Induction signal control method and electronic equipment

Abstract

The invention discloses an induction signal control method and electronic equipment, which are used for effectively balancing passing requests of a motor vehicle and a pedestrian under the condition that the passing requests of the pedestrian and the motor vehicle may conflict. The method comprises the following steps: periodically detecting motor vehicle data and non-motor vehicle data corresponding to each phase; in each detection period, in a target signal operation stage of a phase i, if motor vehicle data of the phase i and non-motor vehicle data of a phase j are detected, controlling a target signal of the phase i to operate for a first minimum time length, entering a countdown flow of the phase i, and entering a target signal operation stage of the phase j when the countdown flow of the phase i is finished; wherein the phase i and the phase j are conflicting phases, i is an integer greater than or equal to 0, and j is an integer greater than or equal to 0.

Description

Technical Field

[0001] The present application relates to the field of intelligent transportation technology, and in particular to an induction signal control method and electronic equipment. Background Art

[0002] Full induction control means that all signal phases in the intersection are induction. Motor vehicles and non-motor vehicles (pedestrians) are detected at the intersection, and induction control is used for the signal phases of motor vehicles and pedestrians at the same time. The system will detect traffic flow in all directions and adjust the release time of traffic lights according to real-time traffic conditions. It can provide more flexible and efficient traffic management and adapt to traffic flow changes at different times and dates.

[0003] The phase in full-sensing control refers to the phase of all signal lights at a traffic intersection. In a full-sensing control system, the signal lights at each intersection will automatically adjust according to traffic flow to meet the needs of vehicles and pedestrians in different directions.

[0004] Currently, mixed traffic flows are usually controlled only for pedestrians, or only for motor vehicles. Therefore, how to effectively balance the traffic requests of motor vehicles and pedestrians has become an urgent problem that needs to be solved. Summary of the invention

[0005] The present application provides an induction signal control method and an electronic device, which are used to effectively balance the passage requests of motor vehicles and pedestrians when the passage requests of pedestrians and motor vehicles may conflict.

[0006] In a first aspect, an embodiment of the present application provides a sensing signal control method, the method comprising: Periodically detect the motor vehicle data and non-motor vehicle data corresponding to each phase; In each detection cycle, in the target signal operation stage of phase i, if motor vehicle data of phase i is detected and non-motor vehicle data of phase j is detected, the target signal of phase i is controlled to run for the first minimum time, and the countdown process of phase i is entered. At the end of the countdown process of phase i, the target signal operation stage of phase j is entered; wherein phase i and phase j are conflicting phases, i is an integer greater than or equal to 0, and j is an integer greater than or equal to 0.

[0007] The sensing signal control method provided in this embodiment controls the green light duration of the phase corresponding to the motor vehicle to run for the first minimum duration in the scenario where motor vehicles continue to arrive and there are pedestrians requesting passage at the same time, thereby avoiding the problem of excessive saturation of the motor vehicle phase due to pedestrian priority service, which causes traffic congestion. In the case where the passage requests of pedestrians and motor vehicles may conflict, the passage requests of motor vehicles and pedestrians are effectively balanced.

[0008] As an optional implementation manner, entering the target signal operation stage of phase j, the method further includes: The running time of the target signal of phase j is extended to enter the countdown process of phase j.

[0009] As an optional implementation, in each detection cycle, during the target signal operation phase of phase i, motor vehicle data of phase i is detected, and the method further includes: Determine whether to extend the operating duration of the target signal of phase i according to at least one of a first minimum duration, a first maximum duration, a first countdown duration and a headway time of each lane corresponding to phase i.

[0010] As an optional implementation manner, before determining whether to extend the running time of the target signal of phase i, the method further includes: Determining that non-motor vehicle data of phase j is not detected; or, Determine that the current detection cycle corresponds to a default mode; or, It is determined that the current detection cycle corresponds to the non-motor vehicle priority mode, and the non-motor vehicle data of the phase j is less than or equal to a threshold.

[0011] As an optional implementation manner, before extending the running time of the target signal of phase i, the method further includes performing any one or more of the following steps: Determine that the current running time of the target signal of phase i is greater than or equal to the first minimum time; or, Determine that the sum of the current running time and the first countdown time is less than or equal to the first maximum time; or, Determine that the headway time of each lane is less than or equal to the headway time threshold; or, Determine that a first sum of the current operating time and the unit extension time of the motor vehicle is less than or equal to the first maximum time; or, According to the difference between the first countdown time and the first sum of the current running time and the unit extension time of the motor vehicle, it is determined that the maximum value of the current running time and the difference, and the sum of the first countdown time, is less than or equal to the first maximum time; or, Based on the difference between the first countdown duration and the first sum of the current operating time and the unit extension time of the motor vehicle, it is determined that the maximum value of the current operating time and the difference, together with the sum of the first countdown duration, is less than or equal to the preset duration of the target signal of phase i.

[0012] As an optional implementation manner, the target total duration obtained by extending the current running duration of the target signal of phase i is determined in the following manner: The target total duration obtained by extending the current running duration of the target signal of phase i is determined based on at least one of the current running duration of the target signal of phase i, the unit extension duration of the motor vehicle and the first countdown duration of the target signal of phase i.

[0013] As an optional implementation manner, determining a target total duration obtained by extending a current running duration of a target signal of phase i includes: Determine the target total duration according to the current operating duration and the unit extended duration of the motor vehicle; or, A first sum is determined based on the current operating time and the unit extension time of the motor vehicle, a difference between the first sum and the first countdown time is determined, and the target total time is determined based on the maximum value between the current operating time and the difference.

[0014] As an optional implementation manner, before controlling the target signal of phase i to run for the first minimum duration, the method further includes: It is determined that the current detection cycle corresponds to the non-motor vehicle priority mode, and the non-motor vehicle data of the phase j is greater than a threshold.

[0015] As an optional implementation manner, before extending the running time of the target signal of phase j, the method further includes performing any one or more of the following steps: Determine that the current running time of the target signal of phase j is greater than or equal to the second minimum time of the target signal of phase j; or, Determine that the sum of the current running time and the second countdown time of the target signal of phase j is less than or equal to the second maximum time of the target signal of phase j; or, Determine that a second sum of the current operating time and the unit extended time of the non-motor vehicle is less than or equal to the second maximum time.

[0016] As an optional implementation manner, the target total duration obtained by extending the target signal of phase j is determined in the following manner: The target total duration obtained by extending the target signal of phase j is determined based on at least one of the current operating duration of the target signal of phase j, the unit extension duration of the non-motor vehicle and the second countdown duration of the target signal of phase j.

[0017] As an optional implementation manner, determining a target total duration obtained by extending the target signal of phase j includes: Determine the target total duration according to the current running duration and the unit extension duration of the non-motor vehicle corresponding to phase j; or, Determine the second total based on the current operating time and the unit extension time of the non-motor vehicle corresponding to phase j, determine the difference between the second total and the second countdown time, and determine the target total time based on the maximum value of the current operating time and the difference.

[0018] As an optional implementation manner, entering the countdown process, the method further includes: According to the current running time of the target signals of each phase of the same barrier and the countdown time of the target signals of each phase, the running time of the target signals of the phases whose end times are not aligned in each phase are aligned so that the target signals of each phase after the alignment process end at the same time.

[0019] As an optional implementation manner, aligning the running time of the target signal of the phase whose end time is not aligned in each phase includes: The current running time of the target signal of the phase whose end time is not aligned among the phases is extended, and the target signals of the phases after the extension are controlled to end at the same time at the end time.

[0020] As an optional implementation manner, aligning the running time of the target signal of the phase whose end time is not aligned in each phase further includes: If the running time of the target signal of the phase after the alignment processing is greater than the maximum time of the target signal of the phase, then after the target signal of the phase runs for the maximum time, the target signal of the phase is switched to a designated signal, and the designated signal is controlled to run until the end time.

[0021] In a second aspect, an electronic device provided by an embodiment of the present application includes a processor and a memory, wherein the memory is used to store a program executable by the processor, and the processor is used to read the program in the memory and perform the following steps: Periodically detect the motor vehicle data and non-motor vehicle data corresponding to each phase; In each detection cycle, in the target signal operation stage of phase i, if motor vehicle data of phase i is detected and non-motor vehicle data of phase j is detected, the target signal of phase i is controlled to run for the first minimum time, and the countdown process of phase i is entered. At the end of the countdown process of phase i, the target signal operation stage of phase j is entered; wherein phase i and phase j are conflicting phases, i is an integer greater than or equal to 0, and j is an integer greater than or equal to 0.

[0022] As an optional implementation manner, when entering the target signal operation stage of phase j, the processor is further configured to execute: The running time of the target signal of phase j is extended to enter the countdown process of phase j.

