Phase sequence configuration method and device of traffic signal lamp, equipment and medium

Abstract

The invention provides a phase sequence configuration method and device of a traffic signal lamp, equipment and a medium. The method comprises the following steps: acquiring multiple phase sequences of a target signal lamp and a first turn-on time difference under each phase sequence; the target signal lamp is the traffic signal lamp of the first intersection, and the first turn-on time difference is determined according to the coordinated phase of the target signal lamp under the corresponding phase sequence. And determining a time loss value generated by the target signal lamp under each phase sequence based on the first turn-on time difference, the second turn-on time difference and a preset coordination period duration, wherein the second turn-on time difference is determined according to the phase sequence adopted when the traffic signal lamp of the second intersection runs. In the process, the loss function of the time loss value of the target signal lamp under each phase sequence is solved by setting the phase sequence based on the second intersection, so that the phase sequence adopted during operation of the target signal lamp is selected from multiple phase sequences according to the time loss value of the target signal lamp under each phase sequence.

Description

Technical Field

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

[0002] With the continuous advancement of urbanization and the rapid increase in urban population density and vehicle ownership, traffic congestion often occurs, seriously affecting the construction of smart cities. The industry often uses green wave coordinated control of traffic arteries to alleviate traffic congestion.

[0003] At present, the green wave coordination control of traffic arteries is mostly achieved by obtaining the coordination of traffic lights at intersections under a fixed phase sequence, and by adjusting the green light turn-on time difference of the coordinated phase, so that vehicles traveling at the specified speed on the main road can obtain unimpeded passage between adjacent intersections as much as possible, that is, vehicles do not need to wait for traffic lights during driving.

[0004] In the above green wave coordinated control process, whether the phase sequence setting of traffic lights is reasonable will seriously affect the coordinated control results. However, the current phase sequence setting is mostly done manually, which completely depends on the business experience of relevant personnel. In view of this, how to use a scientific and reasonable method to set the phase sequence of traffic lights at intersections is a technical problem that needs to be solved urgently. Summary of the invention

[0005] The embodiment of the present application provides a method, device, equipment and medium for configuring the phase sequence of traffic lights, which are used to set the phase sequence of traffic lights at intersections in a scientific and reasonable manner.

[0006] To achieve the above purpose, the technical solution of the embodiment of the present application is implemented as follows:

[0007] In a first aspect, an embodiment of the present application provides a method for configuring a phase sequence of a traffic signal light, the method comprising:

[0008] In response to the configuration instruction, a plurality of phase sequences of the target traffic light and a first light-on time difference under each phase sequence are obtained; wherein the target traffic light is a traffic light located at a first intersection, and each phase sequence represents any ordering of the phases in the target traffic light; the first light-on time difference is the difference between the green light-on time of the coordinated phases located in the downlink direction and the uplink direction of the main road when the phases in the target traffic light are ordered in a corresponding phase sequence;

[0009] Based on the first light-on time difference, the second light-on time difference and the preset coordination cycle duration, determining the time loss value generated by the target traffic light under each phase sequence; wherein the second light-on time difference is determined according to the phase sequence adopted by the traffic light at the second intersection; the second intersection is adjacent to the first intersection and is located in the down direction of the main road of the first intersection;

[0010] A phase sequence used when the target signal lamp is operated is selected from the plurality of phase sequences based on the time loss value.

[0011] In a second aspect, an embodiment of the present application further provides a phase sequence configuration device for a traffic light, the device comprising:

[0012] A time difference acquisition unit is configured to execute, in response to a configuration instruction, acquiring multiple phase sequences of a target traffic light and a first light-on time difference under each phase sequence; wherein the target traffic light is a traffic light located at a first intersection, and each phase sequence represents any sequence of phases in the target traffic light; the first light-on time difference is a difference between green light-on times of coordinated phases in the downlink direction and the uplink direction of the main road when the phases in the target traffic light are sequenced in a corresponding phase sequence;

[0013] The loss calculation unit is configured to determine the time loss value generated by the target signal light under each phase sequence based on the first light-on time difference, the second light-on time difference and the preset coordination cycle duration; wherein the second light-on time difference is determined according to the phase sequence adopted by the traffic light at the second intersection; the second intersection is adjacent to the first intersection and is located in the down direction of the main road of the first intersection;

[0014] The phase sequence selection unit is configured to select a phase sequence for operation of the target signal lamp from the plurality of phase sequences based on the time loss value.

