A method and processor for calculating the inductive all-red time at an intersection

Abstract

The present invention discloses a method for calculating the inductive full-red time at an intersection, comprising the following steps: S1, obtaining intersection linear parameters through a video detector; S2, obtaining speed information of pedestrians, non-motor vehicles, and motor vehicles through a video detector, and calculating a speed threshold based on distribution frequency; S3, calculating the basic duration of the full-red time required for the pedestrians, non-motor vehicles, and motor vehicles to be cleared; S4, determining the congestion situation and calculating the full-red time for pedestrians, non-motor vehicles, and motor vehicles to be cleared; and S5, obtaining the final full-red time. This inductive full-red time calculation method for an intersection detects the congestion situation of pedestrians, non-motor vehicles, and motor vehicles in real time, incorporating dynamic changes in traffic flow into the calculation as an influencing factor, thereby realizing changes in the inductive full-red time and improving the accuracy of the calculated full-red time. This can reduce intersection control delays, optimize traffic flow, and reduce traffic congestion.

Description

Technical Field

[0001] The present invention relates to the technical field of signal timing, and in particular to an induction-type all-red time calculation method and a processor for an intersection. Background Art

[0002] In a traffic system, within a signal cycle, one or more traffic flows receive the exact same signal light color at any given moment. The continuous sequence of these lights displaying different colors (green, yellow, and all red) is called a signal phase. The all-red time, also known as the clearing time, has a significant impact on traffic safety. "All-red" indicates a state where all traffic lights are red. In this state, vehicles that have crossed the stop line must quickly exit the intersection to clear potential conflicts and prepare for the start of the next signal phase. Therefore, the all-red time is a critical moment connecting the two phases.

[0003] Existing methods for calculating the full-red time required for signal control at intersections on a road surface primarily analyze the cumulative distribution curve of vehicle speeds to determine a reference speed, and then calculate the time required for vehicles to pass through the intersection at this speed. This method is simple, easy to implement, and has been widely used. This calculation method is typically based on a static assumption: a reference speed is selected based on the distribution curve, and the time required for vehicles to pass through the intersection at this speed is assumed to be fixed. However, traffic conditions change in real time, with numerous dynamic factors influencing them. Existing calculation methods struggle to accurately calculate the full-red time based on the actual traffic flow. Summary of the Invention

[0004] The purpose of the present invention is to solve the problem that the existing calculation method is difficult to accurately calculate the full red time according to the actual situation of traffic flow, and to propose an intersection induction full red time calculation method and processor.

[0005] The purpose of the present invention can be achieved through the following technical solutions:

[0006] A method for calculating the induction-type all-red time at an intersection, comprising:

[0007] S1. Arrange video detectors and video surveillance at road intersections, wherein the video detectors and video surveillance are used to capture the movement trajectories of pedestrians and vehicles crossing the street, measure road width, and obtain phase information. The video detectors are used to obtain the number of intersection phases and determine road alignment parameters, including the length of the travel trajectory from the stop line to the exit lane for non-motor vehicles turning left, right, or going straight, and the length of the travel trajectory from the stop line to the exit lane for motor vehicles turning left, right, or going straight, and the road width.

[0008] S2. Real-time detection of motor vehicles, non-motor vehicles, and pedestrians at each phase and each entrance lane to obtain the driving speeds of motor vehicles and non-motor vehicles, as well as the moving speeds of pedestrians; based on the corresponding speeds, analyzing the speed distribution frequency for each phase, taking the speed that appears most frequently in each phase as the speed threshold; and calculating the speed thresholds for pedestrians, non-motor vehicles, and motor vehicles, respectively;

[0009] S3. For each phase, based on the judgment results of whether the pedestrian crossing is at the zebra crossing when the green light ends, whether there is a dedicated phase for non-motor vehicles, and whether there is a dedicated phase for motor vehicles, the full red basic duration for pedestrians to be cleared, the full red basic duration for non-motor vehicles to be cleared, and the full red basic duration for motor vehicles to be cleared are calculated according to the corresponding full red basic duration formula, where the dedicated phase is an independent signal phase set for left turns;

[0010] S4. For each phase, determine the congestion situation by obtaining, through the video surveillance, a number of pedestrians crossing the street, queues of non-motor vehicles, and motor vehicles, wherein the queues include a density of pedestrians in the street crossing, a length of a queue formed by a number of motor vehicles, and a length of a queue formed by a number of non-motor vehicles.

[0011] Based on the judgment result, under the condition of no congestion, the maximum value of the basic duration of full red when pedestrians are cleared, the basic duration of full red when non-motor vehicles are cleared, and the basic duration of full red when motor vehicles are cleared is taken as the final full red time, and the calculation is completed;

[0012] In the case of congestion, according to the corresponding formula for all-red time and the formula for the maximum single all-red time, calculate the all-red time of the pedestrian crossing group and the maximum single all-red time of the pedestrian crossing group, the all-red time of non-motor vehicles and the maximum single all-red time of non-motor vehicles, the all-red time of motor vehicles and the maximum single all-red time of motor vehicles, take the maximum value of the all-red time as the total all-red time, take the maximum value of the maximum single all-red time as the maximum all-red time, and obtain the total all-red time and the maximum all-red time;

[0013] S5. For each phase, compare the total full-red time with the maximum full-red time to obtain the final full-red time. The calculation is completed.

[0014] As a further solution of the present invention: in S1, the number of intersection phases is recorded as P, the width of the road in the X direction and the width of the road in the Y direction are recorded as Lx and Ly respectively; the length of the non-motor vehicle's left turn stop line to the exit road is recorded as H blp , the length of the non-motor vehicle's right turn stop line to the exit lane is recorded as H brp The length of the non-motor vehicle's straight stop line to the exit lane is recorded as H bspThe length of the vehicle's left-turn stop line to the exit lane is recorded as H clp , the length of the motor vehicle's right turn stop line to the exit lane is recorded as H crp The length of the motor vehicle's straight-line stop line to the exit lane is recorded as H csp .