[0023] As an optional implementation manner, in each detection cycle, during the target signal operation stage of phase i, motor vehicle data of phase i is detected, and the processor is specifically further configured to execute: Determine whether to extend the operating duration of the target signal of phase i according to at least one of a first minimum duration, a first maximum duration, a first countdown duration and a headway time of each lane corresponding to phase i.

[0024] As an optional implementation manner, before determining whether to extend the running time of the target signal of phase i, the processor is further configured to execute: Determining that non-motor vehicle data of phase j is not detected; or, Determine that the current detection cycle corresponds to a default mode; or, It is determined that the current detection cycle corresponds to the non-motor vehicle priority mode, and the non-motor vehicle data of the phase j is less than or equal to a threshold.

[0025] As an optional implementation manner, before extending the running time of the target signal of phase i, the processor is further configured to perform any one or more of the following: Determine that the current running time of the target signal of phase i is greater than or equal to the first minimum time; or, Determine that the sum of the current running time and the first countdown time is less than or equal to the first maximum time; or, Determine that the headway time of each lane is less than or equal to the headway time threshold; or, Determine that a first sum of the current operating time and the unit extension time of the motor vehicle is less than or equal to the first maximum time; or, According to the difference between the first countdown time and the first sum of the current running time and the unit extension time of the motor vehicle, it is determined that the maximum value of the current running time and the difference, and the sum of the first countdown time, is less than or equal to the first maximum time; or, Based on the difference between the first countdown duration and the first sum of the current operating time and the unit extension time of the motor vehicle, it is determined that the maximum value of the current operating time and the difference, together with the sum of the first countdown duration, is less than or equal to the preset duration of the target signal of phase i.

[0026] As an optional implementation manner, the processor is further specifically configured to determine the target total duration obtained by extending the current running duration of the target signal of phase i in the following manner: The target total duration obtained by extending the current running duration of the target signal of phase i is determined based on at least one of the current running duration of the target signal of phase i, the unit extension duration of the motor vehicle and the first countdown duration of the target signal of phase i.

[0027] As an optional implementation, the processor is specifically configured to execute: Determine the target total duration according to the current operating duration and the unit extended duration of the motor vehicle; or, A first sum is determined based on the current operating time and the unit extension time of the motor vehicle, a difference between the first sum and the first countdown time is determined, and the target total time is determined based on the maximum value between the current operating time and the difference.

[0028] As an optional implementation manner, before the target signal of the control phase i runs for the first minimum duration, the processor is further configured to execute: It is determined that the current detection cycle corresponds to the non-motor vehicle priority mode, and the non-motor vehicle data of the phase j is greater than a threshold.

[0029] As an optional implementation manner, before extending the running time of the target signal of phase j, the processor is further configured to perform any one or more of the following: Determine that the current running time of the target signal of phase j is greater than or equal to the second minimum time of the target signal of phase j; or, Determine that the sum of the current running time and the second countdown time of the target signal of phase j is less than or equal to the second maximum time of the target signal of phase j; or, Determine that a second sum of the current operating time and the unit extended time of the non-motor vehicle is less than or equal to the second maximum time.

[0030] As an optional implementation manner, the processor is specifically configured to determine the target total duration obtained by extending the target signal of phase j in the following manner: The target total duration obtained by extending the target signal of phase j is determined based on at least one of the current operating duration of the target signal of phase j, the unit extension duration of the non-motor vehicle and the second countdown duration of the target signal of phase j.

[0031] As an optional implementation, the processor is specifically configured to execute: Determine the target total duration according to the current running duration and the unit extension duration of the non-motor vehicle corresponding to phase j; or, Determine the second total based on the current operating time and the unit extension time of the non-motor vehicle corresponding to phase j, determine the difference between the second total and the second countdown time, and determine the target total time based on the maximum value of the current operating time and the difference.

[0032] As an optional implementation manner, entering the countdown process, the processor is specifically further configured to execute: According to the current running time of the target signals of each phase of the same barrier and the countdown time of the target signals of each phase, the running time of the target signals of the phases whose end times are not aligned in each phase are aligned so that the target signals of each phase after the alignment process end at the same time.

[0033] As an optional implementation, the processor is specifically configured to execute: The current running time of the target signal of the phase whose end time is not aligned among the phases is extended, and the target signals of the phases after the extension are controlled to end at the same time at the end time.

[0034] As an optional implementation manner, the running time of the target signal of the phase whose end time is not aligned in each phase is aligned, and the processor is specifically configured to execute: If the running time of the target signal of the phase after the alignment processing is greater than the maximum time of the target signal of the phase, then after the target signal of the phase runs for the maximum time, the target signal of the phase is switched to a designated signal, and the designated signal is controlled to run until the end time.

[0035] In a third aspect, an embodiment of the present application further provides an induction signal control device, the device comprising: A periodic detection module, used for periodically detecting motor vehicle data and non-motor vehicle data corresponding to each phase; A signal control module is used to control the target signal of phase i to run for a first minimum time in each detection cycle during the target signal operation phase of phase i, if motor vehicle data of phase i is detected and non-motor vehicle data of phase j is detected, and to enter the countdown process of phase i, and to enter the target signal operation phase of phase j at the end of the countdown process of phase i; wherein phase i and phase j are conflicting phases, i is an integer greater than or equal to 0, and j is an integer greater than or equal to 0.

[0036] In a fourth aspect, an embodiment of the present application further provides a computer storage medium on which a computer program is stored, and when the program is executed by a processor, it is used to implement the steps of any one of the methods described in the first aspect above.

[0037] In a fifth aspect, the present application provides a computer program product, comprising: a computer program code, when the computer program code is run on a computer, the computer executes any one of the methods described in the first aspect.

[0038] These and other aspects of the present application will be more clearly understood in the description of the following embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0040] Figure 1 A schematic diagram of motor vehicle phase numbering at a crossroad provided in an embodiment of the present application; Figure 2 A flow chart of an implementation of a sensing signal control method provided in an embodiment of the present application; Figure 3A , Figure 3B , Figure 3C A motor vehicle phase sensing control flow chart provided in an embodiment of the present application; Figure 4 A schematic diagram of a pedestrian phase sensing control system provided in an embodiment of the present application; Figure 5 A non-motor vehicle phase sensing control flow chart provided in an embodiment of the present application; Figure 6 A phase end logic diagram in a ring structure provided in an embodiment of the present application; Fig. 7A and Figure 7B A schematic diagram of a dual-ring solution structure provided in an embodiment of the present application; Figure 8 A schematic diagram of an induction control of a motor vehicle provided in an embodiment of the present application; Fig. 9 A schematic diagram of an electronic device provided in an embodiment of the present application; Fig.10 A schematic diagram of an induction signal control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0042] In the embodiments of the present application, the term "and / or" describes the association relationship of the associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0043] The application scenarios described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. It is known to those skilled in the art that with the emergence of new application scenarios, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems. In the description of the present application, unless otherwise specified, the meaning of "multiple" is two or more.

[0044] Before introducing the sensing signal control method provided in the embodiment of the present application, for ease of understanding, the technical background of the embodiment of the present application is first introduced in detail below.

[0045] Full induction control means that all signal phases in the intersection are induction, and motor vehicles and non-motor vehicles (pedestrians) are detected at the intersection. Induction control is used for the signal phases of motor vehicles and pedestrians at the same time. The system will detect traffic flow in all directions and adjust the release time of the signal lights according to the real-time traffic conditions. It can provide more flexible and efficient traffic management and adapt to traffic flow changes at different times and dates. The (signal) phase in full induction control refers to the change stage of all signal lights at the traffic intersection. In the full induction control system, the signal lights at each intersection will automatically adjust according to the traffic flow to meet the needs of vehicles and pedestrians in different directions.

[0046] In the ring-gate structure of full induction control, the ring represents a sequence structure consisting of two or more conflicting signal light groups that are timed in sequence and selected individually. This arrangement allows flexibility between compatible signal light groups in different rings. The main purpose of the barrier, also known as a "partition" or "barrier", is to separate the intersecting main road and secondary road, ensuring that the main road and the secondary road will not have the green light of the signal light group at the same time, thereby avoiding conflicts.

[0047] like Figure 1As shown, the present embodiment provides a schematic diagram of a ring-gate structure. In the ring-gate structure, each signal light group has a fixed number. The signal light groups {1, 2, 3, 4} constitute a ring 1, indicating that the signal light groups 1, 2, 3, and 4 are in conflicting phases; the signal light groups {5, 6, 7, 8} constitute a ring 2, indicating that the signal light groups 5, 6, 7, and 8 are in conflicting phases; the signal light groups {1, 2, 5, 6} and the signal light groups {3, 4, 7, 8} are separated by a "gate", indicating that these are traffic flows in two directions, respectively, which conflict with each other.

