Road right sharing configuration method and traffic control system

Abstract

The invention discloses a road right sharing configuration method and a traffic control system, and relates to the technical field of road right sharing of special-purpose lanes, including: obtaining real-time position and speed information of ordinary vehicles and special-purpose vehicles at an intersection; determining the current traffic flow situation at the intersection by using a traffic flow prediction model; dynamically adjusting the cycle and phase duration of a signal light by using a two-way dynamic green wave algorithm according to the real-time position and speed of the special-purpose vehicle in combination with the current traffic flow situation at the intersection, obtaining a signal light control strategy, and ensuring that the special-purpose vehicle can pass through the intersection without stopping; configuring the intersection signal light according to the signal light control strategy; the invention automatically adjusts the cycle duration and phase duration of the signal light at the intersection by combining the prediction of the traffic flow situation at the intersection with the real-time position of the special-purpose vehicle, and minimizes the impact on ordinary vehicles in other phases while ensuring that the special-purpose vehicle passes through the intersection without stopping, thereby realizing dynamic allocation and sharing of the road right of the special-purpose lane, and maximizing the utilization rate of the special-purpose lane resources.

Description

Technical Field

[0001] The present invention relates to the technical field of road right sharing for special-purpose vehicles, and in particular to a road right sharing configuration method and a traffic control system. Background Art

[0002] The establishment of the dedicated lanes for the smart rail has redistributed the original road traffic facilities and road rights. The smart rail has exclusive road rights, which has made the limited road resources even tighter and inhibited the use of other vehicles. The continuity of the smart rail vehicles and the exclusivity of the dedicated lanes have caused other traffic participants to change direction or increase the detour distance and wait time on the road sections where the smart rail is running, which has greatly increased the obstacles for other traffic participants in driving.

[0003] For example, a Chinese patent with publication number CN117612394A discloses a method and device for sharing urban road rights, including: obtaining vehicle-side perception information and road-side perception information in response to a road right request sent by a vehicle when traveling on a road; determining a first road condition corresponding to a dedicated lane and a second road condition corresponding to an ordinary lane based on the vehicle-side perception information and the road-side perception information; determining whether the vehicle will have an impact on road traffic after entering the dedicated lane based on the first road condition and the second road condition; if the vehicle will not have an impact on road traffic after entering the dedicated lane, allowing the vehicle to enter the dedicated lane and allocating the road right of the dedicated lane to the vehicle; real-time monitoring of the third road condition of the dedicated lane after the vehicle enters, and determining whether to continue to allocate the road right of the dedicated lane to the vehicle based on the third road condition.

[0004] The above patents have the problems raised by this background technology: vehicles are required to send road right requests, and it is impossible to automatically configure road rights according to road conditions and the arrival of special vehicles to improve the resource utilization of special lanes; it is impossible to dynamically configure intersection traffic lights according to the conditions of special vehicles and ordinary traffic on the road to allow special vehicles to pass through the intersection quickly without stopping; to solve these problems, the present invention proposes a road right sharing configuration method and a traffic control system. Summary of the invention

[0005] In view of the shortcomings of the prior art, the main purpose of the present invention is to provide a road right sharing configuration method and a traffic control system, which can effectively solve the problems in the background technology. The specific technical solutions of the present invention are as follows:

[0006] Road right sharing configuration method, including:

[0007] Use intersection sensing equipment to obtain data information of ordinary vehicles in all directions at the intersection and real-time position and speed information of special vehicles;

[0008] Determine the traffic flow conditions at the current intersection using a traffic flow prediction model based on the ordinary vehicle data information, wherein the traffic flow conditions include traffic speed, queue overflow, traffic accidents, congestion, location information, and speed information;

[0009] According to the real-time position and speed information of the special vehicle and the current traffic flow at the intersection, the two-way dynamic green wave algorithm is used to dynamically adjust the cycle and phase duration of the traffic light in combination with the priority principle of the non-insertion phase of the special vehicle, so that the special vehicle can pass through the intersection without stopping, thereby obtaining a traffic light control strategy;

[0010] Configure intersection traffic lights according to the traffic light control strategy to achieve right-of-way sharing of dedicated lanes.

[0011] Specifically, the method of using the intersection sensing device to obtain data information of ordinary vehicles in all directions of the intersection and real-time position and speed information of special vehicles includes:

[0012] Real-time monitoring of ordinary vehicles passing through the intersection is performed through intersection sensing equipment, and ordinary vehicle data information in each direction is recorded, wherein the ordinary vehicle data information includes the number of vehicles and speed information;

[0013] The position and speed information of the special vehicle passing through the intersection is obtained through the intersection sensing equipment and the on-board equipment of the special vehicle, and the real-time position and speed information of the special vehicle is determined.

[0014] Specifically, the traffic flow prediction model is used to determine the traffic flow situation at the current intersection based on the ordinary vehicle data information, and the traffic flow situation includes traffic speed, queue overflow, traffic accidents, congestion, location information and speed information, including:

[0015] According to the historical data of common vehicle data information, the preset GRU prediction model is used to predict the traffic flow in each direction;

[0016] The traffic flow situation at the current intersection is determined based on the traffic flow prediction results in each direction combined with the current vehicle data information.

[0017] Specifically, the cycle and phase duration of the traffic light are dynamically adjusted using a two-way dynamic green wave algorithm based on the real-time position and speed information of the special vehicle and the current traffic flow at the intersection, in combination with the priority principle of the non-insertion phase of the special vehicle, so that the special vehicle can pass through the intersection without stopping, and the traffic light control strategy is obtained, including:

[0018] The green light duration of each phase of the intersection signal light is set according to the traffic flow situation at the intersection to obtain an initial signal light strategy, wherein the intersection signal light includes four phases: east-west straight, east-west left turn, north-south straight and north-south left turn;

[0019] Calculate the distance between the special vehicle and the intersection and the time required for the special vehicle to arrive at the intersection based on the real-time position and speed information of the special vehicle;

[0020] The lane change signal light is controlled according to the relative position between the special vehicle and the nearest ordinary vehicle on the special lane, so as to limit the time that ordinary vehicles can use the special lane;

[0021] According to the time required for the special vehicle to arrive at the intersection, the two-way dynamic green wave algorithm is used to dynamically adjust the green light duration and cycle of each phase of the intersection signal light of the initial signal light strategy, so that the special vehicle can pass through the intersection without stopping.