[0015] In a third aspect, an embodiment of the present application further provides an electronic device, including a data transmission unit and a processor:

[0016] The data transmission unit is configured to: receive a configuration indication;

[0017] The processor is configured to: in response to the configuration instruction, obtain multiple phase sequences of the target traffic light and the first light-on time difference under each phase sequence; wherein the target traffic light is a traffic light located at the first intersection, and each phase sequence represents any order of the phases in the target traffic light; the first light-on time difference is the difference between the green light-on time of the coordinated phases in the downlink direction and the uplink direction of the main road when the phases in the target traffic light are ordered in the corresponding phase sequence;

[0018] Based on the first light-on time difference, the second light-on time difference and the preset coordination cycle duration, determining the time loss value generated by the target traffic light under each phase sequence; wherein the second light-on time difference is determined according to the phase sequence adopted by the traffic light at the second intersection; the second intersection is adjacent to the first intersection and is located in the down direction of the main road of the first intersection;

[0019] A phase sequence for operating the target signal lamp is selected from the plurality of phase sequences based on the time loss value.

[0020] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the computer program implements any one of the methods of the first aspect described above.

[0021] In a fifth aspect, an embodiment of the present application provides a computer program product, which includes computer instructions, and the computer instructions are stored in a computer-readable storage medium; when a processor of a computer device reads the computer instructions from the computer-readable storage medium, the processor executes the computer instructions, so that the computer device executes any one of the methods of the first aspect mentioned above.

[0022] In the embodiment of the present application, by performing multi-cycle monitoring on the target road section, the vehicle passing data of the first lane and the second lane in each cycle are obtained; for any lane, the number of delayed vehicles passing the lane in each cycle is determined based on the vehicle passing data of the lane in each cycle and the lane distance. The number of delayed vehicles passing is the number of vehicles that have waited for traffic lights multiple times in the lane; if the number of delayed vehicles passing the first lane in the first number of consecutive cycles is less than the first threshold, and the number of vehicles passing the second lane in the first number of consecutive cycles is not less than the second threshold, it is determined that the second lane does not meet the driving demand. The first lane and the second lane both belong to the target road section and have different lane directions.

[0023] In the above process, by comparing the number of delayed vehicles passing the first lane and the second lane in consecutive cycles with a threshold value, it is possible to determine whether the second lane of the target section can meet the driving demand on the premise that it is clear that the target section itself can meet the driving demand. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A phase diagram of a traffic light provided in an embodiment of the present application;

[0025] Figure 2 An overall flow chart of a phase sequence configuration method for a traffic signal light provided in an embodiment of the present application;

[0026] Figure 3 A schematic diagram of coordination signals provided in an embodiment of the present application;

[0027] Figure 4 Schematic diagram of various phase sequences of traffic lights provided in the embodiments of the present application;

[0028] Figure 5 A schematic diagram of the calculation of the time difference between light on and light off provided in an embodiment of the present application;

[0029] Figure 6 A schematic diagram of a first intersection and a second intersection provided in an embodiment of the present application;

[0030] Figure 7 A schematic diagram of a time loss value calculation process provided in an embodiment of the present application;

[0031] Figure 8 A schematic diagram of unobstructed passage provided in an embodiment of the present application;

[0032] Fig. 9 A schematic diagram of the coordinated green-to-signal ratio calculation provided in an embodiment of the present application;

[0033] Fig.10 A schematic diagram of phase sequence selection under multiple target phase sequences provided in an embodiment of the present application;

[0034] Fig.11 A phase sequence selection flow chart including multiple target phase sequences provided in an embodiment of the present application;

[0035] Fig.12 A schematic diagram of the processing sequence of each intersection provided in the embodiment of the present application;

[0036] Fig.13 A schematic diagram of obtaining the time difference of lighting up the traffic lights at the first intersection when they are in operation provided in an embodiment of the present application;

[0037] Fig.14 A flowchart of how to determine the phase difference used when a target signal light is running is provided in an embodiment of the present application;

[0038] Fig.15 Provide a time interval schematic diagram for the embodiment of the present application;

[0039] Fig.16 A schematic diagram of a green wave bandwidth group provided in an embodiment of the present application;

[0040] Fig.17 A flow chart of determining a phase difference according to a green wave bandwidth group provided in an embodiment of the present application;

[0041] Fig.18 A structural diagram of a phase sequence configuration device for a traffic light provided in an embodiment of the present application;

[0042] Fig.19 A structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical scheme and advantages of the present application clearer, the technical scheme in the embodiment of the present application will be clearly and completely described below in conjunction with the drawings in the embodiment of the present application. Obviously, the described embodiment is only a part of the embodiment of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application. In the absence of conflict, the embodiments in the present application and the features in the embodiments can be arbitrarily combined with each other. In addition, although the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in an order different from that here.