[0015] As a further solution of the present invention: in said S2, said corresponding speed includes the driving speed Sc of the motor vehicle in the lane i , the speed of non-motor vehicles in the same direction in the lane S 1 bi , the speed of the oncoming non-motor vehicle in the lane S 2 bi , the moving speed S of pedestrians crossing the street in the same direction on the sidewalk 1 pi and the moving speed S of pedestrians crossing the street in the opposite direction on the sidewalk 2 pi , where i=1, 2, 3…

[0016] As a further solution of the present invention: in said S2, the speed thresholds for pedestrians, motor vehicles and non-motor vehicles are calculated as follows: for each phase, the speed distribution frequency is analyzed to obtain the motor vehicle speed threshold Sc that appears the most times m , speed threshold S for non-motor vehicles in the same direction 1 bm , speed threshold S for oncoming non-motor vehicles 2 bm , speed threshold S for pedestrians crossing the street in the same direction 1 pm and the speed threshold S for pedestrians crossing the street in the opposite direction 2 pm , where m = 1, 2, 3, ...;

[0017] The calculation formula is as follows:

[0018] S cm =Max Frequency{S c1 、S c2 、S c3 …},

[0019] S 1 bm =Max Frequency{S 1 b1 、S 1 b2 、S 1 b3 …},

[0020] S 2bm =Max Frequency{S 2 b1 、S 2 b2 、S 2 b3 …},

[0021] S 1 pm =Max Frequency{S 1 p1 、S 1 p2 、S 1 p3 …},

[0022] S 2 pm =Max Frequency{S 2 p1 、S 2 p2 S 2 p3 …}.

[0023] As a further solution of the present invention: in said S3, the following steps are included:

[0024] S31. Determine whether the pedestrians crossing the street are on the zebra crossing when the green light ends, and calculate the basic duration T of the full red light when the pedestrians are cleared. p0 , specifically including the following steps:

[0025] S311. For each phase p, if the pedestrian crossing the street is not on the zebra crossing when the green light ends, determine whether the pedestrian has crossed the street twice.

[0026] Among them, the second crossing is when pedestrians cannot completely cross the entire intersection at one time due to traffic signals or road design. Instead, they need to temporarily stop at the middle safety island or traffic island and wait for the next signal cycle before continuing to cross the street.

[0027] If there is no pedestrian crossing twice, the basic duration of the full red light after the pedestrians are cleared is T p0 The calculation formula is:

[0028] or

[0029] If pedestrians cross the street twice, the basic duration of the red light after the pedestrians are cleared is T p0 The calculation formula is:

[0030] or

[0031] S312: For each phase p, if the pedestrian is on the zebra crossing when the green light ends, the length L of the pedestrian crossing the zebra crossing is obtained by the video detector. c , the basic duration of the full red color after the pedestrians crossing the street are cleared is T p0 The calculation formula is:

[0032]

[0033] As a further solution of the present invention: in said S3, the following steps are included:

[0034] S32, determine whether there is a dedicated phase for non-motor vehicles, and calculate the full red basic time length T for non-motor vehicles to be cleared b0 , specifically including the following steps:

[0035] S321. If a non-motor vehicle has a dedicated phase, and phase p is an east-west left turn or a north-south left turn, calculate the basic time T for the tail vehicle to travel from the stop line to the exit lane clearing the full red light when the green light ends. b0 , the calculation formula is:

[0036]

[0037] S322. If there is no dedicated phase for non-motor vehicles, and phase p is a straight right from east to west or a straight right from north to south, calculate the basic time T for the tail vehicle to travel from the stop line to the exit lane clearing the full red light when the green light ends. b0 , the calculation formula is:

[0038]

[0039] T b0 =Max{T b1 、T b2};

[0040] Among them, T b1 It is the basic time for the tail vehicle to travel from the stop line to the exit lane clearing when turning right in the east-west direction or the north-south direction. b2 The basic time it takes for the tail vehicle to travel from the stop line to the exit lane being cleared when driving straight in the east-west direction or the north-south direction;

[0041] S323. If there is no dedicated phase for non-motor vehicles, and phase p is left-to-right or left-to-right, then calculate the basic time T for the tail vehicle to travel from the stop line to the exit lane clearing the full red light when the green light ends. b0 , the calculation formula is:

[0042]

[0043] T b0 =Max{T b1、T b2 T b3};

[0044] Among them, T b1 It is the basic time for the tail vehicle to travel from the stop line to the exit lane clearing when turning right in the east-west direction or the north-south direction. b2 It is the basic time for the tail vehicle to travel from the stop line to the exit lane when the vehicle is traveling straight in the east-west direction or the north-south direction. b3 It is the basic time it takes for the tail vehicle to travel from the stop line to the exit lane clearing the full red light when turning left in the east-west direction or the north-south direction.

[0045] As a further solution of the present invention: in said S3, the following steps are included:

[0046] S33, determine whether there is a dedicated phase for the motor vehicle, and calculate the basic duration T of the full red phase for the motor vehicle to be cleared c0 , specifically including the following steps:

[0047] S331. If a motor vehicle has a dedicated phase, phase p is an east-west left turn or a north-south left turn, calculate the basic time T for the tail vehicle to travel from the stop line to the exit lane clearing the full red light when the green light ends. c0 , the calculation formula is:

[0048]

[0049] S332. If there is no dedicated phase for a motor vehicle, and phase p is a straight right from east to west or a straight right from north to south, calculate the basic time T for the tail vehicle to travel from the stop line to the exit lane clearing the full red light when the green light ends. c0 The calculation formula is:

[0050]

[0051] T c0 =Max{T c1 、T c2};

[0052] Among them, T c1 It is the basic time for the tail vehicle to travel from the stop line to the exit lane clearing when turning right in the east-west direction or the north-south direction. c2 The basic time it takes for the tail vehicle to travel from the stop line to the exit lane being cleared when driving straight in the east-west direction or the north-south direction;

[0053] S333. If there is no dedicated phase for motor vehicles, and phase p has an east-west left-straight-right or north-south left-straight-right phase, calculate the basic duration T of the tail vehicle traveling from the stop line to the exit lane clearing the full red light when the green light ends. c0 The calculation formula is:

[0054]

[0055] T c0 =Max{T c1 、T c2 、T c3};

[0056] Among them, T c1 It is the basic time for the tail vehicle to travel from the stop line to the exit lane when turning left in the east-west direction or the north-south direction. c2 It is the basic time for the tail vehicle to travel from the stop line to the exit lane clearing when turning right in the east-west direction or the north-south direction. c3 It is the basic time for the tail vehicle to travel from the stop line to the full red line when traveling in the east-west direction or the north-south direction.