[0048] At present, mixed traffic flow is usually controlled only for pedestrians or only for motor vehicles. In different traffic demand scenarios, when the traffic requests of pedestrians and motor vehicles may conflict, there are two main difficulties in solving the problem of how to use inductive control to simultaneously realize the inductive control of motor vehicles and the priority and crossing guarantee of pedestrians: 1) Due to the "greedy" characteristics of inductive control, when motor vehicles continue to arrive and pedestrians also have traffic requests, it should be avoided that the saturation of motor vehicle phases is too high due to providing priority services to pedestrians, causing traffic congestion. 2) In the ring structure solution, the same-break phases (phases where the green lights need to end at the same time) should be kept at the same time, and cannot be uneven due to the different countdowns and inductive control logic output decisions.

[0049] In order to solve the above technical problems, the embodiment of the present application provides an induction signal control method, which uniformly performs induction control on the phases of motor vehicles and non-motor vehicles (pedestrians), and determines the control strategy for each phase in real time during the periodic operation. It is a universal induction control method and is more general. In the scenario where motor vehicles arrive continuously and there are pedestrian traffic requests at the same time, the green light duration of the phase corresponding to the motor vehicle is controlled to run for the first minimum duration, and the green light duration of the phase corresponding to the pedestrian is extended, so as to avoid the problem of excessive saturation of the motor vehicle phase due to pedestrian priority service, causing traffic congestion. Therefore, this embodiment not only integrates the induction control of motor vehicles and pedestrians in terms of control logic, but also takes into account the landing effect of traffic capacity.

[0050] like Figure 2 As shown, the specific implementation process of this method is as follows: Step 200, periodically detecting motor vehicle data and non-motor vehicle data corresponding to each phase; In implementation, the road conditions of each phase are detected according to a preset cycle, and the upstream motor vehicle data and non-motor vehicle data of all lanes corresponding to the current phase are detected by the camera unit of each phase. For example, the arrival of upstream vehicles in all lanes of the phase is detected by a virtual coil (or detection line). The designated area is used as the waiting area for the pedestrian phase, and the number of non-motor vehicles in the area is counted. If the number exceeds the threshold and the current detection cycle is in non-motor vehicle priority mode, it is considered that there is a priority passage request for the phase.

[0051] Optionally, the non-motor vehicle in this embodiment includes, but is not limited to: one or more of: pedestrians, bicycles, electric vehicles, scooters, and tricycles.

[0052] It should be noted that the phases of the target signals for non-motor vehicles in this embodiment are consistent, that is, the phases of the target signals for pedestrians, bicycles or electric vehicles are all phase j. The release of pedestrians, bicycles, electric vehicles, etc. is achieved by the same signal light.

[0053] Optionally, the motor vehicle data in this embodiment includes but is not limited to the number of motor vehicles in each lane, the headway time, etc. The non-motor vehicle data includes but is not limited to the number of pedestrians, the number of non-motor vehicles, etc. Among them, the headway time refers to the time interval between the front ends of two consecutive vehicles passing through a certain section in a vehicle queue traveling on the same lane. It is generally represented by ht, and the unit is seconds / veh. The headway time can be obtained by measuring the time difference between the front ends of the front and rear vehicles passing through the coil on the road or the virtual detection area in the video detector screen.

[0054] Step 201, in each detection cycle, in the target signal operation stage of phase i, if motor vehicle data of phase i is detected and non-motor vehicle data of phase j is detected, the target signal of phase i is controlled to operate for the first minimum time, and the countdown process of phase i is entered, and when the countdown process of phase i ends, the target signal operation stage of phase j is entered; wherein phase i and phase j are conflicting phases, i is an integer greater than or equal to 0, and j is an integer greater than or equal to 0.

[0055] Optionally, the conflicting phases in this embodiment refer to two phases that cannot be released at the same time, such as two phases that cannot have green lights at the same time. The target signal in this embodiment includes but is not limited to signal lights, such as green lights, red lights, yellow lights, etc. The countdown process of the target signal in this embodiment, taking the green light as an example, includes but is not limited to at least one of green light countdown, green flash, waiting area prompt, and yellow light. Since phase i and phase j are conflicting phases, i≠j.

[0056] In implementation, the operating duration of the target signal refers to the duration during which the target signal is always on. The operating duration of the target signal includes, but is not limited to, one or more of the first minimum duration, the second minimum duration, the first maximum duration, the second maximum duration, and the preset duration. For example, when the target signal is a green light, the operating duration of the green light refers to the duration during which the green light is always on. The time is counted from when the green light starts to light up, and the duration during which the green light is always on is recorded. If motor vehicle data and non-motor vehicle data are detected between conflicting phases, the minimum operating duration of the green light of the corresponding phase of the motor vehicle is controlled, and the operating duration of the green light of the corresponding phase of the non-motor vehicle is extended. While meeting the traffic needs of motor vehicles, priority is given to providing traffic needs for non-motor vehicle data, thereby avoiding the problem of excessive saturation of motor vehicle phases due to pedestrian priority service, causing traffic congestion.

[0057] In some embodiments, before controlling the target signal of phase i to run for the first minimum time, the present embodiment may also determine the mode of the current detection cycle and the non-motor vehicle data of phase j to determine whether the current detection cycle corresponds to the non-motor vehicle priority mode and whether the non-motor vehicle data of phase j is greater than a threshold. If it is determined that the current detection cycle corresponds to the non-motor vehicle priority mode and the non-motor vehicle data of phase j is greater than the threshold, then after controlling the target signal of phase i to run for the first minimum time, the countdown process of phase i is entered, so that when the countdown process of phase i ends, the target signal of phase j starts to run.

[0058] In implementation, the non-motor vehicle priority mode in this embodiment also includes the first priority mode and / or the second priority mode; if the current mode is the first priority mode, the duration of the green light of the phase corresponding to the current motor vehicle after extension (before the countdown) is not allowed to exceed the first minimum duration, so as to serve pedestrians waiting to cross the street as soon as possible. This application takes into account pedestrian priority and pedestrian crossing protection strategies, and the first priority mode or the second priority mode can be selected by configuring a switch, making the algorithm more universal and flexible.

[0059] In some embodiments, in each detection cycle of this embodiment, during the target signal operation stage of phase i, the motor vehicle data of phase i is detected, and the signal extension control of the target signal of the phase corresponding to the motor vehicle can also be implemented in the following manner. The specific steps are as follows: Determine whether to extend the operating duration of the target signal of phase i according to at least one of a first minimum duration, a first maximum duration, a first countdown duration and a headway time of each lane corresponding to phase i.

[0060] During implementation, after detecting motor vehicle data in phase i, it is determined that the motor vehicle has a need to pass. When it is determined that the target signal is operating normally, it can be further determined whether the target signal needs to be extended to ensure the communication needs of the motor vehicle and reduce the congestion caused by large motor vehicle traffic. Among them, the first minimum duration, the first maximum duration, and the first countdown duration of the target signal in phase i are all pre-set, and are usually fixed values. Taking the target signal as a green light as an example, the first minimum duration refers to the minimum duration of the green light being on, the first maximum duration refers to the maximum duration of the green light being on, and the first countdown duration refers to the duration of the countdown that starts when the green light is on. After the countdown ends, the target signal is switched, that is, the green light is switched to the red light.

[0061] In some embodiments, before determining whether to extend the running time of the target signal of phase i, it is also possible to determine whether any one or more of the following conditions are met in the following manner, thereby determining to extend the running time of the target signal of phase i: 1) Determine that the non-motor vehicle data of phase j is not detected; During implementation, when motor vehicle data is detected in phase i and non-motor vehicle data is not detected in phase j, it is further determined whether to extend the operating time of the target signal in phase i. Otherwise, the operating time of the target signal in phase i will not be extended.

[0062] 2) Determine the default mode corresponding to the current detection cycle; Optionally, the default mode in this embodiment means that it is not in the non-motor vehicle priority mode, that is, the non-motor vehicle priority mode is turned off. In the default mode, the target signal of each phase can be controlled by a conventional signal control scheme. In implementation, when motor vehicle data is detected in phase i and it is determined that the current detection cycle corresponds to the default mode, it will be determined whether to extend the operating time of the target signal of phase i, otherwise, the operating time of the target signal of phase i will not be extended.

[0063] 3) Determine that the current detection cycle corresponds to the non-motor vehicle priority mode, and the non-motor vehicle data of the phase j is less than or equal to a threshold.

[0064] During implementation, when motor vehicle data is detected in phase i, it is determined that the current detection cycle corresponds to the non-motor vehicle priority mode, and the non-motor vehicle data in phase j is less than or equal to the threshold, indicating that although pedestrians are prioritized at this time, due to insufficient non-motor vehicle data in phase j, priority for pedestrians is still not considered, and the passage of motor vehicles is still guaranteed. It will be further determined whether to extend the operating time of the target signal in phase i. Otherwise, the operating time of the target signal in phase i will not be extended.

