart of a smart bus-based intersection priority control method provided in an embodiment of the present invention is shown;

[0020] Figure 3 A schematic diagram showing a flow chart of a method for intersection priority control based on intelligent public transportation provided by another embodiment of the present invention;

[0021] Figure 4 A schematic diagram of the structure of a traffic management system provided by an embodiment of the present invention is shown;

[0022] Figure 5 A schematic diagram showing the structure of a vehicle-mounted terminal provided by an embodiment of the present invention is shown;

[0023] Figure 6 A schematic diagram of the structure of a computing device provided by an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0024] The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present invention and to enable the scope of the present invention to be fully communicated to those skilled in the art.

[0025] Figure 1 FIG. 1 shows a schematic diagram of the structure of an intelligent bus intersection priority control system provided by an embodiment of the present invention. Figure 1 As shown, the intersection priority control system based on smart buses includes: a traffic management system, a road side unit and a vehicle terminal that are connected in sequence. The vehicle terminal (On Board Unit, OBU) and the road side unit (Road Side Unit, RSU) exchange data and send a request for green light passage, that is, a priority passage request, to the road side unit RSU. After receiving the request, the road side unit RSU forwards it to the traffic management system, which collects information for processing and determines whether the request for green light passage of the smart driving bus can be met based on the current traffic flow. The road side unit RSU forwards the final status information of the traffic light at the intersection to the vehicle terminal. After receiving the signal sent by the traffic management system, the vehicle terminal adjusts the speed of the current vehicle to ensure that it passes the intersection safely and smoothly or waits for the green light signal at the intersection.

[0026] In an embodiment of the present invention, the vehicle terminal is set on the smart driving bus. The smart driving bus is generally equipped with sensors such as laser radar, camera, millimeter wave radar, etc., which can detect the environmental information within 50m around the vehicle in real time at 360°, including obstacles, vehicles, pedestrians, zebra crossings, guardrails, etc. The vehicle domain controller calculates the time point when the vehicle reaches the stop line in real time based on the perception information, high-precision map information and positioning information, and calculates the time required to completely pass the intersection. Through the vehicle terminal and the priority passage system, remote interaction is carried out to accurately control the intersection signal light to switch to green light during the time period when the vehicle reaches the stop line, and set enough passing time to allow the smart bus to smoothly and completely pass the entire intersection.

[0027] Figure 2 The schematic diagram of the flow chart of the intelligent public transportation-based intersection priority control method provided by the embodiment of the present invention is shown. The intelligent public transportation-based intersection priority control method is applied to traffic management systems, such as Figure 2 As shown, the intersection priority control method based on intelligent public transportation includes:

[0028] Step S11: receiving a priority passage request sent by the vehicle terminal through the roadside unit, wherein the priority passage request includes a request time, which is equal to the sum of the time to reach the stop line of the current intersection and the time to pass the current intersection.

[0029] In the embodiment of the present invention, when the distance between the smart bus and the intersection ahead is less than the first preset distance, the on-board terminal enters the intersection processing scene through the built-in decision control program, collects the target information around the vehicle body in real time through the laser radar, millimeter wave radar, camera, etc. of the vehicle body, and combines the maximum speed that can be achieved on the current road section. The request time is updated every first preset time, and the request time is reported to the traffic management system through the roadside unit RSU, and the green light is requested. The request time is equal to the sum of the time required to reach the stop line of the current intersection and the time required to pass the entire intersection. The first preset distance and the first preset time can be set as needed. The first preset distance is preferably 100m, and the first preset time is preferably 5s.

[0030] Step S12: responding to the preferred traffic request, adjusting the traffic light status according to the traffic light status data of the current intersection and the request time, and returning the request processing result.

[0031] In the embodiment of the present invention, if the current traffic pressure at the intersection is too high, the preferred traffic request is rejected and the signal light state remains unchanged. The traffic pressure can be determined by vehicle flow or average speed. If the current traffic pressure at the intersection is too high and it is not appropriate to allow public transport priority, the preferred traffic request is rejected and the request processing result is returned to the vehicle terminal.

