An induction signal control method and an electronic device

Abstract

The present application discloses a method for controlling induction signals and an electronic device, which are used to effectively balance the traffic requests of motor vehicles and pedestrians in the case where the traffic requests of pedestrians and motor vehicles may conflict. The method includes: periodically detecting the motor vehicle data and non-motor vehicle data corresponding to each phase; within each detection period, during the operation stage of the target signal of phase i, if the motor vehicle data of phase i is detected and the non-motor vehicle data of phase j is detected, then control the target signal of phase i to operate for a first minimum duration, enter the countdown process of phase i, and enter the operation stage of the target signal of phase j when the countdown process of phase i ends; where 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.

Description

Technical Field

[0001] This application relates to the field of intelligent transportation technology, and particularly relates to an induction signal control method and an electronic device. Background Art

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

[0003] A phase in full induction control refers to all signal change stages at a traffic intersection. In a full induction control system, the signal lights at each intersection will be automatically adjusted according to the 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 to be solved. Summary of the Invention

[0005] This application provides an induction signal control method and an electronic device for effectively balancing the traffic requests of motor vehicles and pedestrians when the traffic requests of pedestrians and motor vehicles may conflict.

[0006] In a first aspect, an induction signal control method provided by an embodiment of this application includes:

[0007] Periodically detect the motor vehicle data and non-motor vehicle data corresponding to each phase;

[0008] In each detection period, during the target signal operation stage of phase i, if the motor vehicle data of phase i is detected and the non-motor vehicle data of phase j is detected, control the target signal of phase i to operate for the first minimum duration, enter the countdown process of phase i, and enter the target signal operation stage of phase j when the countdown process of phase i ends; where 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.

[0009] The induction signal control method provided in this embodiment, for the scenario where motor vehicles continuously arrive and there are simultaneously pedestrian traffic requests, controls the green light duration of the phase corresponding to motor vehicles to operate for the first minimum duration, and then controls the green light of the phase corresponding to pedestrians to operate, thereby avoiding the problem of excessive saturation of the phase corresponding to motor vehicles caused by preferential service for pedestrians and resulting in traffic congestion. When the traffic requests of pedestrians and motor vehicles may conflict, effectively balance the traffic requests of motor vehicles and pedestrians.

[0010] As an alternative implementation, when entering the operation stage of the target signal in phase j, the method further includes:

[0011] Extend the operation duration of the target signal in phase j, and enter the countdown process of phase j.

[0012] As an alternative implementation, within each detection period, when the target signal in phase i is in the operation stage and the motor vehicle data in phase i is detected, the method further includes:

[0013] Determine whether to extend the operation duration of the target signal in phase i based on at least one of the first minimum duration, the first maximum duration, the first countdown duration of the target signal in phase i, and the headway of each lane corresponding to phase i.

[0014] As an alternative implementation, before determining whether to extend the operation duration of the target signal in phase i, the method further includes:

[0015] Determine that no non-motor vehicle data in phase j is detected; or,

[0016] Determine that the current detection period corresponds to the default mode; or,

[0017] Determine that the current detection period 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.

[0018] As an alternative implementation, before extending the operation duration of the target signal in phase i, the method further includes performing any one or any combination of the following:

[0019] Determine that the current operation duration of the target signal in phase i is greater than or equal to the first minimum duration; or,

[0020] Determine that the sum of the current operation duration and the first countdown duration is less than or equal to the first maximum duration; or,

[0021] Determine that the headways of all lanes are less than or equal to the headway threshold; or,

[0022] Determine that the sum of the current operation duration and the first sum of the unit extension duration of the motor vehicle is less than or equal to the first maximum duration; or,

[0023] Based on the difference between the sum of the current operation duration and the first sum of the unit extension duration of the motor vehicle and the first countdown duration, determine the maximum value between the current operation duration and the difference, and the sum of the maximum value and the first countdown duration is less than or equal to the first maximum duration; or,

[0024] Determine the maximum value between the current running duration and the difference value, and the sum of the maximum value and the first countdown duration is less than or equal to the preset duration of the target signal of phase i, where the sum is the sum of the current running duration and the first sum of the unit extension duration of the motor vehicle and the difference from the first countdown duration.

[0025] As an alternative implementation, the target total duration obtained by extending the current running duration of the target signal of phase i is determined in the following manner:

[0026] Determine the target total duration obtained by extending the current running duration of the target signal of phase i 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 alternative implementation, determining the target total duration obtained by extending the current running duration of the target signal of phase i includes:

[0028] Determine the target total duration according to the current running duration and the unit extension duration of the motor vehicle; or,

[0029] Determine the first sum according to the current running duration and the unit extension duration of the motor vehicle, determine the difference between the first sum and the first countdown duration, and determine the target total duration according to the maximum value between the current running duration and the difference value.

[0030] As an alternative implementation, before controlling the target signal of phase i to run for the first minimum duration, the method further includes:

[0031] Determine that the current detection period corresponds to the non-motor vehicle priority mode, and the non-motor vehicle data of phase j is greater than the threshold.

[0032] As an alternative implementation, before extending the running duration of the target signal of phase j, the method further includes performing any one or more of the following:

[0033] Determine that the current running 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; or,

[0034] 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,

[0035] Determine that the second sum of the current running duration and the unit extension duration of the non-motor vehicle is less than or equal to the second maximum duration.

[0036] As an alternative implementation, the target total duration obtained by extending the target signal of phase j is determined as follows:

[0037] The target total duration obtained by extending the target signal of phase j is determined based on at least one of the current running 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.

[0038] As an alternative implementation, the determination of the target total duration obtained by extending the target signal of phase j includes:

[0039] The target total duration is determined based on the current running duration corresponding to phase j and the unit extension duration of the non-motor vehicle; or,

[0040] The second sum is determined based on the current running duration corresponding to phase j and the unit extension duration of the non-motor vehicle, the difference between the second sum and the second countdown duration is determined, and the target total duration is determined based on the maximum value of the current running duration and the difference.

[0041] As an alternative implementation, when entering the countdown process, the method further includes:

[0042] Based on the current running durations of the target signals of each phase of the same barrier and the countdown durations of the target signals of each phase, the running durations of the target signals of the phases whose end times are not aligned are aligned so that the target signals of each phase after the alignment process end simultaneously.

[0043] As an alternative implementation, the alignment process of the running durations of the target signals of the phases whose end times are not aligned includes:

[0044] The current running durations of the target signals of the phases whose end times are not aligned are extended, and the extended target signals of each phase are controlled to end simultaneously at the end time.

[0045] As an alternative implementation, the alignment process of the running durations of the target signals of the phases whose end times are not aligned further includes:

[0046] If the running duration of the target signal of the phase after the alignment process is greater than the maximum duration of the target signal of the phase, after the target signal of the phase runs for the maximum duration, the target signal of the phase is switched to a specified signal, and the specified signal is controlled to run to the end time.

[0047] In a second aspect, an electronic device provided by an embodiment of the present application includes a processor and a memory. 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 following steps:

[0048] Periodically detect motor vehicle data and non-motor vehicle data corresponding to each phase;

[0049] In each detection period, during the operation stage of the target signal of phase i, if the motor vehicle data of phase i is detected and the non-motor vehicle data of phase j is detected, control the target signal of phase i to operate for the first minimum duration, enter the countdown process of phase i, and enter the operation stage of the target signal of phase j when the countdown process of phase i ends; where 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.

[0050] As an optional implementation manner, when entering the operation stage of the target signal of phase j, the processor is specifically further configured to execute:

[0051] Extend the operation duration of the target signal of phase j and enter the countdown process of phase j.

[0052] As an optional implementation manner, in each detection period, during the operation stage of the target signal of phase i, when the motor vehicle data of phase i is detected, the processor is specifically further configured to execute:

[0053] Determine whether to extend the operation duration of the target signal of phase i according to at least one of the first minimum duration, the first maximum duration, the first countdown duration of the target signal of phase i, and the headway of each lane corresponding to phase i.

[0054] As an optional implementation manner, before determining whether to extend the operation duration of the target signal of phase i, the processor is specifically further configured to execute:

[0055] Determine that the non-motor vehicle data of phase j is not detected; or,

[0056] Determine that the current detection period corresponds to the default mode; or,

[0057] Determine that the current detection period corresponds to the non-motor vehicle priority mode, and the non-motor vehicle data of phase j is less than or equal to the threshold.