[0022] After the special vehicle passes through the intersection, the traffic lights are dynamically timed according to the vehicles queuing in each phase, and the green light time delayed by the special vehicle is compensated to other phases.

[0023] Specifically, the green light duration of each phase of the intersection signal light is set according to the traffic flow at the intersection to obtain an initial signal light strategy, wherein the intersection signal light includes four phases: east-west straight, east-west left turn, north-south straight and north-south left turn, including:

[0024] The arrival rate of ordinary vehicles in each direction is obtained according to the traffic flow prediction results in each direction;

[0025] Combining the arrival rate of ordinary vehicles in each direction and the real-time data of ordinary vehicles, the total traffic volume of ordinary vehicles in each direction of the intersection is obtained;

[0026] According to the total traffic volume of ordinary vehicles in all directions at the intersection, the green light duration of each phase of the intersection signal light is allocated using the green light duration allocation formula, which is as follows:

[0027] ;

[0028] In the formula, is the green light duration of each phase, ; The duration of the yellow light; is the duration of a signal cycle, which includes four phases: east-west straight, east-west left turn, north-south straight, and north-south left turn; is the total traffic volume of ordinary vehicles in each phase.

[0029] Specifically, the calculation of the distance between the special vehicle and the intersection and the time required for the special vehicle to arrive at the intersection according to the real-time position and speed information of the special vehicle includes:

[0030] Calculate the distance between the special vehicle and the intersection based on the real-time location information of the special vehicle ;

[0031] According to the distance between the special vehicle and the intersection and the speed of the special vehicle , calculate the time required for the special vehicle to arrive at the intersection .

[0032] Specifically, the controlling of the lane change signal light according to the relative position between the special vehicle and the nearest ordinary vehicle on the special lane to limit the time for ordinary vehicles to use the special lane includes:

[0033] Set the safety distance L according to the speed of the nearest ordinary vehicle on the dedicated lane. , calculate the distance between the special vehicle and the nearest ordinary vehicle before it arrives at the intersection ;

[0034] when When the left lane change signal turns green, ordinary vehicles are allowed to change lanes to the dedicated lane;

[0035] when When the left lane change signal light is red, ordinary vehicles are not allowed to change lanes to the dedicated lane. Ordinary vehicles already in the dedicated lane do not need to leave the dedicated lane;

[0036] when When the right lane change signal light is green, ordinary vehicles are not allowed to change lanes to the dedicated lane. Ordinary vehicles already in the dedicated lane need to leave the dedicated lane.

[0037] Specifically, the green light duration and cycle of each phase of the intersection signal light of the initial signal light strategy are dynamically adjusted by using a two-way dynamic green wave algorithm according to the time required for the special vehicle to arrive at the intersection, so that the special vehicle can pass through the intersection without stopping, including:

[0038] According to the time required for the special vehicle to arrive at the intersection , calculate the phase difference between the main signal light and the signal light when arriving at the intersection , , the main signal light is the signal light phase required for special vehicles to pass;

[0039] when When the special vehicle arrives at the intersection, the signal light becomes the main signal light and the special vehicle passes;

[0040] when When the special-purpose vehicle arrives at the intersection, the signal light is the previous phase signal light or the next phase signal light of the main signal light. When the special-purpose vehicle arrives at the intersection, the signal light is the previous phase signal light of the main signal light, the duration of the previous phase signal light is shortened. When the special-purpose vehicle arrives at the intersection, the signal light is the next phase signal light of the main signal light, the duration of the main signal light is extended, so that the signal light of the special-purpose vehicle arrives at the intersection is the main signal light;

[0041] when When the special vehicle arrives at the intersection, the signal light is a signal light that is two phases different from the main signal light. By shortening the duration of the other three phases, the signal light when the special vehicle arrives at the intersection becomes the main signal light.

[0042] Specifically, after the special vehicle passes through the intersection, the traffic lights are dynamically timed according to the vehicles queuing in each phase, and the green light time delayed by the special vehicle is compensated to other phases, including:

[0043] According to the duration of adjusting the signal light, the duration of other phases of the signal light is compensated;

[0044] when No compensation is required;

[0045] when or When the special-purpose vehicle passes through a busy street, the total delay time is calculated, and the green light time of other phases is compensated according to the number of vehicles waiting in other phases.

[0046] A traffic control system is used to implement the road right sharing configuration method, and the system includes:

[0047] The data acquisition module uses the intersection sensing equipment to obtain the data information of ordinary vehicles in all directions of the intersection and the real-time position and speed information of special vehicles;

[0048] A traffic flow prediction module, which determines the traffic flow conditions at the current intersection based on the ordinary vehicle data information using a traffic flow prediction model, wherein the traffic flow conditions include traffic speed, queue overflow, traffic accidents, congestion, location information, and speed information;

[0049] The signal light control module dynamically adjusts the cycle and phase duration of the signal light using a two-way dynamic green wave algorithm according to the real-time position and speed information of the special vehicle and the current traffic flow at the intersection, combined with the priority principle of the non-insertion phase of the special vehicle, so that the special vehicle can pass through the intersection without stopping, thereby obtaining a signal light control strategy;

[0050] The traffic light configuration module configures the traffic lights at intersections according to the traffic light control strategy to achieve right-of-way sharing of dedicated lanes.

[0051] Compared with the prior art, the present invention has the following beneficial effects:

[0052] Under the premise of not affecting the priority passage of smart rail vehicles, the present invention uses the spare time between smart rail shifts to provide the platform for buses and the dedicated lanes for social vehicles. This can greatly improve the efficiency of the road use of the dedicated lanes, solve the contradiction between social vehicles and smart rail vehicles in competing for road rights, reduce the waiting time of smart rail and social vehicles at the intersection, and alleviate the pressure of urban traffic congestion. When the signal controller receives the priority request of the smart rail, it must run the current phase safety green light to switch to the priority phase; after completing the smart rail priority phase, run the phase sequence before the smart rail priority phase is inserted in sequence; when the intersection is given priority to the smart rail, the signal machine will compensate the occupied phase in time within the cycle to achieve a reasonable distribution of the queue length in each direction of the intersection.