[0044] The terms "first" and "second" in the specification and claims of the present application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the term "comprising" and any of their variations are intended to cover non-exclusive protection. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or devices. "Multiple" in the present application can mean at least two, for example, two, three or more, and the embodiments of the present application are not limited.

[0045] Before introducing a phase sequence configuration method for a traffic light provided in an embodiment of the present application, in order to facilitate understanding, the technical background of the embodiment of the present application is first introduced in detail.

[0046] As mentioned above, the green wave coordinated control of traffic arteries is achieved by obtaining the coordinated signals of traffic lights at intersections at a fixed phase sequence and adjusting the green light turn-on time difference of the coordinated phase, so that vehicles traveling at the specified speed on the main road can obtain unimpeded passage between adjacent intersections as much as possible, that is, vehicles do not need to wait for traffic lights during driving.

[0047] When implementing green wave coordinated control, the phase diagram of traffic lights at each intersection set according to engineering requirements will be obtained in advance. The phase diagram shows the phases of the traffic lights at the corresponding intersection in the default phase sequence, as well as the cycle length of each phase. The phase of a traffic light is defined as the display state of the signal group corresponding to one or more traffic flows that obtain the right of way at the same time.

[0048] Relevant personnel will set the phase sequence of traffic lights based on engineering requirements, actual road conditions and other factors. Then, by adjusting the green light turn-on time difference of the coordinated phase under the fixed phase sequence, vehicles traveling at the prescribed speed on the main road can obtain unimpeded passage between adjacent intersections as much as possible, that is, vehicles do not need to wait for traffic lights during driving.

[0049] Figure 1 The phase diagram of the traffic light at a certain intersection on the north-south main road is shown. The phase diagram contains P1 to P4, a total of 4 phases. The main road direction is from south to north, that is, P1 (30s) in the figure indicates that the green light duration for the right turn direction from north to east is 30 seconds, P2 (65s) indicates that the green light duration for the straight direction from north to south is 65 seconds, P3 (50s) indicates that the green light duration for the left turn direction from south to west is 50 seconds, and P4 (45s) indicates that the green light duration for the straight direction from south to north is 45 seconds.

[0050] Figure 1 In the phase diagram shown, the traffic light will light up P1 and P3 at the same time, and light up P2 after P1 ends, and light up P4 after P3 ends. The phase sequence shown in each row of the phase diagram is the phase sequence of the traffic light. Figure 1 For example, the phase sequence of the traffic light shown is [P1, P2, P3, P4].

[0051] Whether the phase sequence setting of traffic lights is reasonable will seriously affect the coordinated control results. However, the current phase sequence setting is mostly done manually, which completely depends on the business experience of relevant personnel. In view of this, how to use a scientific and reasonable method to set the phase sequence of traffic lights at intersections is a technical problem that needs to be solved urgently.

[0052] In order to solve the above problems, the invention concept of the present application is as follows: multiple phase sequences of the target traffic light and the first light-on time difference under each phase sequence are obtained in advance; the target traffic light is a traffic light located at the first intersection, and each phase sequence represents any order of the phases in the target traffic light; the first light-on time difference is the difference between the green light-on time of the coordinated phases located in the downlink direction and the uplink direction of the main road when the phases in the target traffic light are ordered in the corresponding phase sequence. Next, the time loss value generated by the target traffic light under each phase sequence is determined based on the first light-on time difference, the second light-on time difference and the preset coordination cycle duration; the second light-on time difference is determined according to the phase sequence adopted when the traffic light at the second intersection is in operation; the second intersection is adjacent to the first intersection and is located in the downlink direction of the main road of the first intersection.

[0053] In the above process, a loss function is set to obtain the time loss value of the target signal light in each phase sequence based on the phase sequence of the second intersection, and then the phase sequence used by the target signal light when operating is selected from multiple phase sequences according to the time loss value of the target signal light in each phase sequence.