[0058] As an optional implementation manner, before extending the operation duration of the target signal of phase i, the processor is specifically further configured to execute any one or any combination of the following:

[0059] Determine that the current operation duration of the target signal of phase i is greater than or equal to the first minimum duration; or,

[0060] Determine that the sum of the current running duration and the first countdown duration is less than or equal to the first maximum duration; or,

[0061] Determine that the headway of each lane is less than or equal to the headway threshold; or,

[0062] Determine that the first sum of the current running duration and the unit extension duration of the motor vehicle is less than or equal to the first maximum duration; or,

[0063] According to the difference between the first sum of the current running duration and the unit extension duration of the motor vehicle and the first countdown duration, determine the maximum value of the current running duration and the difference, and determine that the sum of the maximum value and the first countdown duration is less than or equal to the first maximum duration; or,

[0064] According to the difference between the first sum of the current running duration and the unit extension duration of the motor vehicle and the first countdown duration, determine the maximum value of the current running duration and the difference, and determine that the sum of the maximum value and the first countdown duration is less than or equal to the preset duration of the target signal of phase i.

[0065] As an optional implementation manner, the processor is specifically 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:

[0066] According to 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, determine the target total duration obtained by extending the current running duration of the target signal of phase i.

[0067] As an optional implementation manner, the processor is specifically configured to execute:

[0068] Determine the target total duration according to the current running duration and the unit extension duration of the motor vehicle; or,

[0069] Determine the first sum according to the current running duration and the unit extension duration of the motor vehicle, determine the difference between the first sum and the first countdown duration, and determine the target total duration according to the maximum value of the current running duration and the difference.

[0070] As an optional implementation manner, before controlling the target signal of phase i to run for the first minimum duration, the processor is specifically further configured to execute:

[0071] Determine that the current detection period corresponds to the non-motor vehicle priority mode, and the non-motor vehicle data of phase j is greater than the threshold.

[0072] As an alternative implementation, before extending the running duration of the target signal of phase j, the processor is further specifically configured to execute any one or any combination of the following:

[0073] Determine that the current running 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; or,

[0074] 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,

[0075] Determine that the second sum of the current running duration and the unit extension duration of the non-motor vehicle is less than or equal to the second maximum duration.

[0076] As an alternative implementation, the processor is specifically configured to determine the target total duration obtained by extending the target signal of phase j in the following manner:

[0077] Determine the target total duration obtained by extending the target signal of phase j according to at least one of the current running 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.

[0078] As an alternative implementation, the processor is specifically configured to execute:

[0079] Determine the target total duration according to the current running duration corresponding to phase j and the unit extension duration of the non-motor vehicle; or,

[0080] Determine the second sum according to the current running duration corresponding to phase j and the unit extension duration of the non-motor vehicle, determine the difference between the second sum and the second countdown duration, and determine the target total duration according to the maximum value of the current running duration and the difference.

[0081] As an alternative implementation, when entering the countdown process, the processor is further specifically configured to execute:

[0082] According to the current running durations of the target signals of each phase of the same barrier and the countdown durations of the target signals of each phase, perform an alignment process on the running durations of the target signals of the phases whose end times are not aligned among the phases, so that the target signals of each phase after the alignment process end simultaneously.

[0083] As an alternative implementation, the processor is specifically configured to execute:

[0084] Extend the current running duration of the target signal of the phase with an unaligned end time in each phase, and control the target signals of each phase after extension to end simultaneously at the end time.

[0085] As an alternative implementation, perform an alignment process on the running durations of the target signals of the phases with unaligned end times in each phase. Specifically, the processor is further configured to execute:

[0086] If the running duration of the target signal of the phase after the alignment process is greater than the maximum duration of the target signal of the phase, then after the target signal of the phase runs for the maximum duration, switch the target signal of the phase to a specified signal, and control the specified signal to run until the end time.

[0087] In a third aspect, an embodiment of the present application further provides an induction signal control device, and the device includes:

[0088] A period detection module, configured to detect the motor vehicle data and non-motor vehicle data corresponding to each phase periodically;

[0089] A signal control module, configured to, in each detection period, during the running stage of the target signal of phase i, if the motor vehicle data of phase i is detected and the non-motor vehicle data of phase j is detected, then control the target signal of phase i to run for the first minimum duration, enter the countdown process of phase i, and enter the running stage of the target signal of phase j when the countdown process of phase i ends; where 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.

[0090] 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 the method described in any one of the first aspects above.

[0091] In a fifth aspect, the present application provides a computer program product, and the computer program product includes: computer program code, when the computer program code runs on a computer, it causes the computer to execute the method described in any one of the first aspects.

[0092] These aspects or other aspects of the present application will be more clearly understood in the following description of the embodiments. Description of the Drawings

[0093] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts.

[0094] Figure 1 Schematic diagram of motor vehicle phase numbering at a crossroads provided by an embodiment of the present application;

[0095] Figure 2 Flowchart of an induction signal control method provided by an embodiment of the present application;

[0096] Figure 3A 、 Figure 3B 、 Figure 3C Flowchart of motor vehicle phase induction control provided by an embodiment of the present application;

[0097] Figure 4 Schematic diagram of a pedestrian phase induction control system provided by an embodiment of the present application;

[0098] Figure 5 Flowchart of non-motor vehicle phase induction control provided by an embodiment of the present application;

[0099] Figure 6 Schematic diagram of phase end logic in a ring structure provided by an embodiment of the present application;

[0100] Figure 7A and Figure 7B Schematic diagram of a double-ring scheme structure provided by an embodiment of the present application;

[0101] Figure 8 Schematic diagram of induction control of a motor vehicle provided by an embodiment of the present application;

[0102] Figure 9 Schematic diagram of an electronic device provided by an embodiment of the present application;

[0103] Figure 10 Schematic diagram of an induction signal control device provided by an embodiment of the present application. Detailed implementation manners

[0104] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts shall fall within the protection scope of the present application.

[0105] In the embodiments of the present application, the term "and / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after.

[0106] The application scenarios described in the embodiments of the present application are for more clearly illustrating 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. Those of ordinary skill in the art will know that with the emergence of new application scenarios, the technical solutions provided by the embodiments of the present application are equally applicable to similar technical problems. Among them, in the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0107] Before introducing the induction signal control method provided by the embodiments of the present application, for the convenience of understanding, first, the technical background of the embodiments of the present application will be introduced in detail below.

[0108] Full induction control means that all signal phases within the intersection are inductive. Motor vehicles and non-motor vehicles (pedestrians) are detected at the intersection, and inductive control is simultaneously used for the signal phases of motor vehicles and pedestrians. The system will detect the traffic flows in all directions and adjust the release time of the signal lights according to the real-time traffic conditions, which can provide more flexible and efficient traffic management and adapt to the traffic flow changes at different times and dates. The (signal) phase in full induction control refers to all the signal light change stages at the traffic intersection. In the full induction control system, the signal lights at each intersection will be automatically adjusted according to the traffic flow to meet the needs of vehicles and pedestrians in different directions.

[0109] In the ring-barrier structure of full induction control, the ring (Ring) represents a sequential structure composed of two or more mutually 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 barrier (Barrier), also known as "partition" or "barrier", its main purpose is to separate the intersecting main road and secondary road to ensure that there will be no situation where the signal light groups of the main road and secondary road are green at the same time, thus avoiding conflicts.

[0110] As Figure 1 shown, this embodiment provides a schematic diagram of a ring-barrier structure. In the ring-barrier structure, each signal light group has its fixed number. The signal light groups {1, 2, 3, 4} form Ring 1, indicating that the signal light groups 1, 2, 3, and 4 are mutually conflicting phases; the signal light groups {5, 6, 7, 8} form Ring 2, indicating that the signal light groups 5, 6, 7, and 8 are mutually conflicting phases; the signal light groups {1, 2, 5, 6} and the signal light groups {3, 4, 7, 8} are separated by the "barrier", indicating that these are the traffic flows in two directions and are mutually conflicting.

[0111] Currently, mixed traffic flow is usually controlled only for pedestrians or only for motor vehicles. In different traffic demand scenarios, when there may be conflicts between the passing requests of pedestrians and motor vehicles, there are two main difficulties in solving the problem of how to use inductive control to simultaneously achieve inductive control of motor vehicles and the priority and crossing guarantee of pedestrians: 1) Since inductive control has the characteristic of "greed", when motor vehicles continuously arrive and there are also passing requests from pedestrians, it should be avoided that the saturation degree of the motor vehicle phase becomes too high due to providing priority services to pedestrians, resulting in traffic congestion. 2) In the ring structure scheme, the same break phase (the phases whose green lights need to end simultaneously) should end simultaneously, and should not be uneven due to different countdowns and output decisions of the inductive control logic for each phase.