[0053] The present invention monitors and obtains the data information of ordinary vehicles in all directions of the intersection and the real-time position and speed information of special vehicles in real time through the intersection sensing equipment, thus providing a data basis for subsequent traffic management and optimization; the collected data information of ordinary vehicles is input into the pre-trained traffic flow prediction model, and the traffic flow situation at the current intersection is determined according to the predicted number of ordinary vehicles combined with the number of ordinary vehicles monitored in real time at the current intersection. The real-time performance of the prediction model can make a quick response according to the current traffic conditions, thus improving the overall flexibility of the intersection signal light control system; according to the real-time position and speed information of the special vehicle and the traffic flow situation at the current intersection, according to the priority principle of the non-insertion phase of the special vehicle, by adjusting the various signal lights The signal light cycle and phase duration are adjusted dynamically according to the phase time to give special vehicles the right of way. The two-way dynamic green wave algorithm is used to dynamically adjust the signal light cycle and phase duration to ensure that special vehicles can pass through the intersection without stopping while minimizing the impact on ordinary vehicles. The dynamic adjustment of the cycle duration and phase duration can more flexibly respond to changes in traffic demand, improve the traffic efficiency of special vehicles and the overall traffic capacity of the intersection; according to the signal light control strategy, the cycle duration and phase duration of the signal light at the intersection are automatically adjusted to meet the needs of different time periods, different traffic flows and different vehicle types, thereby realizing the dynamic allocation and sharing of road rights for special lanes, improving the utilization efficiency of road resources, and enhancing the flexibility and adaptability of the transportation system. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 It is a workflow diagram of the road right sharing configuration method of the present invention;

[0055] Figure 2 is a flowchart of the signal light control strategy in Example 1 of the present invention;

[0056] Figure 3 A schematic diagram of the phase of a traffic light at an intersection in Embodiment 1 of the present invention;

[0057] Figure 4 This is a state diagram of a lane change signal light in Embodiment 1 of the present invention;

[0058] Figure 5 A schematic diagram of the positions of the special vehicle and the ordinary vehicle in Embodiment 1 of the present invention;

[0059] Figure 6 It is a module schematic diagram of the traffic control system of the present invention.

[0060] Figure numerals: 1. Special vehicle, 2. Ordinary vehicle. DETAILED DESCRIPTION

[0061] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0062] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0063] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0064] Example 1

[0065] This embodiment provides a method for configuring road right sharing, and the specific solution is as follows: Figure 1 As shown, the road right sharing configuration method includes:

[0066] S101, using intersection sensing equipment to obtain data information of ordinary vehicles in all directions of the intersection and real-time position and speed information of special vehicles;

[0067] S102, determining the traffic flow situation at the current intersection using a traffic flow prediction model based on the ordinary vehicle data information, wherein the traffic flow situation includes traffic speed, queue overflow, traffic accidents, congestion, location information, and speed information;

[0068] S103, according to the real-time position and speed information of the special vehicle and the current traffic flow at the intersection, the two-way dynamic green wave algorithm is used to dynamically adjust the cycle and phase duration of the traffic light in combination with the priority principle of the non-insertion phase of the special vehicle, so that the special vehicle can pass through the intersection without stopping, and the traffic light control strategy is obtained;

[0069] S104. Configure the traffic lights at the intersection according to the traffic light control strategy to achieve right-of-way sharing of the dedicated lanes.

[0070] This embodiment installs various sensors (such as cameras, radars, geomagnetic sensors, etc.) at intersections, and uses intersection sensing equipment to monitor and record in real time the type (ordinary vehicles or special-purpose vehicles), number, speed and specific location information of passing vehicles. Special-purpose vehicles (such as smart rail transportation, buses, emergency vehicles, etc.) are generally equipped with special identity recognition devices, such as RFID tags, GPS+communication modules, etc., in order to more accurately track their real-time location and speed. By obtaining data information of ordinary vehicles in all directions of the intersection and real-time location and speed information of special-purpose vehicles, a data basis is provided for subsequent traffic management and optimization.

[0071] The collected ordinary vehicle data information is input into the pre-trained traffic flow prediction model, which is trained based on historical traffic data, weather conditions, holidays and other factors, and outputs the predicted number of ordinary vehicles at the current intersection. Based on the predicted number of ordinary vehicles and the number of ordinary vehicles monitored in real time at the current intersection, the traffic flow at the current intersection is determined, and the congestion, location information and speed information of ordinary vehicles at the current intersection are analyzed. By predicting the current traffic flow at the intersection and combining it with the real-time traffic flow at the intersection, traffic signals and flow control can be adjusted more reasonably to improve vehicle traffic efficiency. The real-time nature of the prediction model can respond quickly according to the current traffic conditions, thereby improving the overall flexibility and adaptability of the intersection signal control system.

[0072] According to the real-time position and speed information of the special vehicle and the current traffic flow at the intersection, and according to the priority principle of the non-insertion phase of the special vehicle, that is, without changing the original phase order of the intersection signal lights and without affecting the safe passage of other vehicles, the special vehicle is given priority by adjusting the time of each phase of the signal light, and the signal light cycle and phase duration are dynamically adjusted using a two-way dynamic green wave algorithm to ensure that the signal light is adjusted to the "green" state before the special vehicle arrives. Compared with the traditional method of keeping the cycle unchanged and only adjusting the phase duration, the present invention can more flexibly respond to changes in traffic demand through dynamic adjustment of the cycle duration and phase duration. For example, during peak hours, the entire cycle can be extended to effectively reduce traffic congestion. The adjustment goal is to ensure that special vehicles can pass through the intersection without stopping, while minimizing the impact on ordinary vehicles, thereby improving the traffic efficiency of special vehicles, especially for emergency vehicles, which can reach their destination faster. Through intelligent adjustment, overall traffic delays are reduced and the overall traffic capacity of the intersection is improved.

[0073] According to the signal light control strategy, the signal light control system at the intersection is automatically adjusted to achieve flexible adjustment of the signal light cycle and phase to meet the needs of different time periods, different traffic flows and different vehicle types, thereby realizing the dynamic allocation and sharing of road rights for special vehicles, improving the utilization efficiency of road resources, enhancing the flexibility and adaptability of the transportation system, and allowing special vehicles to pass through intersections without stopping. This not only improves the travel efficiency of special vehicles, but also optimizes the operating efficiency of the entire transportation system, reduces traffic congestion and delays, and improves the overall service quality of urban transportation.