[0032] If the traffic light status of the current intersection is red, the vehicle terminal compares the duration of the red light with the time threshold related to the vehicle flow at the current intersection, adjusts the traffic light status according to the comparison result, and returns the request processing result. The time threshold can be dynamically adjusted according to the daily vehicle flow at the current intersection, and is not specifically limited here, preferably 50s. More specifically, if the duration of the red light is less than the time threshold, the preferred passage request is rejected and the traffic light status remains unchanged; if the duration of the red light is greater than or equal to the time threshold, the preferred passage request is accepted, and the traffic light status of the current intersection is controlled to change from red to green, so that the smart bus can pass the current intersection smoothly.

[0033] If the signal light state of the current intersection is green, the signal light state is adjusted according to the green light duration and the request time, and the request processing result is returned. If the sum of the green light duration and the request time is less than the maximum allowable duration of the green light, the preferred passage request is accepted and the green light duration is dynamically extended. The maximum allowable duration of the green light can be set as needed. For example, the maximum allowable duration of the green light is 40 seconds, and the green light has only lasted for 20 seconds, plus the current request time of 19 seconds, which is less than the maximum allowable duration of the green light of 40 seconds. The current green light time can be dynamically extended so that the smart bus can pass the current intersection smoothly.

[0034] Step S13: returning the request processing result to the vehicle-mounted terminal through the roadside unit to implement speed rules so that the vehicle has priority to pass through the current intersection.

[0035] The request processing result can be to reject or accept the preferential traffic request. If the request processing result is to reject the preferential traffic request, the vehicle terminal will keep the current intersection signal light status unchanged and control the smart bus to stop and wait at the current intersection stop line. If the request processing result is to accept the preferential traffic request, the vehicle terminal will calculate the speed to reach the current intersection stop line based on the traffic light signal and remaining time currently fed back by the roadside unit, and plan the speed in advance to ensure that the vehicle passes the intersection safely and smoothly.

[0036] The intersection priority control method based on intelligent public transportation in the embodiment of the present invention receives a priority passage request sent by the vehicle terminal through the roadside unit, wherein the priority passage request includes a request time, which is equal to the sum of the time to reach the stop line of the current intersection and the time to pass the current intersection; responds to the preferred passage request, adjusts the signal light state according to the signal light state data of the current intersection and the request time, and returns the request processing result; returns the request processing result to the vehicle terminal through the roadside unit to perform speed rules so that the vehicle has priority to pass the current intersection. That is, the vehicle terminal interacts with the signal light system to achieve the goal of precise control, thereby improving transportation efficiency.

[0037] Figure 3 The schematic diagram of the flow chart of the intelligent public transportation-based intersection priority control method provided by the embodiment of the present invention is shown. The intelligent public transportation-based intersection priority control method is applied to a vehicle-mounted terminal, such as Figure 3 As shown, the intersection priority control method based on intelligent public transportation includes:

[0038] Step S21: If the distance between the vehicle and the current intersection is less than a first preset distance, a priority passage request is sent to the traffic management system through the roadside unit every first preset time. The priority passage request includes a request time, which is equal to the sum of the time to reach the stop line of the current intersection and the time to pass the current intersection.

[0039] Based on the intelligent driving bus's own sensing equipment, it collects target information around the vehicle in real time, and combines the maximum speed that can be achieved on the current road section to update the time required to reach the stop line of the intersection and the time required to pass the entire intersection every first preset time.

[0040] If the distance between the vehicle and the current intersection is less than the first preset distance, the vehicle sends a priority passage request to the traffic management system through the roadside unit every first preset time, requesting green light passage. The priority passage request includes the request time, which is equal to the sum of the time to reach the stop line of the current intersection and the time to pass the current intersection.

[0041] Step S22: Receive the request processing result fed back by the traffic management system through the roadside unit, and based on the request processing result, calculate the speed to reach the stop line of the current intersection according to the signal light status data of the current intersection and implement speed rules to safely and smoothly pass the current intersection, the signal light status data including the signal light status and the corresponding remaining time.