[0112] To solve the above technical problems, the embodiment of the present application provides an inductive signal control method. This method uniformly performs inductive control on the phases of motor vehicles and non-motor vehicles (pedestrians), and real-time judges the control strategy for each phase during the cycle operation. It is a general inductive control method and is more universal. For the scenario where motor vehicles continuously arrive and there are also passing requests from pedestrians, control the green light duration of the phase corresponding to the motor vehicle to run for the first minimum duration, and extend the green light duration of the phase corresponding to the pedestrians, so as to avoid the problem that the saturation degree of the motor vehicle phase becomes too high due to pedestrian priority services, resulting in traffic congestion. Therefore, this embodiment not only integrates the inductive control of motor vehicles and pedestrians in terms of control logic, but also can achieve a balance in the implementation effect of traffic capacity.

[0113] As Figure 2 shown, the specific implementation process of this method is as follows:

[0114] Step 200: Detect the motor vehicle data and non-motor vehicle data corresponding to each phase in a cycle;

[0115] In implementation, detect the road conditions of each phase according to a preset cycle, and detect the upstream motor vehicle data and non-motor vehicle data of all lanes corresponding to the current phase through the camera unit of each phase. For example, use a virtual coil (or detection line) to detect the arrival of upstream vehicles in all lanes of this phase. Use a designated area as the waiting area for the pedestrian phase, and count the number of non-motor vehicles in this area. If the number exceeds the threshold and the current detection cycle is in the non-motor vehicle priority mode, it is considered that this phase has a priority passing request.

[0116] Optionally, the non-motor vehicles in this embodiment include, but are not limited to: one or more of pedestrians, bicycles, electric vehicles, scooters, and tricycles.

[0117] It should be noted that the phases of the target signals of the non-motor vehicles in this embodiment are the same, that is, the target signals of pedestrians, bicycles, or electric vehicles are all phase j. The release of pedestrians, bicycles, electric vehicles, etc. is realized by the same signal light.

[0118] 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 denoted by ht, and the unit is seconds / vehicle (s / 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.

[0119] Step 201: In each detection cycle, during the operation stage of the target signal in phase i, if the motor vehicle data in phase i is detected and the non-motor vehicle data in phase j is detected, control the target signal in phase i to operate for the first minimum duration, enter the countdown process of phase i, and enter the operation stage of the target signal in phase j when the countdown process of phase i ends; where 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.

[0120] Optionally, the conflicting phases in this embodiment refer to two phases that cannot be released simultaneously, such as two phases that cannot be green at the same time. The target signals in this embodiment include, but are 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, approach area prompt, and yellow light. Since phase i and phase j are conflicting phases, i≠j.

[0121] In implementation, the operation duration of the target signal refers to the duration when the target signal is constantly on. The operation 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 operation duration of the green light refers to the duration when the green light is constantly on, starting from when the green light starts to shine and recording the duration when the green light is constantly on. If motor vehicle data and non-motor vehicle data are detected between conflicting phases, then after controlling the green light of the phase corresponding to the motor vehicle to operate for the minimum duration, extend the operation duration of the green light of the phase corresponding to the non-motor vehicle, giving priority to the non-motor vehicle data while meeting the motor vehicle traffic demand, thereby avoiding the problem of excessive saturation of the motor vehicle phase caused by pedestrian priority service and resulting in traffic congestion.

[0122] In some embodiments, before the target signal of phase i runs for the first minimum duration, this embodiment can 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 the 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, after the target signal of phase i runs for the first minimum duration, 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.

[0123] In implementation, the non-motor vehicle priority mode in this embodiment further includes a first priority mode and / or a second priority mode; if the current mode is the first priority mode, the extended duration (before the countdown) of the green light of the phase corresponding to the current motor vehicle is not allowed to exceed the first minimum duration to serve the pedestrians waiting to cross the street as soon as possible. This application considers pedestrian priority and pedestrian crossing protection strategies, and can select the first priority mode or the second priority mode by configuring switches, making the algorithm more general and flexible.

[0124] In some embodiments, within each detection cycle of this embodiment, during the running stage of the target signal of phase i, when the motor vehicle data of phase i is detected, 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:

[0125] Determine whether to extend the running duration of the target signal of phase i according to at least one of the first minimum duration, the first maximum duration, the first countdown duration of the target signal of phase i, and the headway of each lane corresponding to phase i.

[0126] In implementation, after the motor vehicle data is detected in phase i and it is determined that the motor vehicle has a traffic demand, and when it is determined that the target signal is running normally, it can further be determined whether to extend the running of the target signal, so as to ensure the communication demand of the motor vehicle and reduce the congestion caused when the motor vehicle flow is large. Among them, the first minimum duration, the first maximum duration, and the first countdown duration of the target signal of phase i are all preset and are usually fixed values. Taking the target signal being green as an example, the first minimum duration refers to the minimum duration of the green light staying on, the first maximum duration refers to the maximum duration of the green light staying on, and the first countdown duration refers to the duration of the countdown starting when the green light staying on ends. After the countdown ends, the target signal is switched, that is, the green light is switched to the red light.

[0127] In some embodiments, before determining whether to extend the running duration of the target signal of phase i, it can also be determined whether to extend the running duration of the target signal of phase i by determining whether any one or any combination of the following is satisfied in the following manner:

[0128] 1) Determine the non-motor vehicle data for which phase j is not detected.

[0129] In implementation, when motor vehicle data is detected in phase i and non-motor vehicle data is not detected in phase j, it will be further determined whether to extend the running duration of the target signal for phase i; otherwise, the running duration of the target signal for phase i will not be extended.

[0130] 2) Determine the default mode corresponding to the current detection cycle.

[0131] Optionally, the default mode in this embodiment means not being in the non-motor vehicle priority mode, that is, the non-motor vehicle priority mode is closed. In the default mode, the target signals for each phase can be controlled through 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 running duration of the target signal for phase i; otherwise, the running duration of the target signal for phase i will not be extended.

[0132] 3) Determine that the current detection cycle corresponds to the non-motor vehicle priority mode and the non-motor vehicle data for phase j is less than or equal to the threshold.

[0133] In 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 for phase j is less than or equal to the threshold, indicating that although it is the pedestrian priority at this time, due to the insufficient amount of non-motor vehicle data for phase j, the priority release of pedestrians is still not considered, and the passage of motor vehicles is still ensured. It will be further determined whether to extend the running duration of the target signal for phase i; otherwise, the running duration of the target signal for phase i will not be extended.

[0134] In some embodiments, before extending the running duration of the target signal for phase i, this embodiment also performs any one or any combination of the following:

[0135] (1) Determine that the current running duration of the target signal for phase i is greater than or equal to the first minimum duration.

[0136] In implementation, it is necessary to ensure that the target signal for phase i runs at least for the first minimum duration. For example, ensure that the green light stays on for at least the first minimum duration. After ensuring the basic communication requirements of the motor vehicles corresponding to phase i, the running duration of the target signal for phase i will be extended.

[0137] (2) Determine that the sum of the current running duration and the first countdown duration is less than or equal to the first maximum duration.

[0138] During implementation, it is necessary to ensure that the running duration of the target signal of phase i before switching does not exceed the first maximum duration. For example, ensure that the sum of the duration of the constantly lit green light and the countdown duration does not exceed the first maximum duration, so as to reduce the impact of the passage of motor vehicles on the passage requirements of motor vehicles / non-motor vehicles in other conflicting phases.

[0139] (3) Determine that the headway of each lane is less than or equal to the headway threshold;

[0140] During implementation, when a motor vehicle is detected in phase i, it is possible to predict whether there is still a motor vehicle passage demand 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 flow of this lane is small at this time, and there is no need to extend the current running duration and the countdown can be directly entered. 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 flow of this lane is large at this time, that is, upstream vehicles continuously arrive at phase i, so the current running duration can be extended.

[0141] (4) Determine that the first sum of the current running duration and the unit extension duration of the motor vehicle is less than or equal to the first maximum duration.

[0142] During implementation, assuming that the current running duration is extended, it is also possible to further determine whether, after extending the current running duration by one unit extension duration, it exceeds the first maximum duration. If it exceeds, no extension is performed; if it does not exceed, the current running duration is extended, that is, extended by one unit extension duration.

[0143] (5) Determine that the sum of the maximum value of the current running duration and the difference between the first sum of the current running duration and the unit extension duration of the motor vehicle and the first countdown duration is less than or equal to the first maximum duration.

