Traffic signal light phase acquisition method, device and medium

Abstract

The present application provides a traffic light phase acquisition method, device and medium, which relates to the field of traffic control technology. The method includes: if it is determined that the target phase acquisition condition is currently met, then the vehicle information corresponding to the traffic flow at the intersection is acquired according to the satisfied target phase acquisition condition, the vehicle information includes the total number of vehicles, the number of vehicles of different priority levels, the vehicle speed, and the waiting time, and the target phase acquisition condition includes initialization completion, the current phase is a standard phase, and the standard phase is in at least one of the switchable time periods; the weight corresponding to the traffic flow is calculated according to the vehicle information, and the target phase to be displayed by the traffic light is determined based on the correspondence between the traffic flow and the phase and the weight. The embodiment of the present application can obtain the actual road conditions at the intersection, flexibly adjust the phase displayed by the traffic light according to the actual intersection, improve the adaptability of the phase to the actual road conditions, effectively avoid traffic congestion, and improve traffic fluency and traffic efficiency.

Description

Technical Field

[0001] The present application relates to the field of traffic control technology, and in particular to a method, device and medium for acquiring a traffic light phase. Background Art

[0002] At present, with the improvement of people's living standards, cars have become people's main means of transportation. As the use of cars increases, many intersections with heavy traffic are prone to congestion. It is often seen that there is a long queue of cars on the road on the red light side, and no cars pass on the green light side. Although such intersections are equipped with traffic lights, the phase switching sequence of such traffic lights is fixed, that is, the signal light phase is displayed in a specific order, which often causes the phase of the traffic light to be inconsistent with the actual road conditions. It is easy for the lanes in one direction of the intersection to be seriously blocked, and the lanes in other directions are empty, resulting in traffic congestion and reducing traffic flow and traffic efficiency. Summary of the invention

[0003] The embodiments of the present application provide a traffic light phase acquisition method, device and medium, which can solve the problem that the phase switching order of existing traffic lights is fixed, difficult to adapt to actual road conditions, easily causing vehicle congestion, leading to traffic jams, and reducing traffic flow and traffic efficiency. To achieve this purpose, the embodiments of the present application provide the following solutions.

[0004] According to one aspect of an embodiment of the present application, a method for acquiring a traffic light phase is provided, the method comprising:

[0005] If it is determined that the target phase acquisition condition is currently met, vehicle information corresponding to the traffic flow at the intersection is acquired according to the satisfied target phase acquisition condition, the vehicle information including the total number of vehicles, the number of vehicles of different priorities, vehicle speed, and waiting time, and the target phase acquisition condition includes at least one of initialization completion, the current phase being the standard phase, and the standard phase being in a switchable time period;

[0006] The weight corresponding to the traffic flow is calculated according to the vehicle information, and the target phase to be displayed by the traffic light is determined based on the corresponding relationship between the traffic flow and the phase and the weight.

[0007] In a possible implementation, the target phase acquisition condition is that initialization is completed, and acquiring vehicle information corresponding to the traffic flow at the intersection according to the satisfied target phase acquisition condition includes:

[0008] Determine that initialization is completed, collect a road surface image of the intersection, obtain the number information and vehicle speed of vehicles corresponding to each traffic flow based on the road surface image, and determine the waiting time corresponding to each traffic flow based on the number information and the vehicle speed, wherein the number information includes the total number of vehicles, the number of emergency vehicles, and the number of vehicles of each priority level.

[0009] In a possible implementation, the target phase acquisition condition is that the current phase is a standard phase and the standard phase is in a switchable time period, and acquiring vehicle information corresponding to the traffic flow at the intersection according to the satisfied target phase acquisition condition includes:

[0010] Determine that the current phase is in a switchable time period, obtain vehicle information and pedestrian traffic information corresponding to the current phase, interrupt the current phase according to the vehicle information and pedestrian traffic information corresponding to the current phase, and obtain vehicle information corresponding to the traffic flow at the intersection based on the interruption method.

[0011] In a possible implementation, interrupting the current phase according to the vehicle information and the pedestrian passage information corresponding to the current phase includes:

[0012] If it is determined that the vehicle information and the pedestrian traffic information corresponding to the current phase meet at least one of the switching conditions, the interruption method of the current phase is determined based on the satisfied switching conditions, and the switching conditions include that there are no vehicles in the traffic flow corresponding to the current phase, there are pedestrians to be passed through the intersection and the absence time of the release phase is greater than the predetermined maximum waiting time for pedestrians, and the release phase is used to release the pedestrians to be passed through the intersection, and the interruption method includes interrupting the current phase and switching to the release phase.

[0013] In a possible implementation, the obtaining of vehicle information corresponding to the traffic flow at the intersection based on an interruption method includes:

[0014] If it is determined that the interruption mode is to interrupt the current phase, the vehicle information corresponding to the current phase is determined as the vehicle information corresponding to the traffic flow of the intersection;

[0015] or

[0016] If it is determined that the interruption mode is to switch to the release phase, first switch to the transition phase of the current phase, then switch to the release phase, and at the end of the release phase, obtain vehicle information corresponding to the traffic flow of the intersection.

[0017] In a possible implementation, calculating the weight corresponding to the traffic flow according to the vehicle information includes:

[0018] Determine the sum of weights and waiting times of vehicles of different priorities corresponding to the traffic flow according to the vehicle information;

[0019] The weight corresponding to the traffic flow is calculated according to the sum of the weights and the sum of the waiting times.