[0054] Next, Figure 2 As shown, Figure 2 The overall process of a phase sequence configuration method for a traffic signal light provided in an embodiment of the present application is shown, which specifically includes the following steps:

[0055] Step 201: In response to the configuration instruction, a plurality of phase sequences of a target traffic light and a first light-on time difference under each phase sequence are obtained; wherein the target traffic light is a traffic light located at a first intersection, and each phase sequence represents any order of phases in the target traffic light; the first light-on time difference is the difference between the green light-on time of the coordinated phases in the down direction and the up direction of the main road when the phases in the target traffic light are ordered in the corresponding phase sequence;

[0056] As mentioned above, when implementing green wave coordinated control, the phase diagram of traffic lights at each intersection set according to engineering requirements will be obtained in advance. According to engineering regulations, each phase in the phase diagram can be freely exchanged within the same line without inter-line exchange.

[0057] With the aforementioned Figure 1 Taking the phase diagram as an example, the order of phase P1 and phase P2 in the first row can be swapped, and the order of phase P3 and phase P4 in the second row can be swapped. In specific implementation, the following formula (1) can be used to calculate the multiple phase sequences supported by the traffic lights at the intersection corresponding to the phase diagram based on the phase diagram:

[0058]

[0059] Where E is the number of phase sequences supported by the traffic light, an is the number of coordinated phases in the nth row of the phase diagram, and bn is the total number of phases contained in the nth row of the phase diagram;

[0060] The coordination phase refers to the phase of the main road in both the up and down directions. For example, the traffic lights at the intersection of the east-west main road (the default main road direction is from east to west) have a coordination phase including a positive coordination phase from east to west and a reverse coordination phase from west to east.

[0061] In addition, the aforementioned Figure 1 Take the phase diagram shown in the figure as an example. Figure 3 As shown. The phase diagram corresponds to the main road direction of the intersection where the traffic light is located from south to north. Therefore, the phase P2 from north to south in the phase diagram is the reverse coordination phase, and the phase P4 from south to north is the forward coordination phase. It can be obtained from this From this we can get Figure 4 As shown, the four phase sequence results obtained by randomly swapping the phases in the same row are [P1, P2, P3, P4], [P2, P1, P3, P4], [P1, P2, P4, P3] and [P2, P1, P4, P3].

[0062] Through the above process, the phases included in the target signal light can be determined according to the phase of the target signal light, and then the multiple phase sequences supported by the target signal light can be determined through the above formula (1).

[0063] After introducing how to obtain multiple phase sequences of the target signal light in step 201, the following will explain how to obtain the first light-on time difference of the target signal light in each phase sequence in step 201:

[0064] The first light-on time difference under any phase sequence is the difference between the green light-on times of the coordinated phases in the downlink direction and the uplink direction of the main road when the phases in the target signal light are arranged in the corresponding phase sequence.

[0065] Taking the above phase sequence [P1, P2, P3, P4] as an example, Figure 5 As shown: the coordination phase of the traffic light includes the reverse coordination phase P2 representing the downward direction of the main road, and the forward coordination phase P4 representing the upward direction of the main road. Among them, P1 and P3 turn on the green light at the same time, P2 turns on the green light 30s after P1 turns on, and P4 turns on the green light 50s after P3 turns on. The difference between the green light turn-on time of P2 and P4 is the turn-on time difference of the traffic light in the phase sequence [P1, P2, P3, P4], and its value is 30s-50s=-20s. Therefore, through the above process, the first turn-on time difference corresponding to the target signal light in each phase sequence can be calculated according to the green light turn-on time of the adjusted phase in each phase sequence.

[0066] Step 202: determining the time loss value generated by the target traffic light in each phase sequence based on the first light-on time difference, the second light-on time difference and the preset coordination cycle duration; wherein the second light-on time difference is determined according to the phase sequence adopted by the traffic light at the second intersection; the second intersection is adjacent to the first intersection and is located in the down direction of the main road of the first intersection;

[0067] The first intersection in the embodiment of the present application is any intersection in the main road, and the second intersection is adjacent to the first intersection and is located in the downstream direction of the main road of the first intersection. That is, the second intersection is the upstream intersection of the first intersection. For example Figure 6 In the north-south main road shown, the direction of the main road is from south to north. Assuming that intersection (i) is the first intersection, intersection (i-1) adjacent to the first intersection and upstream of the first intersection is the second intersection.

[0068] The second light-on time difference is determined according to the phase sequence used by the traffic light at the second intersection during its current operation. The traffic light can only use one phase sequence during operation. In specific implementation, the difference between the green light-on time of the reverse coordination phase and the forward coordination phase in the phase sequence used by the traffic light at the second intersection during operation is used as the second light-on time difference of the second intersection. The coordination period is a setting parameter in the green wave coordination control, which is a fixed value set according to actual engineering requirements.