[0144] During implementation, it is judged by the following formula: ; where is the current running duration, is the unit extension duration of the motor vehicle, is the first countdown duration, is the first maximum duration.

[0145] Assuming that the current running duration is extended, it is also possible to further determine whether, after extending the current running duration by one unit extension duration based on the reduction of the countdown duration, it exceeds the first maximum duration. If it exceeds, no extension is performed; if it does not exceed, the current running duration is extended, that is, extended by one unit extension duration.

[0146] (6) Determine the maximum value between the current running duration and the difference, and the sum of the current running duration and the difference is less than or equal to the preset duration of the target signal of phase i, where the difference is between the first sum of the current running duration and the unit extension duration of the motor vehicle and the first countdown duration.

[0147] In implementation, it is judged by the following formula: , where is the current running duration, is the unit extension duration of the motor vehicle, is the first countdown duration, is the preset duration.

[0148] Optionally, in this embodiment, the preset duration = the first maximum duration, or the preset duration ≠ the first maximum duration. This embodiment does not make too many limitations on this.

[0149] In implementation, only when the target signal of phase i meets one or more of the above conditions, will it be determined to extend the running duration of the target signal of phase i.

[0150] In some embodiments, this embodiment can also determine the target total duration obtained by extending the current running duration of the target signal of phase i in the following way:

[0151] Determine the target total duration obtained by extending the current running duration of the target signal of phase i according to 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.

[0152] In some embodiments, the target total duration obtained by extending the current running duration of the target signal of phase i is specifically determined by any of the following methods:

[0153] Method a) Determine the target total duration according to the current running duration and the unit extension duration of the motor vehicle;

[0154] In implementation, the target total duration = the current running duration + k × the unit extension duration; where k represents a coefficient, k takes a positive integer, and the value of k can be determined according to the amount of non-motor vehicle data detected in the current phase i. When the detected amount of non-motor vehicle data is large, the value of k is large; when the detected amount of non-motor vehicle data is small, the value of k is small. And it should be ensured that the target total duration is less than or equal to the first maximum duration.

[0155] Method b) Determine the first sum according to the current running duration and the unit extension duration of the motor vehicle, determine the difference between the first sum and the first countdown duration, and determine the target total duration according to the maximum value between the current running duration and the difference.

[0156] During implementation, the first sum = current running duration + k × unit extension duration; where k represents a coefficient and k is a positive integer.

[0157] During implementation, to ensure better utilization of the countdown duration, when the countdown duration itself can meet the extension requirement for the current running duration, no additional extension is performed and the countdown can be directly entered. If the countdown duration itself does not meet the extension requirement for the current running duration, the current running duration can be extended according to the unit extension duration to meet the passing needs of non-motor vehicles in the current phase.

[0158] This embodiment provides a motor vehicle phase induction control system, which includes three sub-modules as follows:

[0159] Vehicle arrival detection module: Use a virtual coil (or detection line) to detect the arrival of upstream vehicles in all lanes of this phase.

[0160] Green light end module: Check whether this phase meets the conditions for ending the green light at the current moment, including maximum green time, no upstream vehicles, priority requests from conflicting phases, etc. It should be noted that the end of the green light in this embodiment refers to the judgment of the end of the constant green light, that is, the judgment of whether the green light ends before the green flash / countdown.

[0161] Green light extension module: Judge whether this phase can extend the green light for the arriving upstream vehicles at the current moment.

[0162] After all the above modules have completed the judgment, finally output whether this phase can enter the countdown process at the current moment, that is, whether to start the green light countdown / green flash / approach area prompt (if there is no such countdown requirement, directly start the yellow light).

[0163] This embodiment also provides a motor vehicle induction control symbol identification table, as shown in Table 1.

[0164] Table 1 Motor vehicle induction control symbol identification table

[0165]

[0166] As Figure 3A 、 Figure 3B 、 Figure 3C shown, a motor vehicle phase induction control process, the specific implementation steps are as follows:

[0167] Step 301, enter the vehicle arrival detection module;

[0168] Step 302, initialize the state of phase i;

[0169] Among them, if it is the first second of the green light of motor vehicle phase i, initialize the state of phase i as follows: , , , ; where phase i is phase i.

[0170] Step 303: Determine whether a motor vehicle arrives at phase i. If so, update the motor vehicle request identifier and the headway. Otherwise, execute step 304;

[0171] Among them, determining whether a motor vehicle arrives at phase i includes whether a motor vehicle arrives at phase i (occupying from 0→1), and whether the occupation of each lane of phase i is 1. If so, record the motor vehicle request , the occupation of each lane of phase i is not 1, and the headway ; otherwise, update the maximum headway on the lane (the time from when the previous vehicle in a certain lane exits the detection area to the present). The update formula of the headway is as follows:

[0172] ;

[0173] Step 304: Determine whether the current phase is determined to end. If so, end the current phase and enter the countdown process. Otherwise, execute step 305;

[0174] Among them, if the of the current phase, then end the current phase and enter the countdown process. Otherwise, continue to execute the following process.

[0175] Step 305: Enter the green light end judgment sub-module process;

[0176] Step 306: Determine whether the current phase i has run the minimum green time. If so, execute step 307. Otherwise, end the current sub-module process;

[0177] Among them, the minimum green is the first minimum duration for phase i to run the green light.

[0178] Step 307: Determine whether it is the pedestrian priority mode and there is a pedestrian crossing request, and the green light running duration of phase i + the first countdown duration ≥ the preset duration of the green light running of phase i ( ). If so, end the current phase i and output an end flag. Otherwise, execute step 308;

[0179] Among them, it can ensure that when the motor vehicle flow is large and vehicles continuously arrive, the motor vehicle phase i can obtain at least the pre-designed green light duration (i.e., the preset duration) to meet the passing needs of motor vehicles.

[0180] Step 308: Determine whether the sum of the green light duration and the countdown duration of the current phase i is greater than or equal to the maximum green light duration of phase i. If so, end the current phase i and output an end flag; otherwise, execute Step 309.

[0181] Among them, determine the current green light duration + the countdown duration , and check whether it exceeds the maximum green light limit. If , then the green light ends and an end flag is output.

[0182] 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 flag; otherwise, end the current sub-module process.

[0183] In implementation, if the headway of the lane exceeds the headway threshold ), then end the current phase i and output an end flag; otherwise, end the current sub-module process (i.e., the current green light end judgment sub-module process) and enter the next sub-module process (i.e., the green light extension sub-module process).

[0184] Step 310: Enter the green light extension sub-module process.

[0185] Step 311: Determine whether there is a motor vehicle arriving in the current phase i. If so, execute Step 312; otherwise, end the current sub-module process.

[0186] Among them, if it is determined that there is a motor vehicle arriving in the current phase i, then for phase i , otherwise, do not extend phase i and directly end the current sub-module process (i.e., the green light extension sub-module process).

[0187] Step 312: Determine whether the current phase i is determined to end. If so, execute Step 315; otherwise, execute Step 313.

[0188] Among them, if , then do not extend and reset the motor vehicle request flag of the current phase to no, that is ;

[0189] Step 313: Determine whether the current phase i exceeds the maximum green light duration after being extended based on the countdown duration reduction. If so, end the current sub-module process; otherwise, execute Step 314.

[0190] Among them, if , then do not extend and end the current sub-module process; otherwise, extend the current phase i.

[0191] Step 314: Extend the green light of phase i and execute Step 315.

[0192] Among them, after the green light is extended, before the countdown starts, the running duration of the green light . Among them, represents the countdown duration of phase i.

[0193] Step 315: Reset the motor vehicle request identifier of phase i;

[0194] Among them, the motor vehicle request identifier of phase i . After resetting the motor vehicle request identifier of phase i, end the current sub-module process and enter the countdown process. Among them, in the countdown process, the following method can be used to determine whether the green light of the current phase i can start to display the countdown:

[0195] If , and , it is determined that the green light of the current phase i can start to display the countdown. Among them, represents the design without green light countdown, can represent green flashing, that is, green flash countdown. Among them, represents the countdown duration of phase i.

[0196] The following is an example to illustrate the extension judgment of the green light of phase i as follows.

[0197] Example 1:

[0198] Suppose that the green light running at this intersection (phase i) at the current moment has met the minimum green duration, and due to the relatively large maximum green duration, the running duration has not reached the maximum green.

[0199] , indicating that there is no green light countdown or green flash for the traffic lights at this intersection.

[0200] , indicating that the currently detected arriving vehicle will reach the stop line after 2s (for example, the vehicle detection position is 20m upstream of the stop line and the designed vehicle speed is 10m / s), so it is hoped to extend the green light by 2s to ensure that the vehicle can pass during the green light operation.