[0020] In a possible implementation, determining the target phase to be displayed by the traffic light based on the correspondence between the traffic flow and the phase and the weight includes:

[0021] Determine the traffic flow corresponding to the phase according to the corresponding relationship, and determine the weight of the phase based on the weight sum of the corresponding traffic flow and the absence duration of the phase;

[0022] The target phase is determined according to a weight comparison result of the phases.

[0023] In a possible implementation, the method includes:

[0024] Determine the traffic flow corresponding to the target phase, and determine the traffic trend change parameter according to the total number of vehicles in each lane in the traffic flow;

[0025] The maximum number of vehicles in the lane is obtained, and the phase duration corresponding to the target phase is determined according to the maximum number of vehicles in the lane, the traffic trend change parameter, and the vehicle travel time.

[0026] According to one aspect of an embodiment of the present application, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method described above.

[0027] According to one aspect of an embodiment of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method described above are implemented.

[0028] The beneficial effects of the technical solution provided by the embodiment of the present application are:

[0029] The traffic light phase acquisition method provided in the present application obtains vehicle information such as the total number of vehicles corresponding to the traffic flow at the intersection, the number of vehicles of different priority levels, vehicle speed, and waiting time; calculates the weight corresponding to the traffic flow based on the vehicle information, and thus determines the target phase to be displayed by the traffic light based on the correspondence between the traffic flow and the phase and the weight. The embodiment of the present application can obtain the actual road conditions at the intersection, flexibly adjust the phase displayed by the traffic light according to the actual intersection, improve the adaptability of the phase to the actual road conditions, effectively avoid traffic congestion, and improve traffic smoothness and traffic efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following is a brief introduction to the drawings required for use in describing the embodiments of the present application.

[0031] Figure 1 A flow chart of a method for acquiring a traffic light phase provided in an embodiment of the present application;

[0032] Figure 2 A flowchart of the execution of the traffic light phase acquisition method provided in an embodiment of the present application;

[0033] Figure 3 A structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0034] The embodiments of the present application are described below in conjunction with the drawings in the present application. It should be understood that the implementation methods described below in conjunction with the drawings are exemplary descriptions for explaining the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions of the embodiments of the present application.

[0035] It will be understood by those skilled in the art that, unless specifically stated, the singular forms "one", "said", and "the" used herein may also include plural forms. It should be further understood that the terms "including" and "comprising" used in the embodiments of the present application refer to that the corresponding features can be implemented as the presented features, information, data, steps, operations, elements and / or components, but do not exclude the implementation of other features, information, data, steps, operations, elements, components and / or combinations thereof supported by the present technical field. It should be understood that when we say that an element is "connected" or "coupled" to another element, the one element may be directly connected or coupled to the other element, or it may refer to that the one element and the other element establish a connection relationship through an intermediate element. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The term "and / or" used herein indicates at least one of the items defined by the term, for example, "A and / or B" indicates that it is implemented as "A", or is implemented as "A", or is implemented as "A and B".

[0036] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0037] The following describes several exemplary embodiments to illustrate the technical solutions of the embodiments of the present application and the technical effects produced by the technical solutions of the present application. It should be noted that the following embodiments can refer to, draw on or combine with each other, and the same terms, similar features and similar implementation steps in different embodiments will not be described repeatedly.

[0038] The traffic light phase acquisition method, device and medium provided in the present application are intended to solve at least one technical problem existing in the prior art.

[0039] In an embodiment of the present application, a method for acquiring a phase of a traffic light is provided. The method can be used for a networked traffic light controller (NTLC). The controller can be set on the same device as the traffic light or can be set separately from the traffic light. The controller can also be connected to multiple traffic lights, and the controller can be used to control the phases of multiple traffic lights.

[0040] Optionally, the networked traffic light controller implements weight calculation, timing scheme calculation and control decision of the traffic light state through the traffic light acquisition method of the present application. The controller can also be connected to a remote control terminal or a cloud to send the traffic light state information, phase setting information (set phase, timing of each phase, etc.), traffic state and other information to the remote control terminal or the cloud. The controller can also be used as a remote control terminal or a cloud to obtain vehicle information and pedestrian traffic information at the intersection, and control the state of the traffic light based on this information.

[0041] In order to facilitate the subsequent application content description, the following concepts need to be explained first:

[0042] TF (Traffic Flow): refers to traffic flow, that is, the flow of vehicles corresponding to the same arrival direction and forming the same queue on one or more lanes. In particular, for intersections of different shapes, there will be multiple traffic flows depending on the driving direction, defined as TF. i (i≥0, i is an integer). It should be added that, since there may be more than one straight lane, left turn lane, and right turn lane, a traffic flow may include vehicles in multiple lanes.

[0043] For example, for a common intersection, which includes four intersections, TF0 can be used to represent the left-turn traffic flow at the first intersection, TF1 can represent the through traffic flow at the first intersection, TF2 can represent the right-turn traffic flow at the first intersection, TF3 can represent the left-turn traffic flow at the second intersection, and so on.

[0044] SP (Standard Phase): refers to the standard phase. The target phase of this application is the standard phase. The standard phase is a sequence of signal light groups consisting of red and green lights. Each standard phase will correspondingly release a part of the traffic flow. The present invention refers to the set of these traffic flows as the traffic flow corresponding to this phase. In particular, there are multiple standard phases SP according to the specific conditions of the intersection. j (0≤j≤M, M is the total number of standard phases).