[0057] As a further solution of the present invention: in said S4, the following steps are included:

[0058] S41. Obtain the number of people crossing the street Y through video surveillance c And the crowd area X c , calculate the population density ρ of the street, and the calculation formula of population density is:

[0059] ρ=Y c / X c ;

[0060] where X c Unit is m 2 , judge the crowd congestion of the crowd crossing the street according to the population density ρ, and calculate the full red time r of the crowd crossing the street p , specifically including the following steps:

[0061] S411. When 0≤ρ<1, it is determined to be a non-crowded situation, and the full red time r of the crowd crossing the street is obtained. p for:

[0062] r p =T p0 ;

[0063] S412: When ρ≥1, it is determined to be a crowded situation. The maximum distance L of a single pedestrian crossing the zebra crossing in the same direction is obtained through video surveillance. p , the maximum distance L' that a single pedestrian in the opposite crowd can cross the zebra crossing p , the speed S of the center point of the group of pedestrians crossing the zebra crossing in the same direction p , the speed of the center point of the group of pedestrians crossing the zebra crossing is S' p , the cluster center point represents the area where people crossing the street concentrate on the zebra crossing;

[0064] Calculate the full red time r of the crowd crossing the street p , the formula is:

[0065]

[0066] As a further solution of the present invention: in said S4, the following steps are included:

[0067] S42. For each phase p, obtain the length W of the queue formed by the non-motor vehicle queue through the video detector. b , judge the congestion of non-motor vehicles and calculate the full red time r of non-motor vehicles b , specifically including the following steps:

[0068] S421, when 0≤W b <min{H blp 、H brp 、H bsp}, it is determined to be a non-congested situation, and the full red time r of non-motor vehicles is obtained. b for:

[0069] r b =T b0 ;

[0070] S422, when W b ≥min{H blp 、H brp 、H bsp}, it is determined to be a congested situation, and the queue formed by the non-motor vehicles is recorded as a non-motor vehicle cluster queue. The speed S of the tail vehicle in the non-motor vehicle cluster queue is obtained through video monitoring. b , and calculate the full red time of non-motor vehicles respectively according to whether the first and last vehicles in the non-motor vehicle group queue pass through the stop line of the intersection before the green light ends;

[0071] If the last vehicle in the non-motor vehicle group queue passes the stop line before the green light ends, calculate the full red time r of the non-motor vehicle. b for:

[0072]

[0073] If the first vehicle in the non-motor vehicle queue does not pass the stop line before the green light ends, the video detector obtains the distance L from the first vehicle to the stop line and calculates the full red time r of the non-motor vehicle. b for:

[0074]

[0075] As a further solution of the present invention: in said S4, the following steps are included:

[0076] S43. For each phase p, the length W of the queue formed by the motor vehicles is obtained by the video detector. c , judge the congestion situation and calculate the full red time r of the motor vehicle c , specifically including the following steps:

[0077] S431, when 0≤W c <min{H clp 、H crp 、H csp}, it is determined to be a non-congested situation, and the full red time r of the motor vehicle is obtained. c for:

[0078] r c =T c0 ;

[0079] S432, when W c ≥min{H clp 、H crp 、H csp}, it is determined to be a congested situation, and the queue formed by the motor vehicles is recorded as a motor vehicle cluster queue. The speed S of the tail vehicle in the motor vehicle cluster queue is obtained through the video detector. c , and calculate the full red time of each motor vehicle based on whether the first and last vehicles in the motor vehicle group queue pass the intersection stop line before the green light ends;

[0080] If the last vehicle in the motor vehicle queue passes the stop line before the green light ends, the full red time r of the motor vehicle is calculated. c for:

[0081]

[0082] If the first vehicle in the motor vehicle queue does not pass the stop line before the green light ends, the distance L0 from the first vehicle to the stop line is obtained through the video detector, and the full red time r of the motor vehicle is calculated. c for:

[0083]

[0084] At this time, according to the video detector, the driving speed is less than S when the green light ends. cm The vehicle is warned.

[0085] As a further solution of the present invention: in said S4, the following steps are included:

[0086] S44. For each phase p, calculate the total full red time R0, using the formula:

[0087] R0=Max{r p 、r b 、rc}.

[0088] As a further solution of the present invention: in said S4, the following steps are included:

[0089] S45, obtain the 15% bit speed S of pedestrians crossing the street through the video detector p15 、15% of the speed of non-motor vehicles S b15 and 15% of the vehicle's speed S c15 , calculate the maximum single red time T for the crowd crossing the street pmax , the maximum single red time for non-motor vehicles to pass T bmax And the maximum single red time T for motor vehicles to pass cmax ;

[0090] The 15th percentile speed is a speed percentile, which means that at the actual measurement location, 15% of all speeds measured are lower than this speed, while the remaining 85% are higher than this speed. The 15th percentile speed is usually used as the minimum speed limit in traffic flow.

[0091] For each phase p,

[0092] Calculate the maximum single-item all-red time T for people crossing the street pmax , the formula is:

[0093]

[0094] Calculate the maximum single red time T for non-motor vehicles to pass bmax , the formula is:

[0095]

[0096] Calculate the maximum single-item all-red time T for a motor vehicle to pass cmax , the formula is:

[0097]

[0098] S46. For each phase p, compare T pmax 、T bmax 、T cmax , get the maximum all-red time T max , the formula is:

[0099] T max =Max{T pmax 、T bmax 、T cmax}.

[0100] As a further solution of the present invention: in said S5,

[0101] If R0<Tmax , then the final all-red time is R0;

[0102] If R0 ≥ T max , then the final all-red time is T max .

[0103] A processor adapted for a method for calculating the inductive full-red time at an intersection comprises a calculation unit for calculating the full-red time at the intersection.

[0104] Beneficial effects of the present invention:

[0105] In the present invention, by real-time detection of the congestion of pedestrians, non-motor vehicles and motor vehicles crossing the street, the dynamic changes of traffic flow are incorporated into the influencing factors for calculation, thereby realizing the change of the inductive full-red time and improving the accuracy of the calculated full-red time, which can reduce the control delay of the intersection, enhance the safety level of the road, improve the traffic capacity of the cross intersection, optimize the traffic flow and reduce traffic congestion. BRIEF DESCRIPTION OF THE DRAWINGS

[0106] The present invention will be further described below with reference to the accompanying drawings.