[0065] In some embodiments, before extending the running time of the target signal of phase i, the present embodiment further performs any one or more of the following steps: (1) determining that the current running time of the target signal of phase i is greater than or equal to the first minimum time; During implementation, it is necessary to ensure that the target signal of phase i runs for at least the first minimum time, for example, to ensure that the green light is on for at least the first minimum time. Only after the basic communication needs of the motor vehicles corresponding to phase i are guaranteed, the running time of the target signal of phase i will be extended.

[0066] (2) Determine that the sum of the current running time and the first countdown time is less than or equal to the first maximum time; During implementation, it is necessary to ensure that the operating time of the target signal in phase i before switching does not exceed the first maximum time, for example, to ensure that the sum of the green light and countdown time does not exceed the first maximum time, so as to reduce the impact of the passage of motor vehicles on the passage needs of motor vehicles / non-motor vehicles in other conflicting phases.

[0067] (3) Determining that the headway time of each lane is less than or equal to the headway time threshold; In implementation, when a motor vehicle is detected at phase i, it is possible to predict whether there is still a demand for motor vehicle passage based on the headway of each lane. For example, when the headway of each lane corresponding to phase i exceeds the preset headway threshold, it means that the traffic volume of the lane is small at this time, and there is no need to extend the current running time, and the countdown can be directly started. On the contrary, when the headway of each lane corresponding to phase i does not exceed the preset headway threshold, it means that the traffic volume of the lane is large at this time, that is, upstream vehicles continuously arrive at phase i, so the current running time can be extended.

[0068] (4) Determine whether a first sum of the current operating time and the unit extension time of the motor vehicle is less than or equal to the first maximum time.

[0069] During implementation, assuming that the current running time is extended, it is possible to further determine whether the extension of the current running time exceeds the first maximum time after the unit extension time. If it exceeds, the extension is not performed; if it does not exceed, the current running time is extended, that is, extended by one unit extension time.

[0070] (5) Based on the difference between the first countdown time and the first sum of the current operating time and the unit extension time of the motor vehicle, determine that the maximum value of the current operating time and the difference, together with the sum of the first countdown time, is less than or equal to the first maximum time.

[0071] In implementation, the following formula is used for judgment: ;in, is the current running time, Extended duration for motor vehicle units, The first countdown duration is The first maximum duration.

[0072] Assuming that the current running time is extended, it is possible to further determine whether the extension of the current running time exceeds the first maximum time after the unit extension time reduced by the countdown time. If it exceeds, the extension is not performed; if it does not exceed, the current running time is extended, that is, extended by one unit extension time.

[0073] (6) Based on the difference between the first countdown time and the first sum of the current operating time and the unit extension time of the motor vehicle, determine that the maximum value of the current operating time and the difference, together with the sum of the first countdown time, is less than or equal to the preset time of the target signal of phase i.

[0074] In implementation, the following formula is used for judgment: ,in, is the current running time, Extended duration for motor vehicle units, The first countdown duration is The preset duration.

[0075] Optionally, in this embodiment, the preset duration=the first maximum duration, or the preset duration≠the first maximum duration. This embodiment does not impose too many restrictions on this.

[0076] In implementation, the running time of the target signal of phase i is extended only when the target signal of phase i satisfies one or more of the above conditions.

[0077] In some embodiments, this embodiment may also determine the target total duration obtained by extending the current running duration of the target signal of phase i in the following manner: The target total duration obtained by extending the current running duration of the target signal of phase i is determined based on at least one of the current running duration of the target signal of phase i, the unit extension duration of the motor vehicle and the first countdown duration of the target signal of phase i.

[0078] In some embodiments, the target total duration obtained by extending the current running duration of the target signal of phase i is determined specifically by any of the following methods: Method a) determining the target total duration according to the current operating duration and the unit extension duration of the motor vehicle; In implementation, the target total duration = current operation duration + k × unit extension duration; k represents a coefficient, k is a positive integer, and the size of k can be determined according to the amount of non-motor vehicle data detected in the current phase i. When the amount of non-motor vehicle data detected is large, the k value is large, and when the amount of non-motor vehicle data detected is small, the k value is small. And the target total duration should be less than or equal to the first maximum duration.

[0079] Method b) determining a first sum according to the current operating time and the unit extension time of the motor vehicle, determining a difference between the first sum and the first countdown time, and determining the target total time according to a maximum value between the current operating time and the difference.

[0080] During implementation, the first sum = current running time + k × unit extension time; wherein k represents a coefficient, and k is a positive integer.

[0081] During implementation, in order to ensure better utilization of the countdown duration, when the countdown duration itself can meet the demand for extending the current operating time, no additional extension will be made and the countdown will be directly started. If the countdown duration itself does not meet the demand for extending the current operating time, the current operating time can be extended according to the unit extension time to meet the traffic needs of non-motor vehicles in the current phase.

[0082] This embodiment provides a motor vehicle phase sensing control system, which includes three submodules, as shown below: Vehicle arrival detection module: uses virtual coils (or detection lines) to detect the arrival of upstream vehicles in all lanes of this phase.

[0083] Green light end module: Checks whether the current phase meets the green light end conditions, including maximum green, no vehicle upstream, priority request of conflicting phases, etc. It should be noted that the green light end in this embodiment refers to the judgment of the end of the green light, that is, the judgment of whether the green light ends before the green flash / countdown.

[0084] Green light extension module: determines whether the green light can be extended for the upstream arriving vehicles at this phase at the current moment.

[0085] When all the above modules have completed the judgment, the final output is whether the phase can enter the countdown process at the current moment, that is, whether the green light countdown / green flashing / waiting area prompt can be started (if there is no such countdown requirement, the yellow light will start directly).

[0086] This embodiment also provides a motor vehicle sensing control symbol identification table, as shown in Table 1.

[0087] Table 1 Motor vehicle induction control symbol identification table

[0088] like Figure 3A , Figure 3B , Figure 3C As shown, a motor vehicle phase sensing control process, the specific implementation steps are as follows: Step 301, entering the vehicle arrival detection module; Step 302, initializing the state of phase i; If it is the first second of the green light of phase i of the motor vehicle, the state of phase i is initialized as follows: , , , ; where phase i is phase i.

[0089] Step 303, determine whether the arrival of a motor vehicle is detected in phase i, if so, update the motor vehicle request identifier and headway time, otherwise execute step 304; The determination of whether a motor vehicle has arrived at phase i includes whether a motor vehicle has arrived at phase i (occupancy from 0→1), and whether the occupancy of each lane at phase i is 1. If a motor vehicle request is recorded , the pressure occupancy of each lane in phase i is not 1, the headway ; Otherwise, update the maximum headway time on the lane (the time from the previous vehicle in a lane leaving the detection area to the present). The update formula of the headway time is as follows: ; Step 304, determine whether the current phase is determined to be ended, if so, end the current phase and enter the countdown process, otherwise execute step 305; Among them, if the current phase , then end the current phase and enter the countdown process, otherwise continue to execute the following process.

[0090] Step 305, enter the green light end judgment submodule process; Step 306, determine whether the current phase i has completed the minimum green, if so, execute step 307, otherwise end the current submodule process; Among them, minimum green refers to the first minimum duration of the green light in phase i.

[0091] Step 307: Determine whether the current mode is pedestrian priority and there is a pedestrian crossing request, and the green light operation time of phase i + the first countdown time ≥ the preset green light operation time of phase i ( ), if yes, then end the current phase i and output an end mark, otherwise execute step 308; Among them, it can be ensured that when the motor vehicle flow is large and vehicles arrive continuously, the motor vehicle phase i can obtain at least the pre-designed green light duration (ie, the preset duration) to meet the traffic needs of the motor vehicle.

[0092] Step 308, determine whether the green light duration of the current phase i + the countdown duration is greater than or equal to the maximum green light duration of the phase i, if so, end the current phase i and output an end mark, otherwise execute step 309; Among them, determine the current green light duration +Countdown time , whether it exceeds the maximum green light limit, if , the green light ends and the end mark is output.

[0093] Step 309, determine whether the headway of each lane in phase i exceeds the headway threshold, if so, end the current phase i and output an end mark, otherwise end the current submodule process; In implementation, if the lane Headway (time interval threshold), then end the current phase i and output the end mark, otherwise end the current submodule process (that is, the current green light end judgment submodule process) and enter the next submodule process (that is, the green light extension submodule process).

[0094] Step 310, enter the green light extension submodule process; Step 311, determine whether there is a motor vehicle arriving at the current phase i, if yes, execute step 312, otherwise end the current submodule process; If it is determined that a motor vehicle has arrived at the current phase i, then Otherwise, phase i will not be extended, and the current submodule process (i.e., the green light extension submodule process) will be ended directly.