[0045] IP (Initial Phase): refers to the initial phase, which is a special phase state when the traffic light system is started. It is an all-red light group, indicating that no passage is allowed.

[0046] TP (Transition Phase): refers to the transition phase, which is the intermediate phase from one SP to the next SP, and is composed of yellow light groups.

[0047] TW (Traffic Flow Weight): refers to the traffic flow weight, which is used to represent a traffic flow TF i The congestion and urgency of the traffic flow is a real number greater than 0. The larger the value, the higher the congestion and urgency of the traffic flow, and the smaller the value, the lower the congestion and urgency of the traffic flow. The value of the traffic flow weight can be determined according to parameters such as the number of vehicles, vehicle waiting time, and vehicle priority.

[0048] PW (Phase Weight): refers to the phase weight, which includes the sum of the traffic flow weights of all traffic flows released in this phase. Since a standard phase generally corresponds to the release of multiple traffic flows, the value of the phase weight corresponds to the congestion level and urgency of all corresponding traffic flows.

[0049] PT (Phase Time): refers to the phase duration, that is, granting a standard phase SP j The duration of releasing the corresponding traffic flow.

[0050] PVN (Phase Vehicle Number): refers to the number of vehicles in a phase, and its value is the number of vehicles in the lane with the most vehicles among all lanes in all traffic flows included in this phase.

[0051] Max Observed Car Number: refers to the maximum number of observed vehicles, which is a fixed integer value set according to the camera's shooting range. It represents the maximum number of vehicles that the camera can capture when shooting in this lane. Refers to the mth lane of the intersection, where k is an integer greater than 0.

[0052] mv (min velocity): refers to the minimum velocity. During the image recognition process, even if the vehicle is stationary, its recognition frame will oscillate, its center point coordinates will shift, and the calculated velocity will not be 0. Therefore, mv is used as a decomposition value to determine whether the vehicle is stationary.

[0053] VS (Vehicle State): refers to the vehicle state. When the calculated vehicle speed is less than or equal to mv, VS is in a stopped state; when the calculated vehicle speed is greater than mv, VS is in a moving state.

[0054] (Traffic Flow Waiting Time): This refers to the sum of the waiting times of all vehicles included in a certain traffic flow. Each vehicle included in the current traffic flow will be judged. If the vehicle VS is in a stopped state, the waiting time of the vehicle will continue to increase. If the vehicle VS is in a moving state, no processing will be done. If the vehicle leaves the intersection, the waiting time item of the vehicle will be automatically cleared. The value of is the sum of the waiting times of all vehicles included in the i-th traffic flow.

[0055] : Here refers to the waiting time of the vehicle, where n is the number of the detected vehicle, which is an integer greater than 0. For traffic flow All vehicles included Corresponding Add up.

[0056] PLT (Phase Latest Time): refers to the time interval between the last time this phase appeared and the current time.

[0057] MPWT (Max Pedestrian Waiting Time): refers to the maximum waiting time for pedestrians, which is a real number greater than 0. If there are pedestrians who need to cross the intersection, the maximum waiting time for pedestrians is used. If there are no pedestrians or there is a pedestrian overpass at the intersection, the maximum waiting time for pedestrians is not used. MPWT is used to indicate the longest acceptable waiting time for pedestrians.

[0058] MPPT (Min Pedestrian Passing Time): refers to the shortest pedestrian travel time, which is a real number greater than 0. If there are pedestrians who need to pass through the intersection, the shortest pedestrian travel time is used. If there are no pedestrians or there is a pedestrian overpass at the intersection, the shortest pedestrian travel time is not used. MPPT is used to indicate the shortest travel time required for pedestrians to pass safely according to the shape of different intersections.

[0059] PUST (Phase Unstopped Time): refers to the duration of a phase that cannot be interrupted, and is used to indicate the duration of each standard phase that is not allowed to switch to other phases. Setting PUST can ensure the safe passage of vehicles and pedestrians. Its influencing factors mainly include the passage time of pedestrians and the shortest green light duration stipulated by equipment and other factors.

[0060] In particular, when there are pedestrians passing through the intersection, the value of PUST will be set to MPPT. In other cases, the value of PUST will be set to the shortest green light duration.

[0061] Alternatively, if Figure 1 , Figure 2 As shown, the traffic signal light phase acquisition method of the present application includes:

[0062] S101: If it is determined that a target phase acquisition condition is currently met, vehicle information corresponding to the traffic flow at the intersection is acquired according to the met target phase acquisition condition.

[0063] Optionally, the target phase acquisition condition includes at least one of initialization completion, the current phase being a standard phase, and the standard phase being in a switchable time period.

[0064] Optionally, if the system where the traffic light is located needs to be initialized, an initialization operation can be performed before obtaining vehicle information corresponding to the traffic flow, and the correspondence between the traffic flow and the phase can be obtained based on the initialization operation to facilitate subsequent acquisition of the target phase and other operations.