[0107] Figure 1 It is a schematic diagram of an intersection according to the present invention's inductive all-red time calculation method for a cross intersection;

[0108] Figure 2 It is a schematic diagram of an intersection according to the present invention's inductive all-red time calculation method for a cross intersection;

[0109] Figure 3 It is a flow chart of the induction-type full red time calculation method for a cross intersection of the present invention;

[0110] Figure 4 This is a flow chart of the inductive all-red time calculation method for a crossroads according to the present invention in a specific application;

[0111] Figure 5 It is a flow chart of the specific application of the induction-type all-red time calculation method for a cross intersection of the present invention. DETAILED DESCRIPTION

[0112] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0113] See also Figure 3-Figure 5 As shown, Figure 4 Line a1 and Figure 5 The line a2 is connected, Figure 4 The line b1 and Figure 5 The present invention is a method for calculating the inductive full red time at a crossroads, comprising:

[0114] S1. Deploy video detectors and video surveillance at intersections. These are used to capture pedestrian and vehicle trajectories, measure road width, and obtain road phase information. The video detectors are used to obtain intersection phase information and determine road alignment parameters.

[0115] Specifically, the number of intersection phases is obtained by video detectors A and C, which is denoted as P. The road alignment parameters include the length of the non-motorized vehicle's trajectory from the stop line for turning left, right, or going straight to the exit, the length of the motor vehicle's trajectory from the stop line for turning left, right, or going straight to the exit, and the road width. The road width in the X direction and the road width in the Y direction are denoted as Lx and Ly, respectively, and the length of the non-motorized vehicle's trajectory from the stop line for turning left to the exit is denoted as H. blp , the length of the non-motor vehicle's right turn stop line to the exit lane is recorded as H brp The length of the non-motor vehicle's straight stop line to the exit lane is recorded as H bsp The length of the vehicle's left-turn stop line to the exit lane is recorded as H clp , the length of the motor vehicle's right turn stop line to the exit lane is recorded as H crp The length of the motor vehicle's straight-line stop line to the exit lane is recorded as H csp Among them, b represents non-motor vehicles, c represents motor vehicles, r represents right turn, l represents left turn, s represents straight ahead, p represents phase, and 1≤p≤P.

[0116] See also Figure 1-Figure 2 As shown in the figure, the video detector layout points, video monitoring layout points and driving trajectory length set at the intersection can be seen from the figure.

[0117] S2. Assume that there are E entrance lanes at the intersection. Use video detectors and video surveillance to perform real-time detection of motor vehicles, non-motor vehicles, and pedestrians crossing the street at each entrance lane e at each phase p, 1≤e≤E, and obtain the driving speed S of the motor vehicles in the lane. ci and the speed S of non-motor vehicles in the lane bi and the moving speed S of pedestrians crossing the sidewalk pi .

[0118] Based on the obtained driving speed S of the motor vehicle in the lane ci , the speed of non-motor vehicles in the same direction in the lane S 1 bi, the speed of the oncoming non-motor vehicle in the lane S 2 bi , the moving speed S of pedestrians crossing the street in the same direction on the sidewalk 1 pi and the moving speed S of pedestrians crossing the street in the opposite direction on the sidewalk 2 pi , where i = 1, 2, 3.... Analyze the speed distribution frequency for each phase p and calculate the vehicle speed threshold S that appears the most times cm , speed threshold S for non-motor vehicles in the same direction 1 bm , speed threshold S for oncoming non-motor vehicles 2 bm , speed threshold S for pedestrians crossing the street in the same direction 1 pm and the speed threshold S for pedestrians crossing the street in the opposite direction 2 pm , where m = 1, 2, 3...

[0119] The calculation formula is as follows:

[0120] S cm =Max Frequency{S c1 、S c2 、S c3 …},

[0121] S 1 bm =Max Frequency{S 1 b1 、S 1 b2 、S 1 ba …},

[0122] S 2 bm =Max Frequency{S 2 b1 、S 2 b2 、S 2 b3 …},

[0123] S 1 pm =Max Frequency{S 1 p1 、S 1 p2 、S 1 p3 …},

[0124] S 2pm =Max Frequency{S 2 p1 、S 2 p2 、S 2 p3 …}.

[0125] S3. Based on S1 and S2, for each phase p, calculate the full red basic duration required for the street to be clear of pedestrians, non-motor vehicles, and motor vehicles.

[0126] The following steps are involved:

[0127] S31. For each phase p, determine whether the pedestrians crossing the street are on the zebra crossing when the green light ends, and calculate the basic duration T of the full red light when the pedestrians are cleared. p0 .

[0128] S311. For each phase p, if the pedestrian is not on the zebra crossing when the green light ends, determine whether the pedestrian has crossed twice. A double crossing occurs when a pedestrian, due to traffic signals or road design, cannot completely cross the intersection in one go and must temporarily stop at a safety island or traffic island in the middle of the intersection before continuing to cross the intersection at the next signal cycle.

[0129] If there is no pedestrian crossing twice, the basic duration of the full red light after the pedestrians are cleared is T p0 The calculation formula is:

[0130] or

[0131] If pedestrians cross the street twice, the basic duration of the red light after the pedestrians are cleared is T p0 The calculation formula is:

[0132] or

[0133] S312: For each phase p, if the pedestrian is on the zebra crossing when the green light ends, obtain the distance L that the pedestrian has crossed the zebra crossing through the video detectors A and C. c , the basic duration of the full red color after the pedestrians crossing the street are cleared is T p0 The calculation formula is:

[0134]

[0135] S32. For each phase p, calculate the full red basic duration T of the non-motor vehicle clearing b0 .

[0136] S321. If a dedicated phase exists for non-motor vehicles, the dedicated phase is an independent signal phase set for left turns. For example, phase p is for an east-west left turn or a north-south left turn. Calculate the basic duration T of the red light from the end of the green light when the tail vehicle travels from the stop line to the exit lane clearing. b0 The calculation formula is:

[0137]

[0138] S322. If there is no dedicated phase for non-motor vehicles, and phase p is a straight right from east to west or a straight right from north to south, calculate the basic duration T of the full red light from the stop line to the exit lane clearing when the tail vehicle ends the green light. b0 , the calculation formula is:

[0139]

[0140] T b0 =Max{T b1 、T b2}.

[0141] Among them, T b1 It is the basic time for the tail vehicle to travel from the stop line to the exit lane clearing when turning right in the east-west direction or the north-south direction. b2 It is the basic time for the tail vehicle to travel from the stop line to the full red line when traveling in the east-west direction or the north-south direction.