[0074] The present invention uses intersection sensing equipment to monitor and obtain data information of ordinary vehicles in all directions of the intersection and real-time position and speed information of special vehicles, thus providing a data basis for subsequent traffic management and optimization; the collected data information of ordinary vehicles is input into a pre-trained traffic flow prediction model, and the traffic flow situation at the current intersection is determined based on the predicted number of ordinary vehicles combined with the number of ordinary vehicles monitored in real time at the current intersection. The real-time nature of the prediction model can make a quick response according to the current traffic conditions, thereby improving the overall flexibility of the intersection signal light control system; according to the real-time position and speed information of the special vehicle and the traffic flow situation at the current intersection, and according to the priority principle of the non-insertion phase of the special vehicle, the signal lights are adjusted. The signal light cycle and phase duration are adjusted dynamically according to the phase time to give special vehicles the right of way. The two-way dynamic green wave algorithm is used to dynamically adjust the signal light cycle and phase duration to ensure that special vehicles can pass through the intersection without stopping while minimizing the impact on ordinary vehicles. The dynamic adjustment of the cycle duration and phase duration can more flexibly respond to changes in traffic demand, improve the traffic efficiency of special vehicles and the overall traffic capacity of the intersection; according to the signal light control strategy, the cycle duration and phase duration of the signal light at the intersection are automatically adjusted to meet the needs of different time periods, different traffic flows and different vehicle types, thereby realizing the dynamic allocation and sharing of road rights for special lanes, improving the utilization efficiency of road resources, and enhancing the flexibility and adaptability of the transportation system.

[0075] Furthermore, the method of using the intersection sensing device to obtain data information of ordinary vehicles in all directions of the intersection and real-time position and speed information of special vehicles includes:

[0076] S201, real-time monitoring of ordinary vehicles passing through the intersection by using intersection sensing equipment, and recording ordinary vehicle data information in each direction, wherein the ordinary vehicle data information includes the number of vehicles and speed information;

[0077] S202. Obtain the position information and speed information of the special vehicle passing through the intersection through the intersection sensing device and the on-board equipment of the special vehicle, and determine the real-time position and speed information of the special vehicle.

[0078] In this embodiment, ordinary vehicles passing through the intersection are monitored in real time, and ordinary vehicle data information in all directions is recorded. The ordinary vehicle data information includes the number of vehicles and speed information. The vehicle driving status can be recorded intuitively through video monitoring. The radar can determine the position and speed of the vehicle by measuring the reflection of electromagnetic waves. The driving direction of the road vehicle is analyzed by image processing and data analysis technology, and the ordinary vehicle data information in all directions is recorded and stored in the database for subsequent use. By real-time monitoring and recording of ordinary vehicle data information, it is helpful to formulate and adjust the signal light control strategy in time according to the traffic conditions, optimize the signal light timing, and reduce traffic congestion; at the same time, the position information and speed information of the special vehicle are obtained in real time by using the intersection sensing equipment. This information can accurately reflect the real-time position and driving speed of the special vehicle. The real-time monitoring and judgment of the special vehicle can ensure that the special vehicle has priority passage, improve the emergency response speed, and timely understand the dynamics of the special vehicle. It is helpful to deploy the state of the signal light in advance according to the position of the special vehicle, improve the traffic efficiency of the special vehicle, and reduce the traffic delay caused by the obstruction of the emergency vehicle.

[0079] Furthermore, the traffic flow prediction model is used to determine the traffic flow conditions at the current intersection based on the ordinary vehicle data information, and the traffic flow conditions include traffic speed, queue overflow, traffic accidents, congestion, location information and speed information, including:

[0080] S301, based on the historical data of common vehicle data information, using the preset GRU prediction model to perform prediction to obtain the prediction results of the traffic flow in each direction;

[0081] S302: Determine the traffic situation at the current intersection based on the traffic flow prediction results in each direction and current vehicle data information.

[0082] In this embodiment, the historical vehicle data information collected from the intersection sensing device includes the traffic flow, timestamp, weather conditions, holiday information, etc. in all directions of the intersection. These data can be counted every minute, every hour or every day. The historical data is cleaned to remove missing values, abnormal values ​​and noise data to ensure the quality and integrity of the input data, extract the features related to the prediction task, and add influencing factors related to the traffic flow, such as time period, climate conditions, holidays, etc.; the GRU prediction model is suitable for the prediction task of time series data such as traffic flow prediction. Therefore, the GRU model is trained using the training set to obtain the preset GRU prediction model, and the recent historical ordinary vehicle data information is input into the preset GRU model to obtain the traffic flow prediction results in all directions in the future. It is usually possible to predict the number of vehicles arriving in the next period, and the vehicle arrival rate is obtained based on the number of vehicles arriving. Since the right-turning vehicle is not restricted by traffic lights, the vehicle arrival rates of the four directions of east-west straight, east-west left turn, north-south straight and north-south left turn are predicted to obtain the vehicle arrival rates in the four directions. , After training, the GRU prediction model can respond quickly and generate prediction results in real time, which is convenient for analyzing and predicting the changing trend of traffic flow at intersections, helps to enhance the accuracy and intelligence of traffic flow prediction, and also provides a more scientific basis in traffic signal control strategies.

[0083] Based on the traffic flow prediction results in each direction combined with the current vehicle data information, the number of waiting vehicles in each direction at the current intersection can be determined. By integrating the predicted traffic flow with real-time data, the traffic conditions at the intersection can be judged more accurately. Dynamic adjustments can be made according to changes in the traffic flow conditions at the intersection, thereby improving road use efficiency, optimizing signal timing and traffic flow guidance, and reducing traffic congestion.

[0084] Further, such as Figure 2 According to the real-time position and speed information of the special vehicle and the current traffic flow at the intersection, the two-way dynamic green wave algorithm is used to dynamically adjust the cycle and phase duration of the traffic light in combination with the priority principle of the non-insertion phase of the special vehicle, so that the special vehicle can pass through the intersection without stopping, and the traffic light control strategy is obtained, including:

[0085] S401, setting the green light duration of each phase of the intersection signal light according to the traffic flow situation at the intersection to obtain an initial signal light strategy, wherein the intersection signal light includes four phases: east-west straight, east-west left turn, north-south straight, and north-south left turn;

[0086] S402, calculating the distance between the special vehicle and the intersection and the time required for the special vehicle to arrive at the intersection according to the real-time position and speed information of the special vehicle;

[0087] S403, controlling the lane change signal light according to the relative position between the special vehicle and the nearest ordinary vehicle on the special lane, so as to limit the time for ordinary vehicles to use the special lane;

[0088] S404, according to the time required for the special vehicle to arrive at the intersection, the green light duration and cycle of each phase of the intersection signal light of the initial signal light strategy are dynamically adjusted using a two-way dynamic green wave algorithm, so that the special vehicle can pass through the intersection without stopping;

[0089] S405. After the special vehicle passes through the intersection, the traffic lights are dynamically timed according to the vehicles queuing in each phase, and the green light time delayed by the special vehicle is compensated to other phases.