[0065] Optionally, the present application collects intersection images in all directions of the intersection in real time through a camera, and obtains traffic flow information through the intersection images. Among them, the vehicles in the intersection image are extracted by the target detector to count the vehicles, and the target tracker is used to identify the same vehicle targets in the previous and next frames, and optimize the target detector to reduce the occurrence of vehicle missed detection and false detection. The target detector can use the target detection algorithm based on YOLOv5 for vehicle detection and recognition, and the target tracker can use the target tracking algorithm based on DeepSORT for vehicle tracking.

[0066] Optionally, the initialization operation includes initialization of the target detector and the target tracker, and initialization of the traffic light phase, traffic flow, and phase information. The initialization of the traffic light phase may be to set the traffic light to a full red light group, prohibiting vehicles in each lane from passing. The corresponding relationship between the traffic flow and the phase information is obtained by initializing the traffic flow and the phase information.

[0067] In one embodiment, the initialized intersection shape may be a crossroad, a T-junction, or other common intersection shapes, and the initialized phase may be a standard four-phase or other phase setting that will not conflict.

[0068] Optionally, obtaining the correspondence between traffic flow and phase includes: determining the direction of lanes at the intersection, and obtaining the traffic flow in each direction of the intersection based on the direction of lanes at the intersection; determining the correspondence between traffic flow and phase based on the shape of the intersection, release rules, and the traffic flow in each direction of the intersection.

[0069] Optionally, initialize the traffic flow, determine the direction of the lanes at the intersection, and then determine the lanes contained in each direction. Specifically, the traffic flow TF is initialized according to the shape of the intersection. i Initialize, each traffic flow corresponds to a set of all lane vehicles it contains, expressed as:

[0070]

[0071] Available through TF i The subscript of distinguishes the direction of traffic flow. It should be noted that for mixed lanes, in order to ensure the accuracy of statistics, all directions included in the mixed lanes will be calculated. For example, a certain direction currently contains two lanes, one of which is for left turn and straight driving, recorded as , one for turning right and going straight , and record the left-turn traffic flow as , straight traffic flow is recorded as , right turn traffic flow is recorded as According to the regulations, there are: , , .

[0072] Initialize phase information: Initialize the intersection phase according to the specific intersection shape and release rules, including initializing all standard phase SP j And initialize each SP j The released traffic flow is all ; Initialize all transition phases TP j ,TP j With SP j There is a corresponding relationship. For example, SP0 represents that the green light is on in the north-south straight direction, and the other lights are red (all right turn lights are set to be always green). Then the corresponding transition phase TP0 is that the yellow light in the north-south straight direction flashes, and the other lights are red. The same applies to other situations.

[0073] In one embodiment, the intersection is a crossroad with an angle of 90 degrees, and the phase is set to the standard four-phase right turn signal with a green light. For the convenience of description, the direction from south to north is SN; the direction from north to south is NS; the direction from west to east is WE; the direction from east to west is EW, and the straight line is S t , turn left onto L t . Excluding all right-turn lanes, the lanes are distributed as follows: There are 3 lanes l1, l2, and l3 in the SN direction, of which l1 is a left-turn lane, and l2 and l3 are through lanes; there are also 3 lanes l4, l5, and l6 in the NS direction, of which l4 is a left-turn lane, and l5 and l6 are through lanes. Similarly, l7 is a left-turn lane in the WE direction; l8 and l9 are through lanes in the WE direction; l10 It is the left turn lane in the EW direction. 11 , l 12 It is the straight lane in the EW direction.

[0074] Traffic flow TF0 represents all lanes in the driving direction of SN(Lt), that is, {l1}; traffic flow TF1 represents all lanes in the driving direction of SN(S t) All lanes in the driving direction, that is, {l2,l3}, the traffic flow TF2 represents NS(L t ) all lanes in the direction of travel, i.e. {l4}, and the rest of the traffic flows are analogous to this. The standard phase SP0 includes SN (S t ) and NS(S t ) lights up green, and lights up red in other directions; SP1 includes SN (L t ) and NS(L t ) lights up green, and other directions lights up red; SP2 includes WE (S t ) and EW(S t ) lights up green, and other directions lights up red; SP3 includes WE (L t ) and EW(L t ) lights up green, and other directions lights up red. Transition phase TP0 includes SN (S t ) and NS(S t ) yellow light flashes in one direction and red light in other directions; SP1 includes SN (L t ) and NS(L t ) yellow light flashes, and red light flashes in other directions; SP2 includes WE (S t ) and EW(S t ) yellow light flashes, and red light flashes in other directions; SP3 includes WE (L t ) and EW(L t ) A light group with a flashing yellow light in one direction and a red light in other directions.

[0075] Optionally, when the target phase acquisition condition is initialized, vehicle information corresponding to the traffic flow at the intersection is obtained based on the satisfied target phase acquisition condition, including: collecting a road surface image of the intersection, obtaining the number information and vehicle speed of vehicles corresponding to each traffic flow based on the road surface image, and determining the waiting time corresponding to each traffic flow based on the number information and the vehicle speed, wherein the number information includes the total number of vehicles, the number of emergency vehicles, and the number of vehicles of each priority level.

[0076] Optionally, a camera set at the intersection cyclically collects road images, transmits the road images to a target detector and a target tracker, and obtains the number of vehicles on each lane through the target detector and the target tracker. The number of vehicles in each lane is recorded as (excluding emergency vehicles), of which represents the mth lane (0≤m≤k-1, k is the total number of lanes). , and set all traffic flows contained in it to , ,..., and all lanes included in these traffic flows are , ,...;So Corresponding There are the following calculation methods, namely is the maximum number of vehicles in all lanes: .