[0201] represents the time headway threshold of the vehicle head.

[0202] Suppose the green light has been running (remaining constantly on) for 20 seconds, and the current condition does not meet the green light end condition, ;

[0203] When a vehicle arrives, , .

[0204] It is determined to extend the green light duration, , that is, the current vehicle needs an additional 2 seconds of green light to pass through;

[0205] Reset .

[0206] The conditions for ending the green light are not met , as follows:

[0207] When no vehicle arrival is detected, , . The conditions for ending the green light are not met.

[0208] When no vehicle arrival is detected, , . The conditions for ending the green light are not met.

[0209] When no vehicle arrival is detected, , , the headway threshold is reached, so .

[0210] At this time, it meets , that is, the conditions for ending the green light are met. Therefore, the green light is about to end and enters the green light countdown.

[0211] Example 2:

[0212] Assume that the green light currently running at this intersection (phase i) has met the minimum green time, and due to the relatively large maximum green time, the running time has not reached the maximum green time yet.

[0213] , indicating that the signal light at this intersection is not set with a green light countdown display, nor is it set with a green flash display, and directly ends and switches to other signal lights after the green light stays on constantly.

[0214] , indicating that the vehicle detection position at this intersection is relatively far from the stop line, and the currently detected arriving vehicle will take 5 seconds to reach the stop line. Therefore, it is desired to extend the green light by 5 seconds to ensure that the vehicle can pass during the green light.

[0215] , indicating the headway threshold.

[0216] Assume that the green light has been on (running) for 20 seconds, and the current conditions for ending the green light are not met, ;

[0217] When a vehicle arrival is detected, , .

[0218] The green light needs to be extended, , that is, the current vehicle needs an additional 5 s of green light to pass through, and reset .

[0219] The conditions for ending the green light are not met , as follows:

[0220] When no vehicle arrival is detected, , . The conditions for ending the green light are not met.

[0221] When no vehicle arrival is detected, , . The conditions for ending the green light are not met.

[0222] When no vehicle arrival is detected, , , the headway threshold is reached, so .

[0223] However, at this time, it does not meet , that is, the current green light duration has not reached the required guaranteed duration , so the green light cannot end.

[0224] When a vehicle arrival is detected, , . . Although a new vehicle arrival is detected, the headway of the vehicle in front of it has exceeded the threshold, which means that the traffic flow of this phase has been interrupted, and the green light passing requirements of multiple consecutive vehicles in front have been served. Therefore, no response is made to the newly arrived vehicle at this time, that is, no response to extend the green light is made for the newly arrived vehicle. At this time, it still does not meet , so the green light cannot end.

[0225] When no vehicle arrival is detected, , . . At this time, it meets , and the conditions for ending the green light are met. Therefore, the green light is ready to end.

[0226] Example 3:

[0227] Assume that the green light running at this intersection (phase i) currently meets the minimum green duration, and due to the large maximum green duration, the running duration has not reached the maximum green yet.

[0228] , indicating that there is no green light countdown for the signal at this intersection, but there is a 3-second green flash before the yellow light comes on.

[0229] , indicating that the currently detected arriving vehicle will reach the stop line after 5 seconds.

[0230] , indicating the time headway threshold of the vehicle head.

[0231] Assume that the green light has been running (constantly on) for 20 seconds and the current condition for ending the green light is not met. ;

[0232] When a vehicle is detected arriving. , .

[0233] Therefore, the green light needs to be extended. ;

[0234] Due to the 3-second green flash, there is no need to add 5 seconds of green light for the current vehicle. Instead, based on the current 20 seconds, only 2 seconds need to be extended. The vehicle will pass through the stop line during the 3-second green flash period. The extended calculation method based on the reduction of the countdown duration in this embodiment can utilize the countdown duration / green flash duration of the green light, rather than only using the normal constantly-on duration of the green light to serve vehicles with passing needs, thereby effectively improving the utilization rate of the countdown duration / green flash duration of the green light and effectively improving the traffic efficiency.

[0235] Reset ;

[0236] The condition for ending the green light is not met. , as follows:

[0237] When no vehicle is detected arriving. , . The condition for ending the green light is not met.

[0238] When no vehicle is detected arriving. , . The condition for ending the green light is not met.

[0239] When no vehicle is detected arriving. , , the time headway threshold of the vehicle head is reached. Therefore .

[0240] Meanwhile, at this time, it also meets , and the condition for ending the green light is met. Therefore, the green light is about to end.

[0241] Hypothesis When the green lights of other same-breaking phases are also about to end, the 3s green flash starts. Therefore, the green light of this phase will end at End.

[0242] For the vehicle arriving at the 20th second, it takes 5s to drive from the vehicle detection position to the stop line. Therefore, the vehicle passes at During the green flash.

[0243] Example 4:

[0244] Suppose the green light currently running at this intersection (phase i) has met the minimum green time. Due to the relatively long maximum green time, the running time has not reached the maximum green time yet.

[0245] Indicates that the signal light at this intersection has a 9s green light countdown.

[0246] Indicates that the currently detected arriving vehicle will reach the stop line after 5s.

[0247] Indicates the time headway threshold of the vehicle head.

[0248] Suppose the green light has been running for 20 seconds and the current condition for ending the green light is not met, ;

[0249] When a vehicle is detected arriving at , .

[0250] Therefore, the green light needs to be extended, ;

[0251] Although it is logically judged that the green light needs to be extended for the newly arriving vehicle, due to the remaining 9s countdown, So in fact, no extension is actually made. The countdown is long enough to allow the newly arriving vehicle to pass.

[0252] Reset ; At this time, the condition for ending the green light is not met , as follows:

[0253] When no vehicle is detected arriving at , . The condition for ending the green light is not met.

[0254] When no vehicle is detected arriving at , . The condition for ending the green light is not met.

[0255] When no vehicle arrival is detected, , , the headway threshold is reached, so .

[0256] Meanwhile, at this time, it also satisfies , meeting the condition to end the green light. Therefore, the green light is about to end.

[0257] Assume When, the green lights of other same-breaking phases are also about to end, then a 9s countdown starts. Therefore, the green light of this phase will end at . And for the vehicle arriving at the 20th second, it takes 5s to drive from the vehicle detection position to the stop line. Therefore, this vehicle passes through at when (during the countdown).

[0258] In some embodiments, after the target signal of phase j starts to run, the running duration of the target signal of phase j can also be extended in this embodiment, and the countdown process of phase j is entered.

[0259] In practice, 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 the pedestrians crossing the road on the zebra crossing have not completed crossing, that is, when non-motor vehicle data is detected in phase j, the green light for pedestrians can be appropriately extended to ensure their completion of crossing.

[0260] In this embodiment, during the green light release stage of motor vehicle phase i, on the premise of ensuring the minimum green time for the operation of phase i, if it is detected that vehicles in motor vehicle phase i continuously arrive and at the same time it is detected that pedestrians in the conflicting pedestrian phase j are waiting, the preset duration and / or the first maximum duration of the green light of phase i are used as the upper limit for the extension of the green light of motor vehicle phase i. When the headway detected in phase i is too long or the green light reaches the extension upper limit, a countdown process is entered to end the current stage and enter the green light release stage of phase j, so as to ensure that pedestrians in phase j can be served as early as possible on the premise of no congestion of motor vehicles, and realize the balanced priority control of motor vehicles and pedestrians. That is, during the green light release stage of motor vehicle phase i, if vehicles in phase i continuously 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 first, and the pedestrians in phase j can be served as early as possible. On the one hand, the orderly passage of the currently continuously arriving motor vehicles is ensured by extending the green light of phase i without congestion. On the other hand, an extension upper limit is set when extending the green light of phase i, so that the green light service duration of motor vehicle phase i will not be extended infinitely, thereby serving the waiting pedestrians as early as possible. This embodiment provides multiple conditions for extending the operation duration, and one or more combinations can be selected according to actual needs. The specific extension conditions are as follows.

[0261] In some embodiments, before extending the operation duration of the target signal of phase j, this embodiment also makes a conditional judgment through any one or more of the following, so as to extend the operation duration of the target signal of phase j when any one or more of the following are met:

[0262] (1) Determine that the current operation 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;

[0263] In implementation, it is necessary to first judge whether the current operation 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. After ensuring that the target signal of phase j runs at least the first minimum duration, for example, after ensuring that the green light stays on for at least the first minimum duration, the operation duration of the target signal of phase j will be further extended. That is, after ensuring the basic passing needs of the motor vehicles corresponding to phase i, the passing of the motor vehicles will be further considered for extension.