[0042] If the result of the request processing is to reject the preferential traffic request, the current traffic light status of the intersection will remain unchanged, and the smart bus will be controlled to stop at the stop line of the current intersection and wait for the green light. If the result of the request processing is to accept the preferential traffic request, the on-board terminal will calculate the speed to the stop line of the current intersection based on the traffic light signal and the remaining time currently fed back by the roadside unit, and plan the speed in advance to ensure that the vehicle passes the intersection safely and smoothly.

[0043] Step S23: If the distance between the vehicle and the current intersection is less than a second preset distance, stop sending a priority passage request to the traffic management system, and execute the steps of calculating the speed to reach the stop line of the current intersection according to the traffic light status data of the current intersection and implementing speed rules to safely and smoothly pass the current intersection.

[0044] If the distance between the vehicle and the current intersection is less than the second preset distance, the priority passage request will no longer be sent based on the signal received from the roadside unit RSU. The speed to reach the stop line of the intersection will be calculated based on the current feedback traffic light signal and the remaining time, and speed planning will be carried out in advance to ensure that the vehicle passes through the intersection safely and smoothly.

[0045] The intersection priority control method based on intelligent public transportation in the embodiment of the present invention is as follows: if the distance between the vehicle and the current intersection is less than the first preset distance, a priority passage request is sent to the traffic management system through the roadside unit at intervals of the first preset time, wherein the priority passage request includes the request time, and the request time is equal to the sum of the time to reach the stop line of the current intersection and the time to pass the current intersection; the request processing result fed back by the traffic management system through the roadside unit is received, and based on the request processing result, the speed to reach the stop line of the current intersection is calculated according to the signal light status data of the current intersection, and the speed rule is implemented to pass the current intersection safely and smoothly, wherein the signal light status data includes the signal light status and the corresponding remaining time; if the distance between the vehicle and the current intersection is less than the second preset distance, the priority passage request is stopped from being sent to the traffic management system, and the steps of calculating the speed to reach the stop line of the current intersection according to the signal light status data of the current intersection and implementing the speed rule to pass the current intersection safely and smoothly are executed, so that the time required to pass the intersection and the time point of arriving at the intersection can be calculated in real time, the switching of traffic lights can be controlled, the green light time can be maximized, and the traffic efficiency of public transportation can be improved.

[0046] Figure 4 FIG. 2 shows a schematic diagram of the structure of a traffic management system according to an embodiment of the present invention. Figure 4 As shown, the traffic management system includes: a request receiving unit, a request responding unit and a result returning unit.

[0047] A request receiving unit, configured to receive a priority passage request sent by the vehicle-mounted terminal through the roadside unit, wherein the priority passage request includes a request time, which is equal to the sum of the time to reach the stop line of the current intersection and the time to pass the current intersection;

[0048] A request response unit, configured to respond to the preferred passage request, adjust the signal light state according to the signal light state data of the current intersection and the request time, and return the request processing result;

[0049] The result returning unit is used to return the request processing result to the vehicle-mounted terminal through the roadside unit so as to implement the speed rule so that the vehicle has priority to pass through the current intersection.

[0050] For the convenience of description, the above traffic management system is described by dividing the functions into various units. Of course, when implementing the embodiment of the present invention, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0051] The traffic management system of the above embodiment is applied to Figure 2 The corresponding intersection priority control method based on intelligent public transportation and the beneficial effects of the corresponding method embodiments are not described here.

[0052] Figure 5 FIG. 1 shows a schematic diagram of the structure of a vehicle-mounted terminal according to an embodiment of the present invention. Figure 5 As shown, the vehicle terminal includes: a request sending unit, a feedback processing unit and a speed planning unit.

[0053] a request sending unit, configured to send a priority passage request to the traffic management system through a roadside unit at a first preset time interval if the distance between the vehicle and the current intersection is less than a first preset distance, wherein the priority passage request includes a request time, and the request time is equal to the sum of the time to reach the stop line of the current intersection and the time to pass the current intersection;

[0054] A feedback processing unit is used to receive the request processing result fed back by the traffic management system through the roadside unit, and based on the request processing result, calculate the speed to reach the stop line of the current intersection according to the signal light status data of the current intersection and implement speed rules to safely and smoothly pass the current intersection, wherein the signal light status data includes the signal light status and the corresponding remaining time.