[0077] Optionally, the vehicle speed can be calculated based on the vehicle coordinate point information returned by the target detector and the target tracker. Specifically, the coordinate system related to the road image is the OUV coordinate system, where the origin O is set to the vertex in the lower left corner of the image, and the pixel point coordinates are set to (Ui, Vi) corresponding to the horizontal coordinate and the vertical coordinate respectively. At this time, the pixel coordinates in the image coordinate system can be converted to the coordinates in the world coordinate system, and the following conversion formula is used:

[0078]

[0079] Where S is a constant, ( , ) refers to the image pixel coordinates, ( , , ) refers to the transformed world coordinates, the matrix Represents the internal parameter matrix of the camera, including the scale factors of the U axis and the V axis; the matrix Represents the camera's external parameter matrix, which is used to describe the rotation relationship from the pixel coordinate system to the world coordinate system. The internal parameter matrix and the external parameter matrix can be determined according to the camera type and working parameters. Ignoring the Z coordinate information in the world coordinate system, the mapping relationship from the pixel coordinate to the world coordinate can be obtained according to the above formula, so as to calculate the driving distance. The speed can be calculated based on the detection results of the previous and next two frames of the same vehicle target. Suppose the world coordinates of the vehicle target in the previous frame are ( ), the world coordinates of the vehicle target in the next frame are ( ), then the distance calculation formula is as follows:

[0080]

[0081] Therefore, the vehicle speed can be calculated using the speed formula: Get, where The interval between two frames.

[0082] Optionally, after obtaining the vehicle speed of each vehicle, the waiting time of each vehicle (the time the vehicle is in a stopped state) is determined according to the vehicle speed, and the sum of the waiting times of all vehicles included in the traffic flow is determined as the waiting time corresponding to the traffic flow. The waiting time is calculated when the vehicle is in a stopped state, and the waiting time is stopped when the vehicle is in a moving state. After leaving the intersection, the waiting time of the vehicle is cleared.

[0083] Optionally, for ordinary vehicles, public transportation vehicles, trucks and other ordinary vehicles, the targets can be directly distinguished and marked; for emergency vehicles, since they have the highest priority and need to pass through the intersection smoothly, the time is more urgent. In order to avoid false detection or delay in target detection, emergency vehicles need to communicate with NTLC through the network before entering the intersection and send arrival information. After passing, the emergency vehicle will send departure information to NTLC again. When sending arrival information to NTLC, the emergency vehicle will provide the traffic flow TF to which it belongs. i NTLC maintains an emergency vehicle number value for each lane. Each emergency vehicle that sends an arrival message will increase the emergency vehicle value by one, and each emergency vehicle that sends a departure message will decrease it by one. Emergency vehicles can also be identified through image recognition, and the emergency vehicle value can be modified based on the recognition results.

[0084] S102: Calculate the weight corresponding to the traffic flow according to the vehicle information, and determine the target phase to be displayed by the traffic light based on the corresponding relationship between the traffic flow and the phase and the weight.

[0085] Optionally, the weight corresponding to the traffic flow is calculated based on the vehicle information, including: determining the sum of weights and the sum of waiting times of vehicles of different priorities corresponding to the traffic flow based on the vehicle information; and calculating the weight corresponding to the traffic flow based on the sum of weights and the sum of waiting times.

[0086] In one embodiment, the traffic flow weight can be calculated by the following formula:

[0087]

[0088] in, is the weight corresponding to the i-th traffic flow. The first term of the formula reflects the number of vehicles and the urgency of the traffic flow, and the second term reflects the waiting time of the vehicle. are non-negative floating-point constants, It can be 1.5. Trend represents the traffic trend change parameter. The initial value can be 1. It can be adjusted according to the traffic volume corresponding to each phase. Indicates that the priority in the mth lane is The number of vehicles of Refers to the priority The weight parameter size of the vehicle, especially the weight parameter of the emergency vehicle, should be much larger than that of ordinary vehicles and public transportation vehicles (it can be twice, three times or other multiples of ordinary vehicles and public transportation vehicles). Refers to traffic flow The waiting time for all vehicles included The formula can more efficiently grant the right of way to traffic flows with high congestion or receiving emergency vehicle arrival information.

[0089] Optionally, after obtaining the weight of each traffic flow, the weights of different phases can be calculated based on the weights. The target phase to be displayed by the traffic light is determined based on the correspondence between the traffic flow and the phase and the weight, including: determining the traffic flow corresponding to the phase based on the correspondence, determining the weight of the phase based on the weight sum of the corresponding traffic flow and the duration of the phase's absence; and determining the target phase based on the result of the weight comparison of the phases. The phase with the largest weight can be determined as the target phase.

[0090] In one embodiment, the Calculate the weight of each phase. Where, Represents the weight of the jth phase. The first term of the formula is the phase The sum of the weights of the traffic flows included, and the second term reflects the phase The duration of absence. Indicates that these traffic flows all correspond to the same standard release phase , is a non-negative floating-point constant, Indicates phase The time since the last appearance. By comparing the various standard phases The corresponding weight For right of way allocation, the standard phase with the largest weight is the target phase.

[0091] Optionally, after determining the target phase, the traffic trend change parameter may be adjusted to calculate the phase duration of the target phase using the traffic trend change parameter. The traffic trend change parameter may be adjusted according to the traffic volume of the traffic flow corresponding to the phase.