[0095] Step 312, determine whether the current phase i is determined to be ended, if so, execute step 315, otherwise execute step 313; Among them, if , then it will not be extended, and the current phase motor vehicle request flag will be reset to no, that is, ; Step 313, determine whether the current phase i after extension based on the countdown duration reduction is greater than the maximum green duration of phase i, if so, end the current submodule process, otherwise execute step 314; Among them, if , then it will not be extended and the current submodule process will be terminated, otherwise the current phase i will be extended.

[0096] Step 314, extend the green light of phase i, and execute step 315; Among them, after the green light is extended, the length of time the green light runs before the countdown starts .in, Indicates the countdown duration of phase i.

[0097] Step 315, resetting the motor vehicle request identifier of phase i; Among them, the motor vehicle request identification of phase i After resetting the motor vehicle request flag of phase i, the current submodule process ends and enters the countdown process. In the countdown process, it can be determined whether the green light of the current phase i can start to display the countdown in the following way: like ,and , it is determined that the green light of the current phase i can start to display the countdown. Among them, It means that the green light has no countdown design. It can represent green flash, that is, green flash countdown. Indicates the countdown duration of phase i.

[0098] The following is an explanation of the judgment on the extension of the green light of phase i by taking an example.

[0099] Example 1: Assume that the green light at the intersection (phase i) at the current moment has met the minimum green time. Since the maximum green time is large, the operating time has not yet reached the maximum green time.

[0100] , indicating that the traffic light at the intersection has no green light countdown and no green flashing.

[0101] , indicating that the currently detected arriving vehicle will reach the stop line after 2 seconds (for example, the vehicle detection position is 20m upstream of the stop line, and the design speed is 10m / s). Therefore, it is hoped that the green light will be extended by 2s to ensure that the vehicle can pass during the green light operation.

[0102] , represents the headway threshold of the vehicle.

[0103] Assume that the green light has been running (staying on) for 20 seconds, and the green light end condition is not met. ; When the vehicle arrives, , .

[0104] Confirm that you want to extend the green light time. , that is, the current vehicle needs the green light to extend for another 2 seconds before passing; Reset .

[0105] The conditions for ending the green light are not met ,as follows: When the vehicle arrival is not detected, , . The conditions for ending the green light are not met.

[0106] When the vehicle arrival is not detected, , . The conditions for ending the green light are not met.

[0107] When the vehicle arrival is not detected, , , reaching the headway threshold, so .

[0108] At this point, satisfaction , that is, the conditions for ending the green light are met. Therefore, the green light is about to end and the green light countdown begins.

[0109] Example 2: Assume that the green light at the intersection (phase i) at the current moment has met the minimum green time. Since the maximum green time is large, the operating time has not yet reached the maximum green time.

[0110] , indicating that the traffic light at this intersection has neither a green light countdown display nor a green flashing display. After the green light is always on, it will directly switch to other traffic lights.

[0111] , indicating that the vehicle detection position at the intersection is far from the stop line. The currently detected arriving vehicle will take 5 seconds to reach the stop line. Therefore, it is hoped that the green light will be extended by 5 seconds to ensure that the vehicle can pass during the green light period.

[0112] , represents the headway threshold of the vehicle.

[0113] Assume that the green light has been on (running) for 20 seconds, and the green light end condition is not met. ; When the vehicle arrives, , .

[0114] The green light needs to be extended. , that is, the current vehicle needs the green light to extend for another 5 seconds before passing, reset .

[0115] The conditions for ending the green light are not met ,as follows: When the vehicle arrival is not detected, , . The conditions for ending the green light are not met.

[0116] When the vehicle arrival is not detected, , . The conditions for ending the green light are not met.

[0117] When the vehicle arrival is not detected, , , reaching the headway threshold, so .

[0118] But this is not satisfied , that is, the current green light duration has not reached the required guaranteed duration , so the green light cannot end.

[0119] When the vehicle arrives, , . Although the arrival of a new vehicle is detected, the headway of the vehicle in front of it has exceeded the threshold, which means that the traffic flow in this phase has been cut off and the green light passing needs of multiple consecutive vehicles in front have been served. Therefore, no response will be made to the newly arrived vehicle at this time, that is, no green light extension response will be made for the newly arrived vehicle. At this time, it is still not satisfied , so the green light cannot end.

[0120] When the vehicle arrival is not detected, , . . At this time, it is satisfied , the condition for ending the green light is met. Therefore, the green light is ready to end.

[0121] Example 3: Assume that the green light at the intersection (phase i) at the current moment has met the minimum green time. Since the maximum green time is large, the operating time has not yet reached the maximum green time.

[0122] , indicating that the traffic light at the intersection does not have a green light countdown, but there is a 3-second green flash before the yellow light turns on.

[0123] , indicating that the currently detected arriving vehicle will reach the stop line after 5 seconds.

[0124] , represents the headway threshold of the vehicle.

[0125] Assume that the green light has been running (always on) for 20 seconds, and the green light end condition is not met. ; When the vehicle arrives, , .

[0126] Therefore, the green light should be extended. ; Since there is a 3-second green flash, there is no need to add a 5-second green light for the current vehicle. Instead, it is only necessary to extend the current 20-second green light by 2 seconds, and the vehicle will pass the stop line during the 3-second green flash. This embodiment is based on the extended calculation method of reducing the countdown duration, and can use the countdown duration / green flash duration of the green light instead of only using the normal green light duration to serve vehicles with traffic needs, thereby effectively improving the utilization rate of the countdown duration / green flash duration of the green light and effectively improving traffic efficiency.

[0127] Reset ; The conditions for ending the green light are not met ,as follows: When the vehicle arrival is not detected, , . The conditions for ending the green light are not met.

[0128] When the vehicle arrival is not detected, , . The conditions for ending the green light are not met.

[0129] When the vehicle arrival is not detected, , , reaching the headway threshold, so .

[0130] At the same time, it also satisfies , the condition for ending the green light is met. Therefore, the green light is ready to end.

[0131] Assumptions When the green lights of other phases are about to end, they will start to flash green for 3 seconds. Finish.

[0132] The vehicle arriving at the 20th second takes 5 seconds to drive from the vehicle detection position to the stop line, so the vehicle time (during the green flash) passed.

[0133] Example 4: Assume that the green light at the intersection (phase i) at the current moment has met the minimum green time. Since the maximum green time is large, the operating time has not yet reached the maximum green time.

[0134] , indicating that the traffic light at the intersection has a 9s green light countdown.

[0135] , indicating that the currently detected arriving vehicle will reach the stop line after 5 seconds.

[0136] , represents the headway threshold of the vehicle.

[0137] Assume that the green light has been running for 20 seconds and the green light end condition is not met. ; When the vehicle arrives, , .

[0138] Therefore, the green light should be extended. ; Although the logic determines that the green light should be extended for the newly arrived vehicle, there is still a 9-second countdown. , so in fact it is equivalent to not extending it at all. The countdown is long enough to accommodate the passing of newly arrived vehicles.

[0139] Reset ; The conditions for ending the green light are not met at this time ,as follows: When the vehicle arrival is not detected, , . The conditions for ending the green light are not met.

[0140] When the vehicle arrival is not detected, , . The conditions for ending the green light are not met.

[0141] When the vehicle arrival is not detected, , , reaching the headway threshold, so .

[0142] At the same time, it also satisfies , the condition for ending the green light is met. Therefore, the green light is ready to end.

[0143] Assumptions When the green lights of other phases are about to end, the 9s countdown begins. The vehicle that arrives at the 20th second takes 5 seconds to drive from the vehicle detection position to the stop line, so the vehicle time (countdown period) passed.

[0144] In some embodiments, after the target signal of control phase j starts to run, this embodiment can also extend the running time of the target signal of phase j to enter the countdown process of phase j.

[0145] During implementation, the non-motor vehicle priority mode in this embodiment also includes a first priority mode and / or a second priority mode; if the current mode is the second priority mode, when a pedestrian crossing the zebra crossing has not completed the crossing, that is, when non-motor vehicle data is detected in phase j, the green light for the pedestrian can be appropriately extended to ensure that he or she completes the crossing.

[0146] In this embodiment, during the green light release stage of motor vehicle phase i, under the premise of ensuring the minimum green time of phase i, if it is detected that vehicles in motor vehicle phase i continue to arrive and pedestrians in pedestrian phase j that conflict with them are also detected waiting, the preset time of the green light in phase i and / or the first maximum time can be used as the upper limit of the extension of the green light for motor vehicle phase i. When the headway detected in phase i is too long or the green light reaches the upper limit of the extension, the countdown process is entered to end the current stage and enter the green light release stage of phase j, so as to ensure that motor vehicles are not congested and serve pedestrian phase j as early as possible, thereby realizing balanced priority control of motor vehicles and pedestrians. That is, during the green light release stage of motor vehicle phase i, if motor vehicles in phase i continue to arrive and pedestrians are detected waiting in phase j, the green light of the current phase i can be extended according to the current number of motor vehicles, and pedestrians in phase j can be served as early as possible. On the one hand, by extending the green light of phase i, the orderly passage of motor vehicles that continue to arrive is guaranteed without congestion. On the other hand, when extending the green light of phase i, an upper limit is set, and the green light service time of motor vehicle phase i will not be extended indefinitely, so as to serve waiting pedestrians as early as possible. This embodiment provides a variety of conditions for extending the operating time, and one or more combinations thereof can be selected according to actual needs. The specific conditions for extension are as follows.