[0142] S323. If there is no dedicated phase for non-motor vehicles, and phase p is left-to-right or left-to-right, then calculate the basic time it takes for the tail vehicle to travel from the stop line to the exit lane clearing when the green light ends, T b0 The calculation formula is:

[0143]

[0144] T b0 =Max{T b1 、T b2 、T b3}.

[0145] Among them, T b1 It is the basic time for the tail vehicle to travel from the stop line to the exit lane clearing when turning right in the east-west direction or the north-south direction. b2 It is the basic time for the tail vehicle to travel from the stop line to the exit lane when the vehicle is traveling straight in the east-west direction or the north-south direction. b3 It is the basic time it takes for the tail vehicle to travel from the stop line to the exit lane clearing the full red light when turning left in the east-west direction or the north-south direction.

[0146] S33. For each phase p, calculate the full red basic duration T of the vehicle clearing c0 .

[0147] S331. If a motor vehicle has a dedicated phase, for example, phase p is an east-west left turn or a north-south left turn, calculate the basic duration T of the full red light from the stop line to the exit lane clearing when the green light ends. c0 The calculation formula is:

[0148]

[0149] S332. If there is no dedicated phase for motor vehicles, and phase p is a straight right from east to west or a straight right from north to south, calculate the basic duration T of the full red light from the stop line to the exit lane clearing when the rear vehicle turns green. c0 The calculation formula is:

[0150]

[0151] T c0 =Max{T c1 、T c2}.

[0152] Among them, T c1 It is the basic time for the tail vehicle to travel from the stop line to the exit lane clearing when turning right in the east-west direction or the north-south direction. c2 It is the basic time for the tail vehicle to travel from the stop line to the full red line when traveling in the east-west direction or the north-south direction.

[0153] S333. If there is no dedicated phase for motor vehicles, and phase p has an east-west left-straight-right or north-south left-straight-right phase, calculate the basic duration T of the full red light from the stop line to the exit lane clearing when the rear vehicle ends the green light. c0 , the calculation formula is:

[0154]

[0155] T c0 =Max{T c1 、T c2 、T c3}.

[0156] Among them, T c1 It is the basic time for the tail vehicle to travel from the stop line to the exit lane when turning left in the east-west direction or the north-south direction. c2 It is the basic time for the tail vehicle to travel from the stop line to the exit lane clearing when turning right in the east-west direction or the north-south direction. c3 It is the basic time for the tail vehicle to travel from the stop line to the full red line when traveling in the east-west direction or the north-south direction.

[0157] It should be noted that the order of steps S31, S32, and S33 can be interchanged.

[0158] S4. For each phase p, the congestion situation is determined by obtaining a queue of pedestrians, non-motorized vehicles, and motor vehicles through video surveillance cameras B and D. The queue queue includes the density of the pedestrians, the length of the queue formed by the motor vehicles, and the length of the queue formed by the non-motorized vehicles.

[0159] Based on the judgment results, the all-red time of people crossing the street, non-motor vehicles and motor vehicles in congested and non-congested conditions is calculated respectively, and the total all-red time and the maximum all-red time are obtained.

[0160] The following steps are involved:

[0161] S41. Obtain the number of people crossing the street (Y) through video surveillance B and D. c And the crowd area X c , calculate the population density ρ of the street, and the calculation formula of population density is:

[0162] ρ=Y c / X c ;

[0163] where X c Unit is m 2 , judge the crowd congestion of the crowd crossing the street according to the population density ρ, and calculate the full red time r of the crowd crossing the street p .

[0164] S411. When 0≤ρ<1, it is determined to be a non-crowded situation, and the full red time r of the crowd crossing the street is obtained. p for:

[0165] r p =T p0 .

[0166] S412: When ρ≥1, it is determined to be a crowded situation. The maximum distance L of a single pedestrian crossing the zebra crossing in the same direction is obtained through video surveillance B and D. p , the maximum distance L' that a single pedestrian in the opposite crowd can cross the zebra crossing p , the speed S of the center point of the group of pedestrians crossing the zebra crossing in the same direction p , the speed of the center point of the group of pedestrians crossing the zebra crossing is S' p , where the cluster center represents the area where people crossing the street concentrate on the zebra crossing.

[0167] Calculate the full red time r of the crowd crossing the street p , the formula is:

[0168]

[0169] S42: For each phase p, obtain the length W of the queue formed by the non-motor vehicles through the video detectors A and C. b , judge the congestion of non-motor vehicles and calculate the full red time r of non-motor vehicles b .

[0170] S421, when 0≤W b <min{H blp 、H brp 、H bsp}, it is determined to be a non-congested situation, and the full red time r of non-motor vehicles is obtained. b for:

[0171] r b =T b0 .

[0172] S422, when W b ≥min{H blp 、H brp 、H bsp}, it is determined to be a congested situation, and the queue formed by non-motor vehicles is recorded as a non-motor vehicle cluster queue. The speed S of the tail vehicle in the non-motor vehicle cluster queue is obtained through video monitoring B and D. b , and the full red time of non-motor vehicles is calculated separately according to whether the first and last vehicles in the non-motor vehicle cluster pass through the stop line of the intersection before the green light ends.

[0173] If the last vehicle in the non-motor vehicle group queue passes the stop line before the green light ends, calculate the full red time r of the non-motor vehicle. b for:

[0174]

[0175] If the first vehicle in the non-motor vehicle group queue does not pass the stop line before the green light ends, the video detector E obtains the distance L from the first vehicle to the stop line and calculates the full red time r of the non-motor vehicle. b for:

[0176]

[0177] S43. For each phase p, the length W of the queue formed by the motor vehicles is obtained by the video detector. c , judge the congestion situation and calculate the full red time r of the motor vehicle c .

[0178] S431, when 0≤W c <min{H clp 、H crp 、H csp}, it is determined to be a non-congested situation, and the full red time r of the motor vehicle is obtained.c for:

[0179] r c =T c0 .

[0180] S432, when W c ≥min{H clp 、H crp 、H csp} is a congested situation, the queue formed by the motor vehicles is recorded as a motor vehicle cluster queue, and the speed S of the tail vehicle in the motor vehicle cluster queue is obtained through video detectors A and C. c , and the full red time of motor vehicles is calculated separately according to whether the first and last vehicles in the motor vehicle cluster queue pass the intersection stop line before the green light ends.