[0090] like Figure 3 ,Since the movement of right-turning vehicles is not restricted by traffic lights, the traffic lights at the intersection include four phases: east-west straight, east-west left turn, north-south straight and north-south left turn. According to the number of waiting vehicles in each phase of the intersection, the traffic flow theory is used to calculate the green light time required for each phase according to the proportion and demand of the number of waiting vehicles in each phase. The traffic flow theory (such as Wittmott's formula, figure-eight traffic model, etc.) is used to calculate the green light time required for each phase according to the proportion and demand of the vehicle flow in each phase, and the initial traffic light strategy is obtained. By reasonably arranging the green light time of each phase, the waiting time of vehicles at the intersection is reduced and the vehicle passing efficiency is improved.

[0091] Specifically, the distance between the special-purpose vehicle and the intersection is calculated based on the real-time position of the special-purpose vehicle. The time required for the special-purpose vehicle to reach the intersection is calculated based on the calculated distance using the real-time speed information of the special-purpose vehicle. Through real-time calculation, real-time traffic status of the special-purpose vehicle can be provided, as well as accurate arrival time and distance information, which helps to optimize traffic light control strategies and provide special-purpose vehicles with priority right of way.

[0092] When the special-purpose vehicle has not reached the intersection, the lane change signal light is controlled to allow ordinary vehicles to use the special lane. The distance between the special-purpose vehicle and the nearest ordinary vehicle is calculated based on the real-time position information of the special-purpose vehicle and the position information of ordinary vehicles on the special lane. When the special-purpose vehicle and ordinary vehicles are driving on the special lane at the same time and always maintain a safe distance, ordinary vehicles are allowed to use the special lane. When the special-purpose vehicle and ordinary vehicles are driving on the special lane at the same time and cannot maintain a safe distance, it may affect the driving of the special-purpose vehicle. By switching the state of the lane change signal light, ordinary vehicles are allowed to leave the special lane to ensure the smooth passage of special vehicles. By reasonably controlling the use time of ordinary vehicles on the special lane, the special lane can be used more efficiently, ensuring the rapid passage of special vehicles while improving the overall traffic efficiency of the road.

[0093] According to the arrival time of special-purpose vehicles at the intersection, the cycle of traffic lights and the green light duration of each phase are dynamically adjusted based on the priority principle of non-insertion phases to enable special-purpose vehicles to pass through the intersection without stopping. If the expected arrival time of the special-purpose vehicle conflicts with the time of the current signal light phase change, the system will automatically extend the green light duration of the phase required by the special-purpose vehicle and adjust the red light time of other phases accordingly. Under the premise of ensuring the non-stop passage of special-purpose vehicles, the waiting time of ordinary vehicles is compressed as much as possible to reduce the impact on general traffic. By dynamically adjusting the cycle duration and phase duration of traffic lights, not only the passage efficiency of special-purpose vehicles is improved, but also the waiting time of ordinary vehicles is reduced, the intelligent level of traffic signal management is enhanced, the flexibility of the system is improved, and the overall utilization rate of road resources is improved.

[0094] When a special vehicle passes, the green light time taken to allow the special vehicle to pass smoothly is recorded, and a compensation mechanism is designed. When the special vehicle passes, the total delay time is calculated, and the delayed time is allocated to the affected phases according to the set rules based on the compensation mechanism, and the green light time of other signal light phases is dynamically adjusted. For example, if a special vehicle occupies the normal red light time, the delayed time will be compensated to the affected phase in the subsequent signal light cycle. Through the compensation mechanism, the overall traffic flow is balanced, and the delays caused to other vehicles by the passage of special vehicles are reduced, which helps to keep the road unobstructed. Through reasonable compensation, the signal light optimization is balanced, the traffic efficiency of the entire intersection is improved, and it is ensured that all vehicles can get a reasonable release time, thereby improving the traffic efficiency of vehicles at the intersection.

[0095] Further, the green light duration of each phase of the intersection signal light is set according to the traffic flow at the intersection to obtain an initial signal light strategy, wherein the intersection signal light includes four phases: east-west straight, east-west left turn, north-south straight and north-south left turn, including:

[0096] S501, obtaining the arrival rate of ordinary vehicles in each direction according to the traffic flow prediction results in each direction;

[0097] S502, combining the arrival rate of ordinary vehicles in each direction and the real-time data of ordinary vehicles, to obtain the total traffic volume of ordinary vehicles in each direction of the intersection;

[0098] S503, according to the total traffic volume of ordinary vehicles in all directions of the intersection, the green light duration of each phase of the intersection signal light is allocated using the green light duration allocation formula, and the green light duration allocation formula is as follows:

[0099] ;

[0100] In the formula, is the green light duration of each phase, ; The duration of the yellow light; is the duration of a signal cycle, which includes four phases: east-west straight, east-west left turn, north-south straight, and north-south left turn; is the total traffic volume of ordinary vehicles in each phase.

[0101] In this embodiment, the arrival rate of ordinary vehicles in each direction is obtained according to the traffic flow prediction results in each direction. , According to the traffic flow prediction results in each direction combined with the current vehicle data information, the number of waiting vehicles in each direction of the current intersection can be determined:

[0102] ;

[0103] ;

[0104] ;

[0105] ;

[0106] ;

[0107] In the formula, is the predicted vehicle arrival rate in each direction, is the total traffic volume of ordinary vehicles in each phase, is the total number of vehicles waiting after prediction in each direction, is the predicted total number of waiting vehicles at the intersection.

[0108] According to the total traffic flow of ordinary vehicles in all directions of the intersection, the control of the traffic lights of four phases is illustrated by example, and the green light duration allocation formula is used to allocate the green light duration of each phase of the traffic lights at the intersection. The green light duration allocation formula is as follows:

[0109] ;

[0110] In the formula, is the green light duration of each phase, ; The duration of the yellow light; is the duration of a signal cycle, which includes four phases: east-west straight, east-west left turn, north-south straight, and north-south left turn; is the total traffic volume of ordinary vehicles in each phase. The green light distribution time of each phase is calculated as follows:

[0111] ;

[0112] ;

[0113] ;

[0114] ;

[0115] The green light duration of each phase is allocated according to the waiting situation of vehicles in each phase. If there are many waiting vehicles in a certain phase, the green light duration of that phase can be appropriately extended to improve the traffic efficiency. By reasonably arranging the green light duration of each phase and reducing the waiting time of vehicles at the intersection, the traffic efficiency of vehicles at the intersection can be improved.