[0147] In some embodiments, before extending the running time of the target signal of phase j, this embodiment further performs conditional judgment through any one or more of the following conditions, so as to extend the running time of the target signal of phase j when any one or more of the following conditions are met: (1) Determine that the current running time of the target signal of phase j is greater than or equal to the second minimum time of the target signal of phase j; During implementation, it is necessary to first determine whether the current operating duration of the target signal of phase j is greater than or equal to the second minimum duration of the target signal of phase j. Only when it is ensured that the target signal of phase j has at least completed the first minimum duration, for example, the green light is kept on for at least the first minimum duration, will the operating duration of the target signal of phase j be further extended. In other words, only after the basic traffic needs of motor vehicles corresponding to phase i are guaranteed will further consideration be given to extending the passage of motor vehicles.

[0148] (2) determining that the sum of the current running time and the second countdown time of the target signal of phase j is less than or equal to the second maximum time of the target signal of phase j; In implementation, it is necessary to first determine whether the sum of the current operating time and the second countdown time of the target signal of phase j is less than or equal to the second maximum time of the target signal of phase j. Only when the sum of the current operating time and the second countdown time of the target signal of phase j is less than or equal to the second maximum time of the target signal of phase j, the operating time of the target signal of phase j will be further extended. In implementation, it is necessary to ensure that the operating time of the target signal of phase j before switching does not exceed the second maximum time, for example, to ensure that the sum of the green light and the countdown time does not exceed the second maximum time, so as to reduce the impact of the passage of non-motor vehicles on the passage demand of motor vehicles / non-motor vehicles in other conflicting phases.

[0149] (3) Determine whether a second sum of the current operating time and the unit extended time of the non-motor vehicle is less than or equal to the second maximum time.

[0150] During implementation, assuming that the current running time is extended, it is possible to further determine whether the extension of the current running time exceeds the second maximum time after the unit extension time. If it exceeds, the extension is not performed. If it does not exceed, the current running time is extended, that is, extended by one unit extension time.

[0151] In implementation, it is determined that the running time of the target signal of phase j is extended only when the target signal of phase j satisfies one or more of the above conditions.

[0152] In some embodiments, the target total duration obtained by extending the target signal of phase j is determined by: The target total duration obtained by extending the target signal of phase j is determined based on at least one of the current operating duration of the target signal of phase j, the unit extension duration of the non-motor vehicle and the second countdown duration of the target signal of phase j.

[0153] In some embodiments, this embodiment determines the target total duration obtained by extending the target signal of phase j by any of the following methods: Method a) determining the target total duration according to the current running duration corresponding to phase j and the unit extension duration of the non-motor vehicle; In implementation, the target total duration = current operation duration + p × unit extension duration; where p represents a coefficient, p is a positive integer, and the size of p can be determined according to the amount of motor vehicle data detected at the current phase j. When the amount of motor vehicle data detected is large, the p value is large, and when the amount of motor vehicle data detected is small, the p value is small. And the target total duration should be less than or equal to the second maximum duration.

[0154] Method b) Determine a second total according to the current operating time and the unit extension time of the non-motor vehicle corresponding to phase j, determine the difference between the second total and the second countdown time, and determine the target total time according to the maximum value of the current operating time and the difference.

[0155] During implementation, the second sum = current running time + p × unit extension time; where p represents a coefficient, and p is a positive integer.

[0156] During implementation, in order to ensure better utilization of the countdown duration, when the countdown duration itself can meet the demand for extending the current operating time, no additional extension will be made and the countdown will be directly started. If the countdown duration itself does not meet the demand for extending the current operating time, the current operating time can be extended according to the unit extension time to meet the traffic needs of non-motor vehicles in the current phase.

[0157] like Figure 4 As shown, this embodiment also provides a pedestrian phase sensing control system, which includes three submodules, as shown below: Red light waiting area detection module: The designated area is used as the waiting area for pedestrians, and the number of pedestrians / non-motor vehicles in the area is counted. If the number exceeds the threshold, it is considered that there is a priority passage request in this phase.

[0158] Green light end module: Checks whether the phase meets the green light end conditions at the current moment.

[0159] Green light extension module: determines whether the green light can be extended for pedestrians / non-motor vehicles who have not completed crossing the zebra crossing at the current phase.

[0160] When all the above modules have completed the judgment, the final output is whether the phase can enter the countdown process at the current moment, that is, whether the green light countdown / green flashing can be started.

[0161] This embodiment also provides a non-motor vehicle (pedestrian) sensing control symbol identification table, as shown in Table 2.

[0162] Table 2 Non-motor vehicle induction control symbol identification table

[0163] like Figure 5 As shown, a non-motor vehicle phase sensing control process, the specific implementation steps are as follows: Step 501, entering the pedestrian sensing control module; Step 502, initializing the state of phase j; If it is the first second of the green light of non-motor vehicle phase j, the state of phase j is initialized as follows: , ; Phase j is phase j.

[0164] Step 503, determine whether phase j has completed the minimum green, if yes, execute step 504, otherwise end the current phase and enter the countdown process; For example, if , then continue the judgment of the subsequent process, otherwise end the current phase and enter the countdown process; Step 504: determine whether the green light duration of the current phase j + the countdown duration is greater than or equal to the maximum green light duration of the phase j, or whether the extended green light duration of the current phase j exceeds the maximum green light duration of the phase j. If so, end the current phase j and output an end mark. Otherwise, execute step 505. like ,or, , then the current phase j ends and the end mark is output. .

[0165] Step 505: Determine whether the current mode is the second priority mode and the number of non-motor vehicles detected in phase j exceeds the threshold. If so, execute step 506; otherwise, end the current phase j and output an end mark. ; Step 506, extend the green light duration of phase j; Among them, if the current mode is the second priority mode, and , then the green light duration of phase j is extended. After the extension, the green light operation duration before the countdown starts is .in, Indicates the countdown duration of phase j.

[0166] After extending the green light duration of phase j, the current algorithm ends and the countdown process begins. In the countdown process, it can be determined whether the green light of the current phase j can start to display the countdown in the following way: like ,and , then it is determined that the green light of the current phase j can start to display the countdown. Among them, Indicates the countdown duration of phase j.

[0167] In some embodiments, since each phase in this embodiment is independently operated and inductively controlled, the control process of the target signal of each phase is independent, so each phase will eventually determine whether it enters the countdown process, that is, it will give a decision on whether to start the countdown. Whether the signal can start the countdown of a phase is also constrained by the phase scheme structure. Considering that the countdown duration of the motor vehicle and pedestrian phases may be different, in order to ensure the alignment of the same-break phases of the same fence (barrier), this embodiment can also align the running time of the target signal of the misaligned phases. The specific implementation process is as follows: According to the current running time of the target signals of each phase of the same barrier and the countdown time of the target signals of each phase, the running time of the target signals of the phases whose end times are not aligned in each phase are aligned so that the target signals of each phase after the alignment process end at the same time.

[0168] In some embodiments, the running time of the target signal of the phases whose end time is not aligned in each phase is aligned in the following manner: The current running time of the target signal of the phase whose end time is not aligned among the phases is extended, and the target signals of the phases after the extension are controlled to end at the same time at the end time.

[0169] During implementation, the operating time of each phase refers to the operating time of the target signal of each phase before the countdown. The end point of the extension of the current operating time is the moment when the countdown starts. The target signal runs to the end time when the target signal is completely ended, for example, the green light ends, specifically refers to the green light being always on + green flashing / ending after the countdown.

[0170] In some embodiments, the running time of the target signal of the phases whose end time is not aligned in each phase is aligned, and the following process may be performed: If the running time of the target signal of the phase after the alignment processing is greater than the maximum time of the target signal of the phase, then after the target signal of the phase runs for the maximum time, the target signal of the phase is switched to a designated signal, and the designated signal is controlled to run until the end time.

[0171] During implementation, if the running time of the green light of the phase after the alignment processing is greater than the maximum running time of the green light of the phase, then after the green light of the phase runs for the maximum time, the green light of the phase is switched to the red light, and the red light is controlled to run until the end time.