[0264] (2) Determine that the sum of the current operation 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;

[0265] During implementation, it is necessary to first determine whether the sum of the current running duration and the second countdown duration of the target signal for phase j is less than or equal to the second maximum duration of the target signal for phase j. Only when the sum of the current running duration and the second countdown duration of the target signal for phase j is less than or equal to the second maximum duration of the target signal for phase j, will the running duration of the target signal for phase j be further extended. During implementation, it is necessary to ensure that the running duration of the target signal for phase j before switching does not exceed the second maximum duration. For example, ensure that the sum of the constant green light duration and the countdown duration does not exceed the second maximum duration, and reduce the impact of the passage of non-motor vehicles on the passage requirements of motor vehicles / non-motor vehicles in other conflicting phases.

[0266] (3) Determine that the second sum of the current running duration and the unit extension duration of the non-motor vehicle is less than or equal to the second maximum duration.

[0267] During implementation, assuming that the current running duration is extended, it is also possible to further determine whether, after extending the current running duration by the unit extension duration, it exceeds the second maximum duration. If it exceeds, no extension will be performed. If it does not exceed, the current running duration will be extended, that is, extended by one unit extension duration.

[0268] During implementation, only when the target signal for phase j meets one or more of the above conditions will it be determined to extend the running duration of the target signal for phase j.

[0269] In some embodiments, the target total duration obtained by extending the target signal for phase j is determined in the following manner:

[0270] Based on at least one of the current running duration of the target signal for phase j, the unit extension duration of the non-motor vehicle, and the second countdown duration of the target signal for phase j, determine the target total duration obtained by extending the target signal for phase j.

[0271] In some embodiments, the target total duration obtained by extending the target signal for phase j in this embodiment is determined by any of the following methods:

[0272] Method a) Determine the target total duration based on the current running duration corresponding to phase j and the unit extension duration of the non-motor vehicle;

[0273] During implementation, the target total duration = current running duration + p × unit extension duration; where p represents a coefficient, p takes a positive integer, and the value of p can be determined according to the amount of motor vehicle data detected in the current phase j. When the detected amount of motor vehicle data is large, the value of p is large. When the detected amount of motor vehicle data is small, the value of p is small. And it should be ensured that the target total duration is less than or equal to the second maximum duration.

[0274] In method b), the second sum is determined according to the current running duration corresponding to phase j and the unit extension duration of the non-motor vehicle. The difference between the second sum and the second countdown duration is determined, and the target total duration is determined according to the maximum value of the current running duration and the difference.

[0275] In implementation, the second sum = current running duration + p × unit extension duration; where p represents a coefficient and p is a positive integer.

[0276] In implementation, to ensure better utilization of the countdown duration, when the countdown duration itself can meet the extension requirement for the current running duration, no additional extension is performed and the countdown can be directly entered. If the countdown duration itself does not meet the extension requirement for the current running duration, the current running duration can be extended according to the unit extension duration to meet the passing requirements of non-motor vehicles in the current phase.

[0277] As Figure 4 shown, this embodiment also provides a pedestrian phase induction control system, which includes three sub-modules as follows:

[0278] Red light waiting area detection module: Designate a specific area as the waiting area for the pedestrian phase and count the number of pedestrians / non-motor vehicles in this area. If the number exceeds the threshold, it is regarded as a priority passing request for this phase.

[0279] Green light end module: Check whether the conditions for the end of the green light are met for this phase at the current moment.

[0280] Green light extension module: Determine whether the green light can be extended for pedestrians / non-motor vehicles that have not completed crossing the zebra crossing at the current moment for this phase.

[0281] After all the above modules have made judgments, it is finally output whether this phase can enter the countdown process at the current moment, that is, whether the green light countdown / green flash can start.

[0282] This embodiment also provides a non-motor vehicle (pedestrian) induction control symbol identification table, as shown in Table 2.

[0283] Table 2 Non-motor vehicle induction control symbol identification table

[0284]

[0285] As Figure 5 shown, a non-motor vehicle phase induction control process is as follows:

[0286] Step 501: Enter the pedestrian induction control module;

[0287] Step 502: Initialize the state of phase j;

[0288] Among them, if it is the first second of the green light of the non-motor vehicle phase j now, initialize the state of phase j as follows: 、 ; Phase j is phase j.

[0289] Step 503: Determine whether phase j has run the minimum green time. If so, execute step 504; otherwise, end the current phase and enter the countdown process.

[0290] For example, if , then continue to judge the subsequent process; otherwise, end the current phase and enter the countdown process.

[0291] Step 504: Determine whether the sum of the green light duration and the countdown duration of the current phase j is greater than or equal to the maximum green light duration of phase j, or whether the extended duration of the green light of the current phase j exceeds the maximum green light duration of phase j. If so, end the current phase j and output an end flag; otherwise, execute step 505.

[0292] If , or, , then end the current phase j and output an end flag. .

[0293] Step 505: Determine whether it is the second priority mode currently, and whether 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 flag. ;

[0294] Step 506: Extend the green light duration of phase j.

[0295] Among them, if it is the second priority mode currently, and , then extend the green light duration of phase j. After the extension, before starting the countdown, the running duration of the green light . Among them, represents the countdown duration of phase j.

[0296] After extending the green light duration of phase j, end the current algorithm and enter the countdown process. Among them, in the countdown process, the following method can be used to determine whether the green light of the current phase j can start to display the countdown:

[0297] If , and , then it is determined that the green light of the current phase j can start to display the countdown. Among them, represents the countdown duration of phase j.

[0298] In some embodiments, since each phase in this embodiment operates independently with induction control and the control processes of the target signals of respective phases are independent, each phase will ultimately determine to enter the countdown process respectively, that is, a decision on whether to start the countdown will be given. Whether a signal can start the countdown of a phase is also restricted by the phase scheme structure. Considering that the countdown durations of motor vehicle and pedestrian phases may be different, in order to ensure the alignment of the same-breaking phases of the same fence (barrier), this embodiment can also equalize the running durations of the target signals of the unaligned phases. The specific implementation process is as follows:

[0299] According to the current running durations of the target signals of the respective phases of the same barrier and the countdown durations of the target signals of the respective phases, equalize the running durations of the target signals of the phases with unaligned end times among the respective phases, so that the target signals of the respective phases after the equalization process end simultaneously.

[0300] In some embodiments, the running durations of the target signals of the phases with unaligned end times among the respective phases are equalized in the following manner:

[0301] Prolong the current running durations of the target signals of the phases with unaligned end times among the respective phases, and control the target signals of the respective phases after the prolongation to end simultaneously at the end time.

[0302] In implementation, the running duration of each phase refers to the running duration of the target signal of each phase before the countdown. The end point of prolonging the current running duration is the moment when the countdown starts. The target signal running to the end time means that the target signal completely ends. For example, the end of the green light specifically means the end after the green light stays on constantly + green flash / countdown.

[0303] In some embodiments, to equalize the running durations of the target signals of the phases with unaligned end times among the respective phases, the following process can also be executed:

[0304] If the running duration of the target signal of the phase after the equalization process is greater than the maximum duration of the target signal of this phase, then after the target signal of this phase runs for the maximum duration, switch the target signal of this phase to a specified signal and control the specified signal to run to the end time.

[0305] In implementation, if the running duration of the green light of the phase after the equalization process is greater than the maximum duration of the green light of this phase, then after the green light of this phase runs for the maximum duration, switch the green light of this phase to a red light and control the red light to run to the end time.

[0306] Further judge the logic of whether each fence (barrier) (default without overlapping scheme) can start the countdown / green flash / start the yellow light. As Figure 6As shown in the figure, this embodiment also provides a schematic diagram of the phase end logic in a loop structure. Among them, 4 phases belong to 4 loops, one loop corresponds to one phase, and the 4 phases (P1 - P4) need to obtain a green light simultaneously. In the figure, in a fence, there may be a motor vehicle phase and a pedestrian phase at the same time. Since the minimum green and green light extension conditions of each phase are different, after a decision is made that a phase output can start the countdown, it is necessary to wait for the outputs of other synchronous phases in the same fence. During this period, the green light continues to be on. Figure 6 Among them, the P4 phase is the last one to output the decision to start the countdown. Therefore, after the minimum green / green light extension of the other three phases ends, the green light continues to be on to wait for P4 to achieve alignment.