[0116] Further, the distance between the special vehicle and the intersection and the time required for the special vehicle to arrive at the intersection are calculated based on the real-time position and speed information of the special vehicle, including:

[0117] S601: Calculate the distance between the special vehicle and the intersection based on the real-time position information of the special vehicle ;

[0118] S602: Based on the distance between the special vehicle and the intersection and the speed of the special vehicle , calculate the time required for the special vehicle to arrive at the intersection .

[0119] In this embodiment, the distance between the special vehicle and the intersection is calculated based on the real-time position information of the special vehicle. , according to the distance between the special vehicle and the intersection and the speed of the special vehicle , calculate the time required for the special vehicle to arrive at the intersection :

[0120] ;

[0121] By calculating the time required for special-purpose vehicles to arrive at the intersection, the status of traffic lights can be adjusted in advance to ensure that special-purpose vehicles pass through the intersection without stopping, thereby improving the traffic efficiency of special-purpose vehicles.

[0122] Furthermore, the controlling of the lane change signal light according to the relative position between the special vehicle and the nearest ordinary vehicle on the special lane to limit the time for ordinary vehicles to use the special lane includes:

[0123] S701, set the safety distance L according to the speed of the nearest ordinary vehicle on the dedicated lane , calculate the distance between the special vehicle and the nearest ordinary vehicle before it arrives at the intersection ;

[0124] S702, when When the left lane change signal turns green, ordinary vehicles are allowed to change lanes to the dedicated lane;

[0125] S703, when When the left lane change signal light is red, ordinary vehicles are not allowed to change lanes to the dedicated lane. Ordinary vehicles already in the dedicated lane do not need to leave the dedicated lane;

[0126] S704, when When the right lane change signal light is green, ordinary vehicles are not allowed to change lanes to the dedicated lane. Ordinary vehicles already in the dedicated lane need to leave the dedicated lane.

[0127] In this embodiment, the safety distance L is set to ensure that a sufficient safety interval is maintained between the special vehicle and ordinary vehicles to cope with emergency braking or other emergencies. The safety distance can be set according to the actual situation of the special vehicle, such as the safety distance L is twice the length of the special vehicle body. ,like Figure 5 , the initial distance between the special vehicle 1 and the nearest ordinary vehicle 2 on the special lane is , calculate the distance between the special vehicle and the nearest ordinary vehicle before it arrives at the intersection :

[0128] ;

[0129] Where t is the travel time before the special vehicle arrives at the intersection. , according to the real-time position and speed information of special vehicles and ordinary vehicles, the relative position is calculated. Figure 4 There are three states of lane change signal lights: left lane change green light: ordinary vehicles are allowed to change lanes into the special lane; left lane change red light: ordinary vehicles are not allowed to change lanes into the special lane, and ordinary vehicles already in the special lane do not need to leave the special lane; right lane change green light: ordinary vehicles are not allowed to change lanes into the special lane, and ordinary vehicles already in the special lane need to leave the special lane.

[0130] when When , it is considered that the space on the dedicated lane is spacious enough to allow ordinary vehicles to change lanes safely, and the lane change signal light is controlled to turn left green to allow ordinary vehicles to change lanes to the dedicated lane; when When , although there is still some space on the dedicated lane, in order to avoid traffic conflicts and potential safety hazards and to prevent the passage of special vehicles from being affected, the lane change signal light is controlled to be a left lane change red light, and ordinary vehicles are not allowed to change lanes to the dedicated lane. Ordinary vehicles already in the dedicated lane do not need to leave the dedicated lane; when When the special lane is used, it is considered that the space on the special lane is very limited. To ensure the passage of special vehicles, the lane change signal light is controlled to the right green light. Ordinary vehicles are not allowed to change lanes to the special lane. Ordinary vehicles already in the special lane need to leave the special lane.

[0131] By calculating the distance between the special vehicle and the nearest ordinary vehicle before it arrives at the intersection, dynamic adjustments are made in real time based on the distance, thereby improving the flexibility and efficiency of traffic management. When the special lane is idle or traffic flow is low, ordinary vehicles are allowed to use the special lane, which helps alleviate traffic congestion. When a special vehicle is about to arrive or needs to occupy the special lane, the priority use of the special lane is ensured by restricting ordinary vehicles from changing lanes and stopping, thereby ensuring smooth passage of special vehicles.

[0132] Furthermore, the green light duration and cycle of each phase of the intersection signal light of the initial signal light strategy are dynamically adjusted by using a two-way dynamic green wave algorithm according to the time when the special vehicle arrives at the intersection, so that the special vehicle can pass through the intersection without stopping, including:

[0133] S801, based on the time required for the special vehicle to arrive at the intersection , calculate the phase difference between the main signal light and the signal light when arriving at the intersection , , the main signal light is the signal light phase required for special vehicles to pass;

[0134] S802, when When the special vehicle arrives at the intersection, the signal light is the main signal light, and the special vehicle passes smoothly;

[0135] S803, when When the special-purpose vehicle arrives at the intersection, the signal light is the previous phase signal light or the next phase signal light of the main signal light. When the special-purpose vehicle arrives at the intersection, the signal light is the previous phase signal light of the main signal light, the duration of the previous phase signal light is shortened. When the special-purpose vehicle arrives at the intersection, the signal light is the next phase signal light of the main signal light, the duration of the main signal light is extended, so that the signal light of the special-purpose vehicle arrives at the intersection is the main signal light;

[0136] S804, when When the special vehicle arrives at the intersection, the signal light is a signal light that is two phases different from the main signal light. By shortening the duration of the other three phases, the signal light when the special vehicle arrives at the intersection becomes the main signal light.

[0137] In this embodiment, according to the time required for the special vehicle to arrive at the intersection , combined with the current time, the cycle duration of the traffic light, and the duration of each phase, calculate the phase difference between the main signal light (i.e. the signal light phase required for the special vehicle to pass) and the signal light phase when the special vehicle arrives at the intersection , .