[0172] Further determine whether each fence (barrier) (default no overlap solution) can start countdown / green flash / start yellow light logic. Figure 6As shown, this embodiment also provides a phase end logic diagram in a ring structure, in which 4 phases belong to 4 rings, one ring corresponds to one phase, and the 4 phases (P1~P4) need to obtain green lights at the same time. In the figure, in a fence, there may be motor vehicle phases and pedestrian phases at the same time. Since the minimum green and green light extension conditions of each phase are different, after a phase outputs a decision to start the countdown, it is necessary to wait for the output of other phases with the same break in the same fence. During this period, the green light continues to be released. Figure 6 In the process, P4 phase is the last phase to start the countdown decision, so the other three phases continue to put green lights and wait for P4 after their own minimum green / green light extension ends to achieve alignment.

[0173] Considering that the countdown durations of the motor vehicle and pedestrian phases may be different, when all phases have decided to start the countdown, the phase with the longest countdown duration should start the countdown (e.g. Figure 6 P2 and P4 in the countdown), while the short phase (such as Figure 6 P1 and P3 in the figure can continue to put green lights (△ countdown) to achieve alignment. If the alignment action causes a phase to exceed its maximum green, then put that phase after the maximum green and continue to use red lights to align the fence.

[0174] like Fig. 7A and Figure 7B As shown, this embodiment also provides a schematic diagram of a dual-ring solution structure, see Fig. 7A , which is a scheme that does not overlap in the north-south direction and the east-west direction. The figure shows a common "double-loop" scheme structure. The scheme structure is usually described by the 8 straight / left-turn phases P1 to P8. There are a total of 4 fences in this scheme structure. Due to the existence of the fence, the green lights of P2 and P6 must end at the same time. In the east-west direction, the fence requires the east-west straight phases P3 and P7 to start and end at the same time, and the east-west left-turn phases P4 and P8 are the same. Among them, the (signal) phase refers to the display status of the signal group corresponding to one or more traffic flows that obtain the right of way at the same time. The stage refers to the time period in a signal cycle when one or more non-conflicting phases display green signals at the same time. (The number of times the "right of way" is handed over in a signal cycle is the number of signal stages).

[0175] like Figure 8As shown, the present embodiment also provides a schematic diagram of induction control of a motor vehicle, using a video detector to illuminate the direction of the vehicle head, and setting vehicle detection lines / areas for each lane at positions A1~A3. Assuming that the straight-moving vehicles at the current east entrance are enjoying the green light, if another vehicle arrives at A1 or A2, it is desired to extend the current green light so that the new vehicle can also pass during the current green light, rather than encountering a red light directly at the intersection. Therefore, based on the distance and speed of the vehicle detection positions A1 and A2 from the stop line, it can be estimated that it will take N seconds for the new vehicle to travel from the vehicle detection position to the stop line, and the green light will be extended by N seconds to ensure its passage. If no new vehicles arrive at A1 and A2 for a long time (the head-to-head time distance exceeds the time distance threshold ), it means that the current demand of the phase has been met, so the green light is turned off and other phases continue to be served.

[0176] The induction signal control method provided by the present application operates the minimum green in each phase when the traffic volume is extremely low; when the traffic volume is heavy, the green light for the motor vehicle phase is extended; at the same time, early phase disconnection (ending earlier than a preset value) is used to serve pedestrians waiting for the red light. In addition, if there are pedestrians who have not completed crossing the street on the zebra crossing, the green light can be appropriately extended for the pedestrians to improve the safety of the intersection. This signal control method is suitable for intersections with relatively small overall traffic flow.

[0177] The present application can periodically detect the real-time data of motor vehicles and non-motor vehicles in each phase, respectively execute the induction signal control logic of motor vehicles and non-motor vehicles, and align the same-break phases in the same stage, thereby simultaneously realizing the induction control of motor vehicles and the priority passage and street crossing safety of non-motor vehicles. The present application also fully considers the problem that the same-break phases in front of a fence in the scheme end at different times due to the different green light extensions and countdown lengths of the motor vehicle / pedestrian phases, and proposes clear alignment rules so that the same-break phases can still remain in the same break in complex dynamic control; in addition, for the special case where the maximum green configuration of the phase is unreasonable and cannot be aligned with the green light, an alternative solution of using the red light to align is proposed.

[0178] Based on the same inventive concept, an embodiment of the present application also provides an electronic device. Since the electronic device is the electronic device in the method in the embodiment of the present application, and the principle of solving the problem by the electronic device is similar to that of the method, the implementation of the electronic device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0179] like Fig. 9 As shown, the electronic device includes a processor 900 and a memory 901, wherein the memory 901 is used to store a program executable by the processor 900, and the processor 900 is used to read the program in the memory 901 and perform the following steps: Periodically detect the motor vehicle data and non-motor vehicle data corresponding to each phase; In each detection cycle, in the target signal operation stage of phase i, if motor vehicle data of phase i is detected and non-motor vehicle data of phase j is detected, the target signal of phase i is controlled to run for the first minimum time, and the countdown process of phase i is entered. At the end of the countdown process of phase i, the target signal operation stage of phase j is entered; wherein phase i and phase j are conflicting phases, i is an integer greater than or equal to 0, and j is an integer greater than or equal to 0.

[0180] As an optional implementation manner, when entering the target signal operation stage of phase j, the processor 900 is further configured to execute: The running time of the target signal of phase j is extended to enter the countdown process of phase j.

[0181] As an optional implementation, in each detection cycle, during the target signal operation phase of phase i, motor vehicle data of phase i is detected, and the processor 900 is further configured to execute: Determine whether to extend the operating duration of the target signal of phase i according to at least one of a first minimum duration, a first maximum duration, a first countdown duration and a headway time of each lane corresponding to phase i.

[0182] As an optional implementation manner, before determining whether to extend the running time of the target signal of phase i, the processor 900 is further configured to execute: Determining that non-motor vehicle data of phase j is not detected; or, Determine that the current detection cycle corresponds to a default mode; or, It is determined that the current detection cycle corresponds to the non-motor vehicle priority mode, and the non-motor vehicle data of the phase j is less than or equal to a threshold.

[0183] As an optional implementation manner, before extending the running time of the target signal of phase i, the processor 900 is further configured to perform any one or more of the following: Determine that the current running time of the target signal of phase i is greater than or equal to the first minimum time; or, Determine that the sum of the current running time and the first countdown time is less than or equal to the first maximum time; or, Determine that the headway time of each lane is less than or equal to the headway time threshold; or, Determine that a first sum of the current operating time and the unit extension time of the motor vehicle is less than or equal to the first maximum time; or, According to the difference between the first countdown time and the first sum of the current running time and the unit extension time of the motor vehicle, it is determined that the maximum value of the current running time and the difference, and the sum of the first countdown time, is less than or equal to the first maximum time; or, Based on the difference between the first countdown duration and the first sum of the current operating time and the unit extension time of the motor vehicle, it is determined that the maximum value of the current operating time and the difference, together with the sum of the first countdown duration, is less than or equal to the preset duration of the target signal of phase i.

[0184] As an optional implementation manner, the processor 900 is further configured to determine the target total duration obtained by extending the current running duration of the target signal of phase i in the following manner: The target total duration obtained by extending the current running duration of the target signal of phase i is determined based on at least one of the current running duration of the target signal of phase i, the unit extension duration of the motor vehicle and the first countdown duration of the target signal of phase i.

[0185] As an optional implementation manner, the processor 900 is specifically configured to execute: Determine the target total duration according to the current operating duration and the unit extended duration of the motor vehicle; or, A first sum is determined based on the current operating time and the unit extension time of the motor vehicle, a difference between the first sum and the first countdown time is determined, and the target total time is determined based on the maximum value between the current operating time and the difference.

[0186] As an optional implementation manner, before the target signal of the control phase i runs for the first minimum duration, the processor 900 is further configured to execute: It is determined that the current detection cycle corresponds to the non-motor vehicle priority mode, and the non-motor vehicle data of the phase j is greater than a threshold.

[0187] As an optional implementation manner, before extending the running time of the target signal of phase j, the processor 900 is further configured to perform any one or more of the following: Determine that the current running time of the target signal of phase j is greater than or equal to the second minimum time of the target signal of phase j; or, Determine that the sum of the current running time and the second countdown time of the target signal of phase j is less than or equal to the second maximum time of the target signal of phase j; or, Determine that a second sum of the current operating time and the unit extended time of the non-motor vehicle is less than or equal to the second maximum time.

[0188] As an optional implementation manner, the processor 900 is specifically configured to determine the target total duration obtained by extending the target signal of phase j in the following manner: The target total duration obtained by extending the target signal of phase j is determined based on at least one of the current operating duration of the target signal of phase j, the unit extension duration of the non-motor vehicle and the second countdown duration of the target signal of phase j.