[0307] Considering that the countdown durations of the motor vehicle and pedestrian phases may be different, therefore, when all phases have made a decision to start the countdown, the phase with the longer countdown duration should start the countdown (such as P2 and P4 in Figure 6 ), while the phases with shorter countdown durations (such as P1 and P3 in Figure 6 ) can continue to have the green light on (Δ countdown) to achieve alignment. If the alignment action causes a certain phase to exceed its maximum green, then this phase is placed after the maximum green, and the fence is continued to be aligned with a red light.

[0308] As Figure 7A and Figure 7B shown, this embodiment also provides a schematic diagram of a double - loop scheme structure. Refer to Figure 7A , which is a scheme where the north - south direction does not overlap and the east - west direction does not overlap. The figure shows a common 'double - loop' scheme structure. Usually, the 8 straight / left - turn phases P1 - P8 are used to describe the scheme structure. There are a total of 4 fences in this scheme structure. Due to the existence of the fences, the green lights of P2 and P6 must end simultaneously. In the east - west direction, the fences require that the east - west straight phases P3 and P7 start and end simultaneously, and the same applies to the east - west left - turn phases P4 and P8. Among them, a (signal) phase refers to the display state of the signal group corresponding to one or more traffic flows that obtain the right - of - way simultaneously. A stage refers to a time period within a signal cycle during which one or more non - conflicting phases display green signals simultaneously. (The number of times the 'right - of - way' is transferred within a signal cycle is the number of signal stages).

[0309] As Figure 8As shown in the figure, this embodiment also provides a schematic diagram of the induction control of a motor vehicle. A video detector is used to illuminate the front of the vehicle, and vehicle detection lines / areas are set for each lane at positions A1 to A3. Assume that the straight-through vehicles at the current east entrance are enjoying a green light. If a vehicle arrives at A1 or A2, it is desired to extend the current green light so that the newly arrived vehicle can also pass during the current green light period, rather than directly encountering a red light when it just arrives at the intersection. Therefore, based on the distance and speed of the newly arrived vehicle from the vehicle detection positions A1 and A2 to the stop line, it can be estimated that it takes approximately N seconds for the newly arrived vehicle to travel from the vehicle detection position to the stop line, and then the green light is extended by N seconds to ensure its passage. If no new vehicle arrives at A1 and A2 for a long time (the headway exceeds the headway threshold ), it indicates that the current demand for this phase has been met, and then its green light is stopped and other phases are continued to be served.

[0310] The induction signal control method provided by this application operates with a minimum green for each phase when the traffic volume is extremely low; when the traffic volume is high, the green light of the motor vehicle phase is extended; at the same time, phase early cut-off (ending earlier than a preset value) is used to serve the pedestrians waiting for the red light. In addition, if there are pedestrians on the zebra crossing who have not completed crossing the street, the green light can also be appropriately extended for the pedestrians to improve the safety of the intersection. This signal control method is applicable to intersections with relatively low overall traffic flow.

[0311] This application can periodically detect the real-time data of motor vehicles and non-motor vehicles in each phase, respectively execute the induction signal control logics of motor vehicles and non-motor vehicles, and align the same cut-off phases in the same stage, so as to simultaneously achieve the induction control of motor vehicles and the priority passage and cross-street safety guarantee of non-motor vehicles. This application also fully considers the problem that the ending times of the same cut-off phases in front of a fence in the scheme are different due to reasons such as different green light extensions and countdown lengths of the motor vehicle / pedestrian phases, and proposes clear alignment rules, enabling the same cut-off phases to remain in sync even in complex dynamic control; in addition, for special cases 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.

[0312] Based on the same inventive concept, the embodiment of this application also provides an electronic device. Since this electronic device is the electronic device in the method of this application embodiment, and the principle of this electronic device to solve problems is similar to that of this method, the implementation of this electronic device can refer to the implementation of the method, and the repeated parts will not be described again.

[0313] As Figure 9 shown, this electronic device includes a processor 900 and a memory 901. The memory 901 is used to store the programs executable by the processor 900, and the processor 900 is used to read the programs in the memory 901 and execute the following steps:

[0314] Periodically detect the motor vehicle data and non-motor vehicle data corresponding to each phase;

[0315] In each detection period, during the operation stage of the target signal of phase i, if the motor vehicle data of phase i is detected and the non-motor vehicle data of phase j is detected, then control the target signal of phase i to operate for the first minimum duration, enter the countdown process of phase i, and at the end of the countdown process of phase i, enter the operation stage of the target signal of phase j; where 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.

[0316] As an optional implementation manner, when entering the operation stage of the target signal of phase j, the processor 900 is specifically further configured to execute:

[0317] Extend the operation duration of the target signal of phase j and enter the countdown process of phase j.

[0318] As an optional implementation manner, in each detection period, during the operation stage of the target signal of phase i, when the motor vehicle data of phase i is detected, the processor 900 is specifically further configured to execute:

[0319] Determine whether to extend the operation duration of the target signal of phase i according to at least one of the first minimum duration, the first maximum duration, the first countdown duration of the target signal of phase i, and the headway of each lane corresponding to phase i.

[0320] As an optional implementation manner, before determining whether to extend the operation duration of the target signal of phase i, the processor 900 is specifically further configured to execute:

[0321] Determine that the non-motor vehicle data of phase j is not detected; or,

[0322] Determine that the current detection period corresponds to the default mode; or,

[0323] Determine that the current detection period corresponds to the non-motor vehicle priority mode, and the non-motor vehicle data of phase j is less than or equal to the threshold.

[0324] As an optional implementation manner, before extending the operation duration of the target signal of phase i, the processor 900 is specifically further configured to execute any one or any combination of the following:

[0325] Determine that the current operation duration of the target signal of phase i is greater than or equal to the first minimum duration; or,

[0326] Determine that the sum of the current operation duration and the first countdown duration is less than or equal to the first maximum duration; or,

[0327] Determine that the headway of each lane is less than or equal to the headway threshold; or,

[0328] Determine that the first sum of the current running duration and the unit extension duration of the motor vehicle is less than or equal to the first maximum duration; or,

[0329] According to the difference between the first sum of the current running duration and the unit extension duration of the motor vehicle and the first countdown duration, determine the maximum value of the current running duration and the difference, and the sum of the maximum value and the first countdown duration is less than or equal to the first maximum duration; or,

[0330] According to the difference between the first sum of the current running duration and the unit extension duration of the motor vehicle and the first countdown duration, determine the maximum value of the current running duration and the difference, and the sum of the maximum value and the first countdown duration is less than or equal to the preset duration of the target signal of phase i.

[0331] As an optional implementation manner, the processor 900 is specifically 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:

[0332] According to 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, determine the target total duration obtained by extending the current running duration of the target signal of phase i.

[0333] As an optional implementation manner, the processor 900 is specifically configured to execute:

[0334] According to the current running duration and the unit extension duration of the motor vehicle, determine the target total duration; or,

[0335] According to the current running duration and the unit extension duration of the motor vehicle, determine the first sum, determine the difference between the first sum and the first countdown duration, and according to the maximum value of the current running duration and the difference, determine the target total duration.

[0336] As an optional implementation manner, before controlling the target signal of phase i to run for the first minimum duration, the processor 900 is specifically further configured to execute:

[0337] Determine that the current detection period corresponds to the non-motor vehicle priority mode, and the non-motor vehicle data of phase j is greater than the threshold.

[0338] As an optional implementation manner, before extending the running duration of the target signal of phase j, the processor 900 is specifically further configured to execute any one or any combination of the following:

[0339] Determine that the current running duration of the target signal in phase j is greater than or equal to the second minimum duration of the target signal in phase j; or,

[0340] Determine that the sum of the current running duration and the second countdown duration of the target signal in phase j is less than or equal to the second maximum duration of the target signal in phase j; or,

[0341] Determine that the second sum of the current running duration and the unit extension duration of the non-motor vehicle is less than or equal to the second maximum duration.

[0342] As an alternative implementation, the processor 900 is specifically configured to determine the target total duration obtained by extending the target signal in phase j in the following manner:

[0343] Determine the target total duration obtained by extending the target signal in phase j according to at least one of the current running duration of the target signal in phase j, the unit extension duration of the non-motor vehicle, and the second countdown duration of the target signal in phase j.

[0344] As an alternative implementation, the processor 900 is specifically configured to execute:

[0345] Determine the target total duration according to the current running duration corresponding to phase j and the unit extension duration of the non-motor vehicle; or,

[0346] Determine the second sum according to the current running duration corresponding to phase j and the unit extension duration of the non-motor vehicle, determine the difference between the second sum and the second countdown duration, and determine the target total duration according to the maximum value of the current running duration and the difference.