[0181] If the last vehicle in the motor vehicle queue passes the stop line before the green light ends, the full red time r of the motor vehicle is calculated. c for:

[0182]

[0183] If the first vehicle in the motor vehicle group queue does not pass the stop line before the green light ends, the distance L0 from the first vehicle to the stop line is obtained by the video detector E, and the full red time r of the motor vehicle is calculated. c for:

[0184]

[0185] At this time, according to the video detector E, the driving speed is less than S when the green light ends. cm To warn the vehicle, in this embodiment, a warning loudspeaker is used to play a broadcast.

[0186] It should be noted that the order of steps S41, S42, and S43 can be adjusted.

[0187] S44. For each phase p, calculate the total full red time R0, using the formula:

[0188] R0=Max{r p 、r b 、r c}.

[0189] S45, obtaining the 15% speed S of the pedestrian crossing the street through the video detectors A and C. p15 、15% of the speed of non-motor vehicles S b15 and 15% of the vehicle speed S c15 , calculate the maximum single red time T for the crowd crossing the street pmax , the maximum single red time for non-motor vehicles to pass Tbmax And the maximum single red time T for motor vehicles to pass cmax .

[0190] Among them, the 15th percentile speed is the speed percentile, which means that at the actual measurement location, 15% of all speeds measured are lower than this speed, and the remaining 85% are higher than this speed. The 15th percentile speed is usually used as the minimum speed limit in traffic flow, and the same applies to pedestrians, non-motor vehicles and motor vehicles.

[0191] For each phase p,

[0192] Calculate the maximum single-item all-red time T for people crossing the street pmax , the formula is:

[0193]

[0194] Calculate the maximum single red time T for non-motor vehicles to pass bmax , the formula is:

[0195]

[0196] Calculate the maximum single-item all-red time T for a motor vehicle to pass cmax , the formula is:

[0197]

[0198] S46. For each phase p, compare T pmax 、T bmax 、T cmax , get the maximum all-red time T max , the formula is:

[0199] T max =Max{T pmax 、T bmax 、T cmax}.

[0200] S5. For each phase, compare the total full-red time with the maximum full-red time to obtain the final full-red time.

[0201] If R0<T max , then the final all-red time is R0;

[0202] If R0 ≥ T max , then the final all-red time is T max .

[0203] Output the final all-red time and the calculation is completed.

[0204] When designing the red light duration, a short red light duration can hinder the timely clearing of vehicles entering the intersection at the end of the previous green light period or during the yellow light period, posing a risk to traffic in the next phase. A long red light duration can easily lead some drivers to run a red light during this period. Furthermore, conflicts between pedestrians, non-motorized vehicles, and motor vehicles can lead to significant signal loss time, reducing the capacity and service quality of signalized intersections.

[0205] While existing methods for calculating full-red time are relatively simple, traffic conditions change in real time. If the design relies solely on a static assumption, without considering the time-varying characteristics of traffic flow and its impact on vehicle speeds and full-red time, the accuracy of the full-red time calculation will be affected. Furthermore, different types of vehicles vary in length, speed, and traffic impact, and the impact of these dynamic changes on traffic flow is not factored into existing calculations.

[0206] In this application, by real-time detection of the congestion of pedestrians, non-motor vehicles and motor vehicles crossing the street, the dynamic changes of traffic flow are included in the influencing factors for calculation, thereby realizing the change of the inductive full-red time and improving the accuracy of the calculated full-red time. It can reduce the control delay of the intersection, enhance the safety level of the road, improve the traffic capacity of the intersection, optimize the traffic flow and reduce traffic congestion.

[0207] In another embodiment, a processor is provided, adapted for the above-mentioned inductive full-red time calculation method for an intersection, wherein the processor includes a calculation unit for calculating the full-red time of the intersection.

[0208] The above is a detailed description of an embodiment of the present invention. However, the content described is only a preferred embodiment of the present invention and should not be considered to limit the scope of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the claims of the present invention.

Claims

1. A method for calculating the full red time of an inductive intersection, characterized in that: include: S1. Arrange video detectors and video surveillance at road intersections, wherein the video detectors and video surveillance are used to capture the movement trajectories of pedestrians and vehicles crossing the street, measure road width, and obtain phase information. The video detectors are used to obtain the number of intersection phases and determine road alignment parameters, including the length of the travel trajectory from the stop line to the exit lane for non-motor vehicles turning left, right, or going straight, and the length of the travel trajectory from the stop line to the exit lane for motor vehicles turning left, right, or going straight, and the road width. S2. Real-time detection of motor vehicles, non-motor vehicles, and pedestrians crossing the street at each phase and each entrance, and obtaining the driving speeds of motor vehicles and non-motor vehicles as well as the moving speeds of pedestrians crossing the street; Based on the corresponding speed, the speed distribution frequency is analyzed for each phase, and the speed with the most occurrences in each phase is taken as the speed threshold; Calculate the speed thresholds for pedestrians, non-motor vehicles, and motor vehicles respectively; S3. For each phase, based on the judgment results of whether the pedestrian crossing is at the zebra crossing when the green light ends, whether there is a dedicated phase for non-motor vehicles, and whether there is a dedicated phase for motor vehicles, the full red basic duration for pedestrians to be cleared, the full red basic duration for non-motor vehicles to be cleared, and the full red basic duration for motor vehicles to be cleared are calculated according to the corresponding full red basic duration formula, where the dedicated phase is an independent signal phase set for left turns; S4. For each phase, determine the congestion situation by obtaining, through the video surveillance, a number of pedestrians crossing the street, queues of non-motor vehicles, and motor vehicles, wherein the queues include a density of pedestrians in the street crossing, a length of a queue formed by a number of motor vehicles, and a length of a queue formed by a number of non-motor vehicles. Based on the judgment result, under the condition of no congestion, the maximum value of the basic duration of full red when pedestrians are cleared, the basic duration of full red when non-motor vehicles are cleared, and the basic duration of full red when motor vehicles are cleared is taken as the final full red time, and the calculation is completed; In the case of congestion, according to the corresponding formula for all-red time and the formula for the maximum single all-red time, calculate the all-red time of the pedestrian crossing group and the maximum single all-red time of the pedestrian crossing group, the all-red time of non-motor vehicles and the maximum single all-red time of non-motor vehicles, the all-red time of motor vehicles and the maximum single all-red time of motor vehicles, take the maximum value of the all-red time as the total all-red time, take the maximum value of the maximum single all-red time as the maximum all-red time, and obtain the total all-red time and the maximum all-red time; S5. For each phase, compare the total full-red time with the maximum full-red time to obtain the final full-red time. The calculation is completed.