[0138] when When , it means that the special vehicle arrives at the intersection when the main signal light is on and can pass directly. In this case, there is no need to adjust the signal light and the special vehicle can pass smoothly without any delay. When the current signal light is one phase away from the main signal light, which may be the previous phase or the next phase, the signal light duration needs to be adjusted. When the special vehicle arrives at the intersection, the signal light is the previous phase signal light of the main signal light, and the previous phase signal light duration is shortened. When the special vehicle arrives at the intersection, the signal light is the next phase signal light of the main signal light, and the main signal light duration is extended to wait for the special vehicle to pass; when When the special vehicle arrives at the intersection, the signal light is two phases different from the main signal light. By shortening the duration of the other three phases, the signal light when the special vehicle arrives at the intersection becomes the main signal light. The total time that needs to be shortened is , according to the waiting situation of vehicles at the intersection, the shortened duration of the other three phases is allocated:

[0139] ;

[0140] In the formula, The shortened duration of the other three phases except the main signal light phase. The number of vehicles waiting in the other three phases except the main signal phase is calculated according to the formula. When there are more waiting vehicles, the corresponding phase is shortened less, thereby reducing traffic congestion at the intersection. By accurately calculating and dynamically adjusting the signal light duration, it is ensured that special vehicles can pass through the intersection in the shortest time while minimizing the impact on normal traffic flow.

[0141] Furthermore, after the special vehicle passes through the intersection, the green light duration delayed by the special vehicle is compensated to other phases, including:

[0142] S901, compensating the duration of other phases of the signal light according to the duration of adjusting the signal light;

[0143] S902, when No compensation is required;

[0144] S903, when or When the special-purpose vehicle passes through a busy street, the total delay time is calculated, and the green light time of other phases is compensated according to the number of vehicles waiting in other phases.

[0145] In this embodiment, when the duration of a signal light in a certain phase is adjusted, in order to ensure the smoothness and fairness of traffic at the entire intersection, the duration of the signal lights in other phases needs to be compensated accordingly. When the signal light duration is not adjusted, no additional compensation is required for the signal light duration, and the current signal light configuration is sufficient to cope with the current traffic demand; when or , calculate the total delay time of special vehicles , according to the number of vehicles waiting in other phases, the time is compensated to the green light time of other phases:

[0146] ;

[0147] In the formula, is the compensation duration of the other three phases except the main signal light phase, The number of vehicles waiting in the other three phases except the main signal phase is calculated according to the formula. When there are more waiting vehicles, the corresponding phase compensation time is longer. Through the compensation mechanism, the traffic delay caused by the priority of special vehicles can be reduced, the traffic efficiency of the intersection can be improved, which helps to balance the priority of special vehicles and the traffic needs of ordinary vehicles, reduce the overall traffic delay caused by signal light control, balance the traffic flow in all directions, reduce congestion, and improve traffic efficiency.

[0148] Example 2

[0149] like Figure 6 This embodiment provides a traffic control system for implementing the road right sharing configuration method as described in Embodiment 1, and the system includes:

[0150] The data acquisition module uses the intersection sensing equipment to obtain the data information of ordinary vehicles in all directions of the intersection and the real-time position and speed information of special vehicles;

[0151] A traffic flow prediction module, which determines the traffic flow conditions at the current intersection based on the ordinary vehicle data information using a traffic flow prediction model, wherein the traffic flow conditions include traffic speed, queue overflow, traffic accidents, congestion, location information, and speed information;

[0152] The signal light control module dynamically adjusts the cycle and phase duration of the signal light using a two-way dynamic green wave algorithm according to the real-time position and speed information of the special vehicle and the current traffic flow at the intersection, combined with the priority principle of the non-insertion phase of the special vehicle, so that the special vehicle can pass through the intersection without stopping, thereby obtaining a signal light control strategy;

[0153] The traffic light configuration module configures the traffic lights at intersections according to the traffic light control strategy to achieve right-of-way sharing of dedicated lanes.

[0154] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A road right sharing configuration method, characterized in that: The road right sharing configuration method includes: Use intersection sensing equipment to obtain data information of ordinary vehicles in all directions at the intersection and real-time position and speed information of special vehicles; Determine the traffic flow conditions at the current intersection using a traffic flow prediction model based on the ordinary vehicle data information, wherein the traffic flow conditions include traffic speed, queue overflow, traffic accidents, congestion, location information, and speed information; According to the real-time position and speed information of the special vehicle and the current traffic flow at the intersection, the two-way dynamic green wave algorithm is used to dynamically adjust the cycle and phase duration of the traffic light in combination with the priority principle of the non-insertion phase of the special vehicle, so that the special vehicle can pass through the intersection without stopping, thereby obtaining a traffic light control strategy; The bidirectional dynamic green wave algorithm includes: According to the phase difference between the signal light phase required for the special vehicle to pass and the signal light phase when the special vehicle arrives at the intersection, combined with the waiting situation of vehicles at the intersection, the phase duration of the signal light is adjusted. When the phase difference is 2, the shortened durations of the other three phases are calculated by the phase duration shortening formula, and the phase duration shortening formula is as follows: ； In the formula, is the total time that needs to be shortened. The shortened duration of the other three phases except the main signal light phase. The number of vehicles waiting in the other three phases except the main signal phase; After the special vehicle passes through the intersection, the duration of other phases is compensated according to the waiting situation of vehicles at the intersection; The signal light control strategy is obtained by dynamically adjusting the cycle and phase duration of the signal light using a two-way dynamic green wave algorithm based on the real-time position and speed information of the special vehicle and the current traffic flow at the intersection, in combination with the priority principle of the non-insertion phase of the special vehicle, so that the special vehicle can pass through the intersection without stopping, including: The green light duration of each phase of the intersection signal light is set according to the traffic flow situation at the intersection to obtain an initial signal light strategy, wherein the intersection signal light includes four phases: east-west straight, east-west left turn, north-south straight and north-south left turn; Calculate the distance between the special vehicle and the intersection and the time required for the special vehicle to arrive at the intersection based on the real-time position and speed information of the special vehicle; The lane change signal light is controlled according to the relative position between the special vehicle and the nearest ordinary vehicle on the special lane, so as to limit the time that ordinary vehicles can use the special lane; According to the time required for special vehicles to arrive at the intersection, the two-way dynamic green wave algorithm is used to dynamically adjust the green light duration and cycle of each phase of the intersection signal light of the initial signal light strategy, so that special vehicles can pass through the intersection without stopping; After the special vehicle passes through the intersection, the traffic lights are dynamically timed according to the vehicles queuing in each phase, and the green light time delayed by the special vehicle is compensated to other phases; The green light duration of each phase of the intersection signal light is set according to the traffic flow at the intersection to obtain an initial signal light strategy, wherein the intersection signal light includes four phases: east-west straight, east-west left turn, north-south straight and north-south left turn, including: The arrival rate of ordinary vehicles in each direction is obtained according to the traffic flow prediction results in each direction; Combining the arrival rate of ordinary vehicles in each direction and the real-time data of ordinary vehicles, the total traffic volume of ordinary vehicles in each direction of the intersection is obtained; According to the total traffic volume of ordinary vehicles in all directions at the intersection, the green light duration of each phase of the intersection signal light is allocated using the green light duration allocation formula, which is as follows: ； In the formula, is the green light duration of each phase, ; The duration of the yellow light; is the duration of a signal cycle, which includes four phases: east-west straight, east-west left turn, north-south straight, and north-south left turn; is the total traffic volume of ordinary vehicles in each phase; Configure intersection traffic lights according to the traffic light control strategy to achieve right-of-way sharing of dedicated lanes.