[0092] In one embodiment, if the traffic flow TF corresponding to the currently detected target phase i The number of vehicles in all included lanes satisfies: ≥θ× (θ is a constant greater than 0 and less than 1, set by the user), it is considered that the traffic flow in this direction is large and requires additional weight and release time. The trend will be increased according to the following formula.

[0093]

[0094] in, Reference ≥θ× The duration of the appearance, in seconds; It represents the scaling parameter and can be set to a decimal greater than 0 and less than 0.05.

[0095] Optionally, after determining the target phase, calculate the phase duration of the target phase. Specifically, determine the traffic flow corresponding to the target phase, and determine the traffic trend change parameters based on the total number of vehicles in each lane in the traffic flow; obtain the maximum number of vehicles in the lane, and determine the phase duration corresponding to the target phase based on the maximum number of vehicles in the lane, the traffic trend change parameters, and the vehicle travel time.

[0096] Optionally, the vehicle transit time represents the time required for a vehicle to pass through an intersection. The vehicle transit time is a constant parameter. When the traffic volume of the traffic flow corresponding to the phase is small (such as the number of vehicles in at least some lanes is less than the maximum number of observed vehicles), the phase duration can be obtained by multiplying the vehicle transit time and the maximum number of vehicles in the lane. When the traffic volume of one or more traffic flows corresponding to the phase is large (such as the number of vehicles in all lanes is greater than or equal to the maximum number of observed vehicles), the traffic flow trend change parameter is obtained and applied to the calculation of the phase duration.

[0097] In one embodiment, based on Calculate the phase duration. When the traffic volume is large, the phase duration can be increased to This takes into account vehicles that are not within the camera's range and ensures complete release to the greatest extent possible, reducing the occurrence of secondary waiting situations.

[0098] Optionally, after determining the target phase and obtaining the phase duration of the target phase, the current phase of the traffic light is detected. If it is still in the initialization phase IP stage, it is directly switched to the target phase; if it is currently in a certain standard phase , then first switch to The corresponding transition phase , lasting x seconds (x is an integer greater than 0, and its specific size can be determined according to the duration of the transition phase, which can be 3 seconds), and then switching to the target phase.

[0099] Optionally, when the current phase is the target phase, the next target phase needs to be acquired according to the state of the target phase. Therefore, the target phase acquisition condition is that the current phase is the standard phase and the standard phase is in a switchable time period, and the vehicle information corresponding to the traffic flow at the intersection is acquired according to the satisfied target phase acquisition condition, including: determining that the current phase is in a switchable time period, acquiring the vehicle information and pedestrian traffic information corresponding to the current phase, interrupting the current phase according to the vehicle information and pedestrian traffic information corresponding to the current phase, and acquiring the vehicle information corresponding to the traffic flow at the intersection based on the interruption method.

[0100] Optionally, the current phase is interrupted according to the vehicle information and pedestrian traffic information corresponding to the current phase, including: if it is determined that the vehicle information and pedestrian traffic information corresponding to the current phase meet at least one of the switching conditions, then the interruption method of the current phase is determined based on the satisfied switching conditions, the switching conditions include that there are no vehicles in the traffic flow corresponding to the current phase, there are pedestrians to be passed through the intersection and the absence time of the release phase is greater than the predetermined maximum waiting time for pedestrians, the release phase is used to release pedestrians to be passed through the intersection, and the interruption methods include interrupting the current phase and switching to the release phase.

[0101] Optionally, the vehicle information corresponding to the traffic flow at the intersection is obtained based on the interruption method, including: if the interruption method is determined to be to interrupt the current phase, the vehicle information corresponding to the current phase is determined as the vehicle information corresponding to the traffic flow at the intersection; or, if the interruption method is determined to be to switch to a release phase, first switch to a transition phase of the current phase, and then switch to the release phase, and at the end of the release phase, obtain the vehicle information corresponding to the traffic flow at the intersection.

[0102] In one embodiment, the switching conditions include:

[0103] a. Current standard phase The corresponding Equal to 0, that is, all traffic flows corresponding to this phase are free of vehicles.

[0104] b. If there are pedestrians who need to pass through the intersection, and a certain standard phase (i.e., release phase) will correspond to the release of some pedestrians, and the absence time of this phase exceeds the maximum pedestrian waiting time MPWT. If there are overpasses, underground passages, and other buildings that can be passed without changing the traffic lights at the intersection, there is no need to judge condition b.

[0105] If condition a is determined to be met, the current standard phase is interrupted, and the vehicle information obtained when the current standard phase is in the switchable time period is used to calculate the next target phase. If condition b is determined to be met, the current standard phase is interrupted. After detecting a pedestrian who needs to pass, each standard phase can be read through NTLC The corresponding unappeared duration PLT j , if PLT is detected j is greater than MPWT, it is determined that the current phase needs to be interrupted. After switching to the transition phase of the current standard phase for x seconds (which can be 3 seconds), the right of way is given to this standard phase , The phase duration of can be timed as MPPT. At the end of the green phase, the road surface image of the intersection is obtained again, and the vehicle information corresponding to the traffic flow at the intersection is obtained using this road surface image. This also ensures the passing efficiency of pedestrians at the intersection and avoids the phenomenon of pedestrians waiting for a long time