2. The method for calculating the inductive full red time at an intersection according to claim 1 is characterized in that: In S1, the number of intersection phases is recorded as P, the road width in the X direction and the road width in the Y direction are recorded as Lx and Ly respectively; the length of the non-motor vehicle's driving trajectory from the left turn stop line to the exit road is recorded as H blp , the length of the non-motor vehicle's right turn stop line to the exit lane is recorded as H brp The length of the non-motor vehicle's straight stop line to the exit lane is recorded as H bsp The length of the vehicle's left-turn stop line to the exit lane is recorded as H clp , the length of the motor vehicle's right turn stop line to the exit lane is recorded as H crp The length of the motor vehicle's straight-line stop line to the exit lane is recorded as H csp .

3. The method for calculating the inductive full red time at an intersection according to claim 2 is characterized in that: In S2, the corresponding speed includes the driving speed S of the motor vehicle in the lane. ci , the speed of non-motor vehicles in the same direction in the lane S 1 bi , the speed of the oncoming non-motor vehicle in the lane S 2 bi , the moving speed S of pedestrians crossing the street in the same direction on the sidewalk 1 pi and the moving speed S of pedestrians crossing the street in the opposite direction on the sidewalk 2 pi , where i=1, 2, 3… 4. The method for calculating the inductive full red time at an intersection according to claim 3 is characterized in that: In S2, the speed thresholds for pedestrians, motor vehicles, and non-motor vehicles are calculated as follows: for each phase, the speed distribution frequency is analyzed to obtain the motor vehicle speed threshold S that appears the most frequently. cm , speed threshold S for non-motor vehicles in the same direction 1 bm , speed threshold S for oncoming non-motor vehicles 2 bm , speed threshold S for pedestrians crossing the street in the same direction 1 pm and the speed threshold S for pedestrians crossing the street in the opposite direction 2 pm , where m = 1, 2, 3, ...; The calculation formula is as follows: S cm =Max Frequency{S c1 、S c2 、S c3 …}, S 1 bm =Max Frequency{S 1 b1 、S 1 b2 、S 1 b3 …}, S 2 bm =Max Frequency{S 2 b1 、S 2 b2 、S 2 p3 …}, S 1 pm =Max Frequency{S 1 p1 、S 1 p2 、S 1 p3 …}, S 2 pm =Max Frequency{S 2 p1 、S 2 p2 、S 2 p3 …}。 5. The method for calculating the inductive full red time at an intersection according to claim 3 is characterized in that: In said S3, the following steps are included: S31. Determine whether the pedestrians crossing the street are on the zebra crossing when the green light ends, and calculate the basic duration T of the full red light when the pedestrians are cleared. p0 , specifically including the following steps: S311. For each phase p, if the pedestrian crossing the street is not on the zebra crossing when the green light ends, determine whether the pedestrian has crossed the street twice. Among them, the second crossing is when pedestrians cannot completely cross the entire intersection at one time due to traffic signals or road design. Instead, they need to temporarily stop at the middle safety island or traffic island and wait for the next signal cycle before continuing to cross the street. If there is no pedestrian crossing twice, the basic duration of the full red light after the pedestrians are cleared is T p0 The calculation formula is: If pedestrians cross the street twice, the basic duration of the red light after the pedestrians are cleared is T p0 The calculation formula is: S312: For each phase p, if the pedestrian is on the zebra crossing when the green light ends, the length L of the pedestrian crossing the zebra crossing is obtained by the video detector. c , the basic duration of the full red color after the pedestrians crossing the street are cleared is T p0 The calculation formula is:

6. The method for calculating the inductive full red time at an intersection according to claim 5 is characterized in that: In said S3, the following steps are included: S32, determine whether there is a dedicated phase for non-motor vehicles, and calculate the full red basic time length T for non-motor vehicles to be cleared b0 , specifically including the following steps: S321. If a non-motor vehicle has a dedicated phase, and phase p is an east-west left turn or a north-south left turn, calculate the basic time T for the tail vehicle to travel from the stop line to the exit lane clearing the full red light when the green light ends. b0 , the calculation formula is: S322. If there is no dedicated phase for non-motor vehicles, and phase p is a straight right from east to west or a straight right from north to south, calculate the basic time T for the tail vehicle to travel from the stop line to the exit lane clearing the full red light when the green light ends. b0 , the calculation formula is: T b0 =Max{T b1 、T b2 }; Among them, T b1 It is the basic time for the tail vehicle to travel from the stop line to the exit lane clearing when turning right in the east-west direction or the north-south direction. b2 The basic time it takes for the tail vehicle to travel from the stop line to the exit lane being cleared when driving straight in the east-west direction or the north-south direction; S323. If there is no dedicated phase for non-motor vehicles, and phase p is left-to-right or left-to-right, then calculate the basic time T for the tail vehicle to travel from the stop line to the exit lane clearing the full red light when the green light ends. b0 , the calculation formula is: T b0 =Max{T b1 、T b2 、T b3 }; Among them, T b1 It is the basic time for the tail vehicle to travel from the stop line to the exit lane clearing when turning right in the east-west direction or the north-south direction. b2 It is the basic time for the tail vehicle to travel from the stop line to the exit lane when the vehicle is traveling straight in the east-west direction or the north-south direction. b3 It is the basic time it takes for the tail vehicle to travel from the stop line to the exit lane clearing the full red light when turning left in the east-west direction or the north-south direction.

7. The method for calculating the inductive full red time at an intersection according to claim 6 is characterized in that: In said S3, the following steps are included: S33, determine whether there is a dedicated phase for the motor vehicle, and calculate the basic duration T of the full red phase for the motor vehicle to be cleared c0 , specifically including the following steps: S331. If a motor vehicle has a dedicated phase, phase p is an east-west left turn or a north-south left turn, calculate the basic time T for the tail vehicle to travel from the stop line to the exit lane clearing the full red light when the green light ends. c0 , the calculation formula is: S332. If there is no dedicated phase for a motor vehicle, and phase p is a straight right from east to west or a straight right from north to south, calculate the basic time T for the tail vehicle to travel from the stop line to the exit lane clearing the full red light when the green light ends. c0 The calculation formula is: T c0 =Max{T c1 、T c2 }; Among them, T c1 It is the basic time for the tail vehicle to travel from the stop line to the exit lane clearing when turning right in the east-west direction or the north-south direction. c2 The basic time it takes for the tail vehicle to travel from the stop line to the exit lane being cleared when driving straight in the east-west direction or the north-south direction; S333. If there is no dedicated phase for motor vehicles, and phase p has an east-west left-straight-right or north-south left-straight-right phase, calculate the basic duration T of the tail vehicle traveling from the stop line to the exit lane clearing the full red light when the green light ends. c0 The calculation formula is: T c0 =Max{T c1 、T c2 、T c3 }; Among them, T c1 It is the basic time for the tail vehicle to travel from the stop line to the exit lane when turning left in the east-west direction or the north-south direction. c2 It is the basic time for the tail vehicle to travel from the stop line to the exit lane clearing when turning right in the east-west direction or the north-south direction. c3 It is the basic time for the tail vehicle to travel from the stop line to the full red line when traveling in the east-west direction or the north-south direction.