2. The road right sharing configuration method according to claim 1, characterized in that: The method of using the intersection sensing device to obtain data information of ordinary vehicles in all directions of the intersection and real-time position and speed information of special vehicles includes: Real-time monitoring of ordinary vehicles passing through the intersection is performed through intersection sensing equipment, and ordinary vehicle data information in each direction is recorded, wherein the ordinary vehicle data information includes the number of vehicles and speed information; The position and speed information of the special vehicle passing through the intersection is obtained through the intersection sensing equipment and the on-board equipment of the special vehicle, and the real-time position and speed information of the special vehicle is determined.

3. The road right sharing configuration method according to claim 1, characterized in that: The method of determining the traffic flow situation at the current intersection based on the ordinary vehicle data information using a traffic flow prediction model, wherein the traffic flow situation includes traffic speed, queue overflow, traffic accidents, congestion, location information and speed information, includes: According to the historical data of common vehicle data information, the preset GRU prediction model is used to predict the traffic flow in each direction; The traffic flow situation at the current intersection is determined based on the traffic flow prediction results in each direction combined with the current vehicle data information.

4. The road right sharing configuration method according to claim 1, characterized in that: The method of calculating the distance between the special vehicle and the intersection and the time required for the special vehicle to arrive at the intersection according to the real-time position and speed information of the special vehicle includes: Calculate the distance between the special vehicle and the intersection based on the real-time location information of the special vehicle ; According to the distance between the special vehicle and the intersection and the speed of the special vehicle , calculate the time required for the special vehicle to arrive at the intersection .

5. The road right sharing configuration method according to claim 1, characterized in that: The method of controlling the lane change signal light according to the relative position between the special vehicle and the nearest ordinary vehicle on the special lane to limit the time for ordinary vehicles to use the special lane includes: Set the safety distance L according to the speed of the nearest ordinary vehicle on the dedicated lane. , calculate the distance between the special vehicle and the nearest ordinary vehicle before it arrives at the intersection ; when When the left lane change signal turns green, ordinary vehicles are allowed to change lanes to the dedicated lane; when When the left lane change signal light is red, ordinary vehicles are not allowed to change lanes to the dedicated lane. Ordinary vehicles already in the dedicated lane do not need to leave the dedicated lane; when When the right lane change signal light is green, ordinary vehicles are not allowed to change lanes to the dedicated lane. Ordinary vehicles already in the dedicated lane need to leave the dedicated lane.

6. The road right sharing configuration method according to claim 1, characterized in that: The method uses a two-way dynamic green wave algorithm to dynamically adjust the green light duration and cycle of each phase of the intersection signal light of the initial signal light strategy according to the time required for the special vehicle to arrive at the intersection, so that the special vehicle can pass through the intersection without stopping, including: According to the time required for the special vehicle to arrive at the intersection , calculate the phase difference between the main signal light and the signal light when arriving at the intersection , , the main signal light is the signal light phase required for special vehicles to pass; when When the special vehicle arrives at the intersection, the signal light becomes the main signal light and the special vehicle passes; when When the special-purpose vehicle arrives at the intersection, the signal light is the previous phase signal light or the next phase signal light of the main signal light. When the special-purpose vehicle arrives at the intersection, the signal light is the previous phase signal light of the main signal light, the duration of the previous phase signal light is shortened. When the special-purpose vehicle arrives at the intersection, the signal light is the next phase signal light of the main signal light, the duration of the main signal light is extended, so that the signal light of the special-purpose vehicle arrives at the intersection is the main signal light; when When the special vehicle arrives at the intersection, the signal light is a signal light that is two phases different from the main signal light. By shortening the duration of the other three phases, the signal light when the special vehicle arrives at the intersection becomes the main signal light.

7. The road right sharing configuration method according to claim 1, characterized in that: After the special vehicle passes through the intersection, the traffic lights are dynamically timed according to the vehicles queuing in each phase, and the green light time delayed by the special vehicle is compensated to other phases, including: According to the duration of adjusting the signal light, the duration of other phases of the signal light is compensated; when No compensation is required; when When the time is up, the total time delayed by the special vehicle is calculated, and the time is compensated to the green light time of other phases according to the number of vehicles waiting in other phases.

8. A traffic control system for implementing the road right sharing configuration method according to any one of claims 1 to 7, characterized in that: The system comprises: The data acquisition module uses the intersection sensing equipment to obtain the data information of ordinary vehicles in all directions of the intersection and the real-time position and speed information of special vehicles; A traffic flow prediction module, which determines the traffic flow conditions at the current intersection based on the ordinary vehicle data information using a traffic flow prediction model, wherein the traffic flow conditions include traffic speed, queue overflow, traffic accidents, congestion, location information, and speed information; The signal light control module dynamically adjusts the cycle and phase duration of the signal light using a two-way dynamic green wave algorithm according to the real-time position and speed information of the special vehicle and the current traffic flow at the intersection, combined with the priority principle of the non-insertion phase of the special vehicle, so that the special vehicle can pass through the intersection without stopping, thereby obtaining a signal light control strategy; The traffic light configuration module configures the traffic lights at intersections according to the traffic light control strategy to achieve right-of-way sharing of dedicated lanes.

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