[0055] The speed planning unit is used to stop sending a priority passage request to the traffic management system if the distance between the vehicle and the current intersection is less than a second preset distance, and to execute the steps of calculating the speed to reach the stop line of the current intersection according to the traffic light status data of the current intersection and implementing speed rules to safely and smoothly pass the current intersection.

[0056] For the convenience of description, the above vehicle-mounted terminal is described by dividing it into various units according to its functions. Of course, when implementing the embodiment of the present invention, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0057] The vehicle-mounted terminal of the above embodiment is applied to the aforementioned Figure 3 The corresponding intersection priority control method based on intelligent public transportation and the beneficial effects of the corresponding method embodiments are not described here.

[0058] Based on the same inventive concept, an embodiment of the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method described in any one of the above embodiments is implemented.

[0059] An embodiment of the present invention provides a non-volatile computer storage medium, wherein the computer storage medium stores at least one executable instruction, and the computer executable instruction can execute the method described in any of the above embodiments.

[0060] Figure 6A more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment is shown, and the device may include: a processor 601, a memory 602, an input / output interface 603, a communication interface 604, and a bus 605. The processor 601, the memory 602, the input / output interface 603, and the communication interface 604 are connected to each other in communication within the device through the bus 605.

[0061] The processor 601 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solution provided by the method embodiment of the present invention.

[0062] The memory 602 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 602 can store an operating system and other application programs. When the technical solution provided by the method embodiment of the present invention is implemented by software or firmware, the relevant program code is stored in the memory 602 and called and executed by the processor 601.

[0063] The input / output interface 603 is used to connect the input / output module to realize information input and output. The input / output module can be configured in the device as a component (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. The input device can include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device can include a display, a speaker, a vibrator, an indicator light, etc.

[0064] The communication interface 604 is used to connect a communication module (not shown) to realize communication interaction between the device and other devices. The communication module can realize communication through a wired mode (such as USB, network cable, etc.) or a wireless mode (such as mobile network, WIFI, Bluetooth, etc.).

[0065] The bus 605 includes a path for transmitting information between various components of the device (eg, the processor 601 , the memory 602 , the input / output interface 603 , and the communication interface 604 ).

[0066] It should be noted that, although the above device only shows the processor 601, the memory 602, the input / output interface 603, the communication interface 604 and the bus 605, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include the components necessary for implementing the embodiments of the present invention, and does not necessarily include all the components shown in the figure.

[0067] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present disclosure is limited to these examples. Based on the concept of the present disclosure, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present invention as described above, which are not provided in detail for the sake of simplicity.

[0068] This application is intended to cover all such substitutions, modifications and variations that fall within the broad scope of all embodiments. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present invention should be included in the scope of protection of this disclosure.

Claims

1. A method for intersection priority control based on intelligent public transportation, characterized in that: The intersection priority control method based on intelligent public transportation includes: Receiving a priority passage request sent by the vehicle terminal through the roadside unit, wherein the priority passage request includes a request time, and the request time is equal to the sum of the time to reach the stop line of the current intersection and the time to pass the current intersection; In response to the preferred traffic request, adjusting the state of the traffic light according to the traffic light state data of the current intersection and the request time and returning the request processing result; The request processing result is returned to the vehicle-mounted terminal through the roadside unit to implement speed rules so that the vehicle has priority to pass through the current intersection.

2. The method according to claim 1, characterized in that The responding to the preferred traffic request, adjusting the traffic light state according to the traffic light state data of the current intersection and the request time and returning the request processing result, includes: If the current traffic pressure at the intersection is too high, the preferred traffic request is rejected and the traffic light state remains unchanged; If the state of the traffic light at the current intersection is red, compare the duration of the red light with a time threshold related to the vehicle flow at the current intersection, adjust the state of the traffic light according to the comparison result and return the request processing result; If the traffic light state of the current intersection is green, the traffic light state is adjusted according to the green light duration and the request time and the request processing result is returned.