8. The method for calculating the inductive full red time at an intersection according to claim 3 is characterized in that: In said S4, the following steps are included: S41. Obtain the number of people crossing the street Y through video surveillance c And the crowd area X c , calculate the population density ρ of the street, and the calculation formula of population density is: p=Y c / X c ; where X c The unit is m2. The crowd congestion of the crowd crossing the street is judged according to the population density ρ, and the full red time r of the crowd crossing the street is calculated. p , specifically including the following steps: S411. When 0≤ρ<1, it is determined to be a non-crowded situation, and the full red time r of the crowd crossing the street is obtained. p for: r p ＝T p0 ； S412: When ρ≥1, it is determined to be a crowded situation. The maximum distance L of a single pedestrian crossing the zebra crossing in the same direction is obtained through video surveillance. p , the maximum distance L' that a single pedestrian in the opposite crowd can cross the zebra crossing p , the speed S of the center point of the group of pedestrians crossing the zebra crossing in the same direction p , the speed of the center point of the group of pedestrians crossing the zebra crossing is S' p , the cluster center point represents the area where people crossing the street concentrate on the zebra crossing; Calculate the full red time r of the crowd crossing the street p , the formula is:

9. The method for calculating the inductive full red time at an intersection according to claim 2, characterized in that: In said S4, the following steps are included: S42. For each phase p, obtain the length W of the queue formed by the non-motor vehicle queue through the video detector. b , judge the congestion of non-motor vehicles and calculate the full red time r of non-motor vehicles b , specifically including the following steps: S421, when 0≤W b <min{H blp 、H brp 、H bsp }, it is determined to be a non-congested situation, and the full red time r of non-motor vehicles is obtained. b for: r b ＝T b0 ； S422, when W b ≥min{H blp 、H brp 、H bsp }, it is determined to be a congested situation, and the queue formed by the non-motor vehicles is recorded as a non-motor vehicle cluster queue. The speed S of the tail vehicle in the non-motor vehicle cluster queue is obtained through video monitoring. b , and calculate the full red time of non-motor vehicles respectively according to whether the first and last vehicles in the non-motor vehicle group queue pass through the stop line of the intersection before the green light ends; If the last vehicle in the non-motor vehicle group queue passes the stop line before the green light ends, calculate the full red time r of the non-motor vehicle. b for: If the first vehicle in the non-motor vehicle queue does not pass the stop line before the green light ends, the video detector obtains the distance L from the first vehicle to the stop line and calculates the full red time r of the non-motor vehicle. b for:

10. The method for calculating the inductive full red time at an intersection according to claim 9, characterized in that: In said S4, the following steps are included: S43. For each phase p, the length W of the queue formed by the motor vehicles is obtained by the video detector. c , judge the congestion situation and calculate the full red time r of the motor vehicle c , specifically including the following steps: S431, when 0≤W c <min{H clp 、H crp 、H csp }, it is determined to be a non-congested situation, and the full red time r of the motor vehicle is obtained. c for: r c ＝T c0 ； S432, when W c ≥min{H clp 、H crp 、H csp }, it is determined to be a congested situation, and the queue formed by the motor vehicles is recorded as a motor vehicle cluster queue. The speed S of the tail vehicle in the motor vehicle cluster queue is obtained through the video detector. c , and calculate the full red time of each motor vehicle based on whether the first and last vehicles in the motor vehicle group queue pass the intersection stop line before the green light ends; If the last vehicle in the motor vehicle queue passes the stop line before the green light ends, the full red time r of the motor vehicle is calculated. c for: If the first vehicle in the motor vehicle queue does not pass the stop line before the green light ends, the distance L0 from the first vehicle to the stop line is obtained through the video detector, and the full red time r of the motor vehicle is calculated. c for: At this time, according to the video detector, the driving speed is less than S when the green light ends. cm The vehicle is warned.

11. The method for calculating the inductive full red time at an intersection according to claim 10, characterized in that: In said S4, the following steps are included: S44. For each phase p, calculate the total full red time R0, using the formula: R0=Max{r p 、r b 、r c }。 12. The method for calculating the inductive full red time at an intersection according to claim 11, characterized in that: In said S4, the following steps are included: S45, obtain the 15% bit speed S of pedestrians crossing the street through the video detector p15 、15% of the speed of non-motor vehicles S b15 and 15% of the vehicle's speed S c15 , calculate the maximum single red time T for the crowd crossing the street pmax , the maximum single red time for non-motor vehicles to pass T bmax And the maximum single red time T for motor vehicles to pass cmax ; The 15th percentile speed is a speed percentile, which means that at the actual measurement location, 15% of all speeds measured are lower than this speed, while the remaining 85% are higher than this speed. The 15th percentile speed is usually used as the minimum speed limit in traffic flow. For each phase p, Calculate the maximum single-item all-red time T for people crossing the street pmax , the formula is: Calculate the maximum single red time T for non-motor vehicles to pass bmax , the formula is: Calculate the maximum single-item all-red time T for a motor vehicle to pass cmax , the formula is: S46. For each phase p, compare T pmax 、T bmax 、T cmax , get the maximum all-red time T max , the formula is: T max =Max{T pmax 、T bmax 、T cmax }。 13. The method for calculating the inductive full red time at an intersection according to claim 12, characterized in that: In said S5, If R0<T max , then the final all-red time is R0; If R0 ≥ T max , then the final all-red time is T max .

14. A processor adapted to the method for calculating the inductive full red time at an intersection according to any one of claims 1 to 13, characterized in that: include: A calculation unit is used to calculate the full red time of the intersection.

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