[0106] Among them, if the current standard phase ends its duration, start a timer to time the unappeared duration PLT j of this phase. The next time this standard phase obtains the right of way again, if there are pedestrians passing through the current intersection, a decision will be made after judgment on whether to set PLTj to zero. In particular, there are the following judgment regulations: If the standard phase has a continuous duration PT j <MPPT, and this phase will release some pedestrians, it is determined that this standard phase is not sufficient to meet the needs of pedestrians passing through, so PLT j will not be set to zero and will continue to count the time with the previous timer, so as to ensure the smooth passing of pedestrians to the greatest extent; if PT j ≥MPPT is satisfied, it is determined that pedestrians can pass smoothly, and PLT j is set to zero. If the next standard phase obtains the right of way again and there are no pedestrians at the intersection or there are overpasses and other buildings that can directly pass through the intersection, then PLT j can be directly set to zero

[0107] The following combines Figure 2 to further illustrate the traffic signal phase acquisition method of this application

[0108] In one embodiment, the target detector and the target tracker are initialized, and the traffic flow, standard phase and other parameters are initialized. When the traffic light phase is initialized, the current phase is set to the initial phase IP. The perception step is executed to obtain the vehicle information corresponding to each traffic flow. The traffic flow weight is calculated based on the data (vehicle information) returned by the perception step, and the phase weight is calculated. The target phase is determined based on the phase weight and the phase duration is calculated. It is detected whether the current phase is the initial phase. If so, it is switched to the target phase. If not, it is switched to the transition phase of the current phase and lasts for x seconds. After switching to the target phase, the timing starts. If the time exceeds the uninterruptible duration of the phase, the perception step is executed to obtain vehicle information and pedestrian traffic information. According to the obtained vehicle information and pedestrian traffic information, it is determined whether there are no vehicles or pedestrians who need to pass in the current phase, and the target phase is switched based on the judgment result.

[0109] The traffic light phase acquisition method of the present application modularizes the complex intersection traffic conditions with the idea of ​​weight and performs traffic light scheduling with clear return values. At the same time, vehicles with different priorities can be distinguished according to the weight calculation formula, and the problem of pedestrian waiting is also taken into account. This scheduling method has a certain effect on relieving vehicle congestion, ensuring the traffic efficiency of various types of vehicles, the priority right of way for emergency vehicles, and the efficiency of pedestrian passage.

[0110] Compared with the traditional phase fixed length timing method, it has higher flexibility and can make corresponding decisions adaptively according to the traffic information of the intersection. The variable length phase time method replaces the fixed length phase method, which can effectively reduce the waiting time of vehicles at the intersection and the occurrence of secondary parking. At the same time, the logic of this application is relatively simple and has a wide range of applications, which is convenient for deployment at most intersections.

[0111] In an optional embodiment, an electronic device is provided, such as Figure 3 As shown, Figure 3 The electronic device 4000 shown includes: a processor 4001 and a memory 4003. The processor 4001 and the memory 4003 are connected, such as through a bus 4002. Optionally, the electronic device 4000 may also include a transceiver 4004, which may be used for data interaction between the electronic device and other electronic devices, such as data transmission and / or data reception. It should be noted that in actual applications, the transceiver 4004 is not limited to one, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of the present application.

[0112] Processor 4001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 4001 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like.

[0113] The bus 4002 may include a path to transmit information between the above components. The bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 4002 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0114] The memory 4003 may be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compressed optical disk, laser disc, optical disk, digital versatile disc, Blu-ray disc, etc.), magnetic disk storage media, other magnetic storage devices, or any other medium that can be used to carry or store computer programs and can be read by a computer, without limitation herein.

[0115] The memory 4003 is used to store the computer program for executing the embodiment of the present application, and the execution is controlled by the processor 4001. The processor 4001 is used to execute the computer program stored in the memory 4003 to implement the steps shown in the above method embodiment.

[0116] Among them, the electronic device can be any electronic product that can interact with an object, such as a personal computer, a tablet computer, a smart phone, a personal digital assistant (PDA), a game console, an interactive network television (IPTV), a smart wearable device, etc.

[0117] The electronic device may also include a network device and / or an object device, wherein the network device includes, but is not limited to, a single network server, a server group consisting of multiple network servers, or a cloud consisting of a large number of hosts or network servers based on cloud computing.

[0118] The network where the electronic device is located includes but is not limited to the Internet, a wide area network, a metropolitan area network, a local area network, a virtual private network (Virtual Private Network, VPN), etc.

[0119] An embodiment of the present application provides a computer-readable storage medium, which includes a computer program. When the computer program is executed by a processor, the steps and corresponding contents of the aforementioned method embodiment can be implemented.

[0120] An embodiment of the present application provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps and corresponding contents of the aforementioned method embodiment can be implemented.

[0121] The terms "first", "second", "third", "fourth", "1", "2", etc. (if any) in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than that shown or described in the drawings.

[0122] It should be understood that, although each operation step is indicated by arrows in the flowchart of the embodiment of the present application, the implementation order of these steps is not limited to the order indicated by the arrows. Unless clearly stated herein, in some implementation scenarios of the embodiment of the present application, the implementation steps in each flowchart can be performed in other orders according to demand. In addition, some or all of the steps in each flowchart may include multiple sub-steps or multiple stages based on actual implementation scenarios. Some or all of these sub-steps or stages may be executed at the same time, and each sub-step or stage in these sub-steps or stages may also be executed at different times respectively. In different scenarios of execution time, the execution order of these sub-steps or stages may be flexibly configured according to demand, and the embodiment of the present application does not limit this.