[0189] As an optional implementation manner, the processor 900 is specifically configured to execute: Determine the target total duration according to the current running duration and the unit extension duration of the non-motor vehicle corresponding to phase j; or, Determine the second total based on the current operating time and the unit extension time of the non-motor vehicle corresponding to phase j, determine the difference between the second total and the second countdown time, and determine the target total time based on the maximum value of the current operating time and the difference.

[0190] As an optional implementation manner, entering the countdown process, the processor 900 is further configured to execute: According to the current running time of the target signals of each phase of the same barrier and the countdown time of the target signals of each phase, the running time of the target signals of the phases whose end times are not aligned in each phase are aligned so that the target signals of each phase after the alignment process end at the same time.

[0191] As an optional implementation manner, the processor 900 is specifically configured to execute: The current running time of the target signal of the phase whose end time is not aligned among the phases is extended, and the target signals of the phases after the extension are controlled to end at the same time at the end time.

[0192] As an optional implementation manner, the running time of the target signal of the phase whose end time is not aligned in each phase is aligned, and the processor 900 is specifically configured to execute: If the running time of the target signal of the phase after the alignment processing is greater than the maximum time of the target signal of the phase, then after the target signal of the phase runs for the maximum time, the target signal of the phase is switched to a designated signal, and the designated signal is controlled to run until the end time.

[0193] Based on the same inventive concept, the embodiment of the present application also provides an induction signal control device. Since the device is the device in the method in the embodiment of the present application, and the principle of solving the problem by the device is similar to that of the method, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0194] like Fig.10As shown, the device comprises: A periodic detection module 1000 is used to periodically detect the motor vehicle data and non-motor vehicle data corresponding to each phase; The signal control module 1001 is used to control the target signal of phase i to run for the first minimum time in each detection cycle during the target signal operation phase of phase i, if motor vehicle data of phase i is detected and non-motor vehicle data of phase j is detected, and enter the countdown process of phase i, and enter the target signal operation phase of phase j at the end of the countdown process of phase i; wherein phase i and phase j are conflicting phases, i is an integer greater than or equal to 0, and j is an integer greater than or equal to 0.

[0195] Based on the same inventive concept, an embodiment of the present disclosure provides a computer storage medium, the computer storage medium includes: a computer program code, when the computer program code is run on a computer, the computer executes any of the sensing signal control methods discussed above. Since the principle of solving the problem by the above-mentioned computer storage medium is similar to that of the sensing signal control method, the implementation of the above-mentioned computer storage medium can refer to the implementation of the method, and the repeated parts will not be repeated.

[0196] In a specific implementation process, computer storage media may include: Universal Serial Bus Flash Drive (USB), mobile hard disk, read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk, and other storage media that can store program codes.

[0197] Based on the same inventive concept, the embodiment of the present disclosure further provides a computer program product, which includes: computer program code, when the computer program code is run on a computer, the computer executes any of the sensing signal control methods discussed above. Since the principle of solving the problem by the above computer program product is similar to that of the sensing signal control method, the implementation of the above computer program product can refer to the implementation of the method, and the repeated parts will not be repeated.

[0198] The computer program product can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0199] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) containing computer-usable program codes.

[0200] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that has the functions specified in one or more boxes.

[0201] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0202] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0203] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A sensing signal control method, characterized in that: The method includes: Periodically detect the motor vehicle data and non-motor vehicle data corresponding to each phase; In each detection cycle, in the target signal operation stage of phase i, if motor vehicle data of phase i is detected and non-motor vehicle data of phase j is detected, the target signal of phase i is controlled to run for the first minimum time, and the countdown process of phase i is entered. At the end of the countdown process of phase i, the target signal operation stage of phase j is entered; wherein phase i and phase j are conflicting phases, i is an integer greater than or equal to 0, and j is an integer greater than or equal to 0.

2. The method according to claim 1, characterized in that Entering the target signal operation stage of phase j, the method further includes: The running time of the target signal of phase j is extended to enter the countdown process of phase j.

3. The method according to claim 1, characterized in that: In each detection cycle, during the target signal operation phase of phase i, motor vehicle data of phase i is detected, and the method further includes: Determine whether to extend the operating duration of the target signal of phase i according to at least one of a first minimum duration, a first maximum duration, a first countdown duration and a headway time of each lane corresponding to phase i.

4. The method according to claim 3, characterized in that Before determining whether to extend the running time of the target signal of phase i, the method further includes: Determining that non-motor vehicle data of phase j is not detected; or, Determine that the current detection cycle corresponds to a default mode; or, It is determined that the current detection cycle corresponds to the non-motor vehicle priority mode, and the non-motor vehicle data of the phase j is less than or equal to a threshold.

5. The method according to claim 3, characterized in that: Before extending the running time of the target signal of phase i, the method further includes performing any one or more of the following steps: Determine that the current running time of the target signal of phase i is greater than or equal to the first minimum time; or, Determine that the sum of the current running time and the first countdown time is less than or equal to the first maximum time; or, Determining that the headway time of each lane is less than or equal to the headway time threshold; or, Determining that a first sum of the current operating time and the unit extension time of the motor vehicle is less than or equal to the first maximum time; or, According to the difference between the first countdown duration and the first sum of the current running time and the unit extension time of the motor vehicle, determining that the maximum value of the current running time and the difference, and the sum of the first countdown duration, is less than or equal to the first maximum duration; or, Based on the difference between the first countdown duration and the first sum of the current operating time and the unit extension time of the motor vehicle, it is determined that the maximum value of the current operating time and the difference, together with the sum of the first countdown duration, is less than or equal to the preset duration of the target signal of phase i.

6. The method according to any one of claims 3 to 5, characterized in that: The target total duration obtained by extending the current running duration of the target signal of phase i is determined in the following manner: The target total duration obtained by extending the current running duration of the target signal of phase i is determined based on at least one of the current running duration of the target signal of phase i, the unit extension duration of the motor vehicle and the first countdown duration of the target signal of phase i.

7. The method according to claim 6, characterized in that Determining a target total duration obtained by extending the current running duration of the target signal of phase i includes: Determine the target total duration according to the current operating duration and the unit extended duration of the motor vehicle; or, A first sum is determined based on the current operating time and the unit extension time of the motor vehicle, a difference between the first sum and the first countdown time is determined, and the target total time is determined based on the maximum value between the current operating time and the difference.

8. The method according to claim 1, characterized in that: Before the target signal of the control phase i runs for a first minimum time period, the method further includes: It is determined that the current detection cycle corresponds to the non-motor vehicle priority mode, and the non-motor vehicle data of the phase j is greater than a threshold.

9. The method according to claim 2, characterized in that: Before extending the running time of the target signal of phase j, the method further includes performing any one or more of the following steps: Determine that the current running time of the target signal of phase j is greater than or equal to the second minimum time of the target signal of phase j; or, Determine that the sum of the current running duration and the second countdown duration of the target signal of phase j is less than or equal to the second maximum duration of the target signal of phase j; or, Determine that a second sum of the current operating time and the unit extension time of the non-motor vehicle is less than or equal to the second maximum time.

10. The method according to claim 2, characterized in that The target total duration obtained by extending the target signal of phase j is determined as follows: The target total duration obtained by extending the target signal of phase j is determined based on at least one of the current operating duration of the target signal of phase j, the unit extension duration of the non-motor vehicle and the second countdown duration of the target signal of phase j.

11. The method according to claim 10, characterized in that The determining of a target total duration obtained by extending the target signal of phase j includes: Determine the target total duration according to the current running duration and the unit extension duration of the non-motor vehicle corresponding to phase j; or, Determine the second total according to the current operating time and the unit extension time of the non-motor vehicle corresponding to phase j, determine the difference between the second total and the second countdown time, and determine the target total time according to the maximum value of the current operating time and the difference.

12. The method according to claim 1 or 2, characterized in that: Entering the countdown process, the method further includes: According to the current running time of the target signals of each phase of the same barrier and the countdown time of the target signals of each phase, the running time of the target signals of the phases whose end times are not aligned in each phase are aligned so that the target signals of each phase after the alignment process end at the same time.

13. The method according to claim 12, characterized in that The running time of the target signal of the phase whose end time is not aligned in each phase is aligned, including: The current running time of the target signal of the phase whose end time is not aligned among the phases is extended, and the target signals of the phases after the extension are controlled to end at the same time at the end time.

14. The method according to claim 12, characterized in that The running time of the target signal of the phase whose end time is not aligned in each phase is aligned, and further includes: If the running time of the target signal of the phase after the alignment processing is greater than the maximum time of the target signal of the phase, then after the target signal of the phase runs for the maximum time, the target signal of the phase is switched to a designated signal, and the designated signal is controlled to run until the end time.

15. An electronic device, characterized in that: The electronic device comprises a processor and a memory, wherein the memory is used to store a program executable by the processor, and the processor is used to read the program in the memory and execute the steps of any one of the methods described in claims 1 to 14.

16. A computer storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method as claimed in any one of claims 1 to 14 are implemented.

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