[0347] As an alternative implementation, when entering the countdown process, the processor 900 is specifically further configured to execute:

[0348] According to the current running durations of the target signals in each phase of the same barrier and the countdown durations of the target signals in each phase, perform alignment processing on the running durations of the target signals in the phases where the end times are not aligned, so that the target signals in each phase after the alignment processing end simultaneously.

[0349] As an alternative implementation, the processor 900 is specifically configured to execute:

[0350] Extend the current running duration of the target signal in the phases where the end times are not aligned among the phases, and control the target signals in each phase after the extension to end simultaneously at the end time.

[0351] As an alternative implementation, the running durations of the target signals of the phases with misaligned end times in each phase are aligned, and the processor 900 is further specifically configured to execute:

[0352] If the running duration of the target signal of the phase after alignment is greater than the maximum duration of the target signal of the phase, then after the target signal of the phase runs for the maximum duration, the target signal of the phase is switched to a specified signal, and the specified signal is controlled to run until the end time.

[0353] Based on the same inventive concept, an embodiment of the present application also provides an induction signal control device. Since this device is the device in the method of the embodiment of the present application, and the principle of this device to solve problems is similar to that of the method, the implementation of this device can refer to the implementation of the method, and the repeated parts will not be elaborated.

[0354] As Figure 10 shown, the device includes:

[0355] A period detection module 1000 for detecting the motor vehicle data and non-motor vehicle data corresponding to each phase periodically;

[0356] A signal control module 1001 for, in each detection period, during the running stage of the target signal of phase i, if the motor vehicle data of phase i is detected and the non-motor vehicle data of phase j is detected, controlling the target signal of phase i to run for the first minimum duration, entering the countdown process of phase i, and entering the running stage of the target signal of phase j when the countdown process of phase i ends; where 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.

[0357] Based on the same inventive concept, an embodiment of the present disclosure provides a computer storage medium. The computer storage medium includes: computer program code, when the computer program code runs on a computer, causing the computer to execute the induction signal control method as described in any of the foregoing. Since the principle of the above computer storage medium to solve problems is similar to that of the induction signal control method, the implementation of the above computer storage medium can refer to the implementation of the method, and the repeated parts will not be elaborated.

[0358] In a specific implementation process, the computer storage medium may include: various storage media such as a universal serial bus flash drive (USB, Universal Serial Bus Flash Drive), a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk, or an optical disc that can store program code.

[0359] Based on the same inventive concept, embodiments of the present disclosure further provide a computer program product, which includes: computer program code that, when running on a computer, causes the computer to execute any of the induction signal control methods discussed above. Since the principle of the above computer program product for solving problems is similar to that of the induction 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 elaborated.

[0360] The computer program product can adopt any combination of one or more readable media. The readable media can be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of the readable storage medium 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.

[0361] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can 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 code.

[0362] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram can be implemented by computer program instructions, and the combination of the flows and / or blocks in the flowchart and / or block diagram can also be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for implementing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0363] These computer program instructions can 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 generate a manufactured article including an instruction device that implements the functions in the flowFigure 1 one process or multiple processes and / or blocks Figure 1 the functions specified in one block or multiple blocks.

[0364] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process. Thus, the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0365] Obviously, those skilled in the art can make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalent technologies, this application is also intended to include these changes and modifications.

Claims

1. An induction signal control method, characterized in that The method includes: Periodically detecting motor vehicle data and non-motor vehicle data corresponding to each phase; wherein, the upstream motor vehicle data and non-motor vehicle data of all lanes corresponding to the current phase are detected by the camera units of each phase. In each detection period, during the target signal operation stage of phase i, if the motor vehicle data of phase i is detected and the non-motor vehicle data of phase j is detected, then control the target signal of phase i to operate for the first minimum duration, enter the countdown process of phase i, and when the countdown process of phase i ends, enter the target signal operation stage of phase j; extend the operation duration of the target signal of phase j and enter the countdown process of phase j; 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. In each detection period, during the target signal operation stage of phase i, when the motor vehicle data of phase i is detected, the method further includes: determining whether to extend the operation duration of the target signal of phase i according to the first minimum duration, the first maximum duration, the first countdown duration of the target signal of phase i, and the headway of each lane corresponding to phase i. Before extending the operation duration of the target signal of phase i, it further includes: determining that the sum of the current operation duration of the target signal of phase i and the first sum of the unit extension duration of the motor vehicle, minus the first countdown duration, and taking the maximum value of the current operation duration and the difference, and the sum with the first countdown duration is less than or equal to the first maximum duration; or, determining that the sum of the current operation duration of the target signal of phase i and the first sum of the unit extension duration of the motor vehicle, minus the first countdown duration, and taking the maximum value of the current operation duration and the difference, and the sum with the first countdown duration is less than or equal to the preset duration of the target signal of phase i.

2. The method according to claim 1, wherein Before determining whether to extend the operation duration of the target signal of phase i, the method further includes: Determining that the non-motor vehicle data of phase j is not detected; or, Determining that the current detection period corresponds to the default mode; or, Determining that the current detection period corresponds to the non-motor vehicle priority mode, and the non-motor vehicle data of phase j is less than or equal to the threshold.

3. The method according to claim 1, characterized in that, Before extending the operation duration of the target signal of phase i, the method further includes performing any one or more of the following: Determining that the current operation duration of the target signal of phase i is greater than or equal to the first minimum duration; or, Determining that the sum of the current operation duration and the first countdown duration is less than or equal to the first maximum duration; Or, Determining that the headways of all lanes are less than or equal to the headway threshold; Or, Determining that the sum of the current operation duration of the target signal of phase i and the first sum of the unit extension duration of the motor vehicle is less than or equal to the first maximum duration.

4. The method according to any one of claims 1 to 3, characterized in that The target total duration obtained by extending the current operation duration of the target signal of phase i is determined by the following method: Determining the target total duration obtained by extending the current operation duration of the target signal of phase i according to at least one of the current operation 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.

5. The method according to claim 4, wherein Determining the target total duration obtained by extending the current running duration of the target signal for phase i includes: Determining the target total duration according to the current running duration and the unit extension duration of the motor vehicle; or, Determining a first sum according to the current running duration and the unit extension duration of the motor vehicle, determining the difference between the first sum and the first countdown duration, and determining the target total duration according to the maximum value of the current running duration and the difference.

6. The method according to claim 1, wherein Before controlling the target signal of phase i to run for the first minimum duration, the method further includes: Determining that the current detection period corresponds to the non-motor vehicle priority mode, and the non-motor vehicle data of phase j is greater than the threshold.

7. The method according to claim 1, characterized in that, Before extending the running duration of the target signal of phase j, the method further includes performing any one or any combination of the following: Determining that the current running 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; or, Determining 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, Determining that the second sum of the current running duration and the unit extension duration of the non-motor vehicle is less than or equal to the second maximum duration.

8. The method according to claim 1, wherein The target total duration obtained by extending the target signal of phase j is determined in the following manner: Determining the target total duration obtained by extending the target signal of phase j according to at least one of the current running 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.

9. The method according to claim 8, characterized in that, The determination of the target total duration obtained by extending the target signal of phase j includes: 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; or, Determining a second sum according to the current running duration corresponding to phase j and the unit extension duration of the non-motor vehicle, determining the difference between the second sum and the second countdown duration, and determining the target total duration according to the maximum value of the current running duration and the difference.

10. The method according to claim 1, characterized in that When entering the countdown process, the method further includes: According to the current running durations of the target signals of each phase of the same barrier and the countdown durations of the target signals of each phase, performing an alignment process on the running durations of the target signals of the phases whose end times are not aligned among the phases, so that the target signals of the phases after the alignment process end simultaneously.

11. The method according to claim 10, wherein Performing the alignment process on the running durations of the target signals of the phases whose end times are not aligned among the phases includes: Extending the current running durations of the target signals of the phases whose end times are not aligned among the phases, and controlling the target signals of the phases after the extension to end simultaneously at the end time.

12. The method according to claim 10, wherein Performing the alignment process on the running durations of the target signals of the phases whose end times are not aligned among the phases further includes: If the running duration of the target signal of the phase after the alignment process is greater than the maximum duration of the target signal of the phase, then after the target signal of the phase runs for the maximum duration, switching the target signal of the phase to a specified signal, and controlling the specified signal to run to the end time.

13. An electronic device, characterized in that, The electronic device includes a processor and a memory. The memory is used to store programs executable by the processor, and the processor is used to read the programs in the memory and execute the steps of any one of claims 1 to 12.

14. A computer storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps of any one of claims 1 to 12.

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