3. The method according to claim 2, characterized in that The step of comparing the duration of the red light with a time threshold related to the current vehicle flow at the intersection, adjusting the state of the signal light according to the comparison result and returning the request processing result includes: If the red light duration is less than the time threshold, the preferred passage request is rejected and the signal light state remains unchanged; If the red light duration is greater than or equal to the time threshold, the preferred passage request is accepted and the traffic light state of the current intersection is controlled to change from red to green.

4. The method according to claim 2, characterized in that: The step of adjusting the signal light state according to the green light duration and the request time and returning the request processing result includes: If the sum of the green light duration and the request time is less than the maximum allowed green light duration, the preferred passage request is accepted and the green light duration is dynamically extended.

5. A method for intersection priority control based on intelligent public transportation, characterized in that: The intersection priority control method based on intelligent public transportation includes: If the distance between the vehicle and the current intersection is less than a first preset distance, a priority passage request is sent to the traffic management system through the roadside unit every first preset time, wherein the priority passage request includes a request time, which is equal to the sum of the time to reach the stop line of the current intersection and the time to pass the current intersection; receiving a request processing result fed back by the traffic management system through the roadside unit, and based on the request processing result, calculating the speed to reach the stop line of the current intersection according to the signal light status data of the current intersection and performing speed rules to safely and smoothly pass the current intersection, wherein the signal light status data includes the signal light status and the corresponding remaining time; If the distance between the vehicle and the current intersection is less than a second preset distance, the priority passage request is stopped from being sent to the traffic management system, and the speed to reach the stop line of the current intersection is calculated according to the traffic light status data of the current intersection, and the speed rule is implemented to pass the current intersection safely and smoothly.

6. A traffic management system, characterized in that: The traffic management system comprises: A request receiving unit, configured to receive a priority passage request sent by the vehicle-mounted terminal through the roadside unit, wherein the priority passage request includes a request time, which is equal to the sum of the time to reach the stop line of the current intersection and the time to pass the current intersection; A request response unit, configured to respond to the preferred passage request, adjust the signal light state according to the signal light state data of the current intersection and the request time, and return the request processing result; The result returning unit is used to return the request processing result to the vehicle-mounted terminal through the roadside unit so as to implement the speed rule so that the vehicle has priority to pass through the current intersection.

7. A vehicle-mounted terminal, characterized in that: The vehicle-mounted terminal comprises: a request sending unit, configured to send a priority passage request to the traffic management system through a roadside unit at a first preset time interval if the distance between the vehicle and the current intersection is less than a first preset distance, wherein the priority passage request includes a request time, and the request time is equal to the sum of the time to reach the stop line of the current intersection and the time to pass the current intersection; A feedback processing unit, configured to receive the request processing result fed back by the traffic management system through the roadside unit, and based on the request processing result, calculate the speed to reach the stop line of the current intersection according to the signal light status data of the current intersection and implement the speed rule to safely and smoothly pass the current intersection, wherein the signal light status data includes the signal light status and the corresponding remaining time; The speed planning unit is used to stop sending a priority passage request to the traffic management system if the distance between the vehicle and the current intersection is less than a second preset distance, and to execute the steps of calculating the speed to reach the stop line of the current intersection according to the traffic light status data of the current intersection and implementing speed rules to safely and smoothly pass the current intersection.

8. An intersection priority control system based on intelligent public transportation, characterized in that: The intersection priority control system based on intelligent public transportation includes: a traffic management system as shown in claim 6, a roadside unit and a vehicle-mounted terminal as shown in claim 7, which are communicatively connected in sequence.

9. A computing device, characterized in that include: A processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus; The memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute the steps of the intersection priority control method based on intelligent public transportation according to any one of claims 1-5.

10. A computer storage medium, characterized in that: The storage medium stores at least one executable instruction, and the executable instruction enables the processor to execute the steps of the intersection priority control method based on intelligent public transportation according to any one of claims 1-5.

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