[0123] The above is only an optional implementation method for some implementation scenarios of the present application. It should be pointed out that for ordinary technicians in this technical field, without departing from the technical concept of the solution of the present application, other similar implementation methods based on the technical ideas of the present application are also within the protection scope of the embodiments of the present application.

Claims

1. A method for acquiring a traffic light phase, characterized in that: The method comprises: If it is determined that the target phase acquisition condition is currently met, vehicle information corresponding to the traffic flow at the intersection is acquired according to the met target phase acquisition condition, the vehicle information including the total number of vehicles, the number of vehicles of different priorities, vehicle speeds, and waiting times, with emergency vehicles having the highest priority, and the target phase acquisition condition including at least one of initialization completion, the current phase being the standard phase, and the standard phase being in a switchable time period; Calculating a weight corresponding to the traffic flow according to the vehicle information, and determining a target phase to be displayed by the traffic light based on the corresponding relationship between the traffic flow and the phase and the weight; The weight calculation formula is: in, is the weight corresponding to the i-th traffic flow, They are non-negative floating-point constants, trend represents the traffic trend change parameter, Indicates that the priority in the mth lane is The number of vehicles of Represents priority The weight parameter size of the vehicle, Representing traffic flow The sum of the waiting times of all vehicles included, represents the i-th traffic flow; Determine the traffic flow corresponding to the target phase, and determine the traffic trend change parameter according to the total number of vehicles in each lane in the traffic flow, including: if the number of vehicles in all lanes corresponding to the i-th traffic flow of the target phase satisfies ≥θ× , then the new traffic trend change parameter , Reference ≥θ× The duration of appearance, represents the scaling parameter, θ is a constant greater than 0 and less than 1, The maximum number of vehicles captured by the camera when shooting the mth lane of the intersection. is the total number of vehicles in the mth lane; Obtain the maximum number of vehicles in the lane, and determine the phase duration corresponding to the target phase according to the maximum number of vehicles in the lane, the traffic trend change parameter, and the vehicle travel time, including: if the traffic trend change parameter does not increase, then the phase duration = , if the traffic trend change parameter increases, then the phase duration = , is the time required for a vehicle to pass through the intersection, is the maximum number of vehicles corresponding to the target phase j.

2. The method for acquiring the phase of a traffic light according to claim 1, characterized in that: The target phase acquisition condition is that initialization is completed, and the vehicle information corresponding to the traffic flow at the intersection is acquired according to the satisfied target phase acquisition condition, including: Determine that initialization is completed, collect a road surface image of the intersection, obtain the number information and vehicle speed of vehicles corresponding to each traffic flow based on the road surface image, and determine the waiting time corresponding to each traffic flow based on the number information and the vehicle speed, wherein the number information includes the total number of vehicles, the number of emergency vehicles, and the number of vehicles of each priority level.

3. The traffic light phase acquisition method according to claim 1, characterized in that: The target phase acquisition condition is that the current phase is a standard phase and the standard phase is in a switchable time period, and the vehicle information corresponding to the traffic flow at the intersection is acquired according to the satisfied target phase acquisition condition, including: Determine that the current phase is in a switchable time period, obtain vehicle information and pedestrian traffic information corresponding to the current phase, interrupt the current phase according to the vehicle information and pedestrian traffic information corresponding to the current phase, and obtain vehicle information corresponding to the traffic flow at the intersection based on the interruption method.

4. The method for acquiring the phase of a traffic signal light according to claim 3, characterized in that: The interrupting of the current phase according to the vehicle information corresponding to the current phase and the pedestrian passage information includes: If it is determined that the vehicle information and the pedestrian traffic information corresponding to the current phase meet at least one of the switching conditions, the interruption method of the current phase is determined based on the satisfied switching conditions, and the switching conditions include that there are no vehicles in the traffic flow corresponding to the current phase, there are pedestrians to be passed through the intersection and the absence time of the release phase is greater than the predetermined maximum waiting time for pedestrians, and the release phase is used to release the pedestrians to be passed through the intersection, and the interruption method includes interrupting the current phase and switching to the release phase.

5. The method for acquiring the phase of a traffic signal light according to claim 4, characterized in that: The obtaining of vehicle information corresponding to the traffic flow at the intersection based on an interruption method includes: If it is determined that the interruption mode is to interrupt the current phase, the vehicle information corresponding to the current phase is determined as the vehicle information corresponding to the traffic flow of the intersection; or If it is determined that the interruption mode is to switch to the release phase, first switch to the transition phase of the current phase, then switch to the release phase, and at the end of the release phase, obtain vehicle information corresponding to the traffic flow of the intersection.

6. The method for acquiring the phase of a traffic light according to claim 1, characterized in that: The step of determining the target phase to be displayed by the traffic light based on the correspondence between the traffic flow and the phase and the weight includes: Determine the traffic flow corresponding to the phase according to the corresponding relationship, and determine the weight of the phase based on the weight sum of the corresponding traffic flow and the absence duration of the phase; The target phase is determined according to a weight comparison result of the phases.

7. An electronic device comprising a memory, a processor and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the steps of the method according to any one of claims 1 to 6.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

Images