[0069] When executing step 202, Figure 7 The process shown is to obtain the time loss value of the target signal light in any phase sequence, as shown in FIG. Figure 7 As shown, the following steps are included:

[0070] Step 701: for any phase sequence, determine the coordination cycle range of the target traffic light according to the intersection size information of the first intersection and the second intersection, and the vehicle passing information between the first intersection and the second intersection;

[0071] During implementation, the coordination cycle range of the target signal light is calculated using the following formula (2):

[0072]

[0073] Wherein, [N] is the range of the coordination cycle; L1 is the sum of the intersection spacing and the width of the second intersection, L2 is the sum of the intersection spacing and the width of the first intersection, and the intersection spacing is the shortest distance between the first intersection and the second intersection; V1 is the average speed of vehicles entering the first intersection from the second intersection during the preset time period, and V2 is the average speed of vehicles entering the second intersection from the first intersection during the preset time period; int means rounding; C is the duration of the coordination cycle.

[0074] It should be noted that the above coordination cycle range represents the range of the number of coordination cycles that can be used by the target signal light. For example, if the coordination cycle range is 2, it means that the target signal light uses 2 coordination cycles.

[0075] Step 702: Determine the number of coordination cycles of the phase sequence according to the preset coordination cycle range, the first light-on time difference, the second light-on time difference and the obtained coordination cycle duration under the phase sequence;

[0076] The following formula (3) shows the time T that a vehicle needs to wait for the traffic light to travel unimpeded at the set speed between the first intersection and the second intersection:

[0077]

[0078] Wherein, L1 / V1 represents the time required for a vehicle to enter the first intersection from the second intersection at a speed of V1; L2 / V2 represents the time required for a vehicle to enter the second intersection from the first intersection at a speed of V2; i It is the first light-on time difference under the current phase sequence; i-1 That is the second light-on time difference; N is a multiple of the coordination cycle length, N∈[N]; C is the above coordination cycle length.

[0079] As mentioned above, the purpose of green wave coordinated control is to enable vehicles traveling at the prescribed speed on the main road to obtain unimpeded passage between adjacent intersections as much as possible, that is, vehicles do not need to wait for traffic lights during driving. This can alleviate traffic congestion. The above formula (3) represents the time it takes to wait for the traffic light when the target light is traveling between the first intersection and the second intersection along the prescribed speed of the main road under the condition that the total duration of the coordination cycle is N×C and the current phase sequence is used.

[0080] Therefore, by substituting each N value under the [N] constraint into the above formula (3), the time T corresponding to each N can be obtained; assuming [N] = 3, there are N1, N2 and N3, and substituting N1 to 3 into the above formula (3) to obtain T1 corresponding to N1, T2 corresponding to N2 and T3 corresponding to N3. Then select the minimum T value from T1 to 3, and the N value corresponding to the minimum T value is the N value corresponding to the condition of the shortest waiting time for the traffic light. Therefore, at this time, the N value corresponding to the minimum T value can be used as the number of coordination cycles under this phase sequence.

[0081] Step 703: determining the loss value to be processed under the phase sequence according to the first light-on time difference, the second light-on time difference, the coordination cycle length and the number of coordination cycles under the phase sequence;

[0082] After obtaining the number of coordinated cycles N of the target signal light, the time loss value T generated when the target signal light operates in the current phase sequence is calculated by the following formula (4): i :

[0083]

[0084] It should be noted that the loss value T calculated here by the number of coordination cycles N is i It has not been corrected by the following step 704. Therefore, to avoid ambiguity, the uncorrected loss value T i It is called the pending loss value. Thus, the pending loss value of the target signal light in the current phase sequence can be obtained.

[0085] Step 704: perform a threshold comparison on the number of coordination cycles and the loss value to be processed; and modify the loss value to be processed according to the threshold comparison result to obtain the time loss value under the phase sequence.

[0086] Before introducing step 704, the concepts of green wave bandwidth and unimpeded passage are first explained:

[0087] The green wave bandwidth represents the duration of the green light at each intersection within a signal cycle when vehicles are granted unimpeded passage between adjacent intersections.

[0088] Unimpeded passage means that vehicles do not need to wait for traffic lights when passing through the intersection. Figure 8 As shown in the intersection (i-1) and intersection (i), the vehicle does not need to wait for the traffic light during the entire driving period from entering the intersection (i-1) to arriving at the intersection (i), which means that the vehicle has unimpeded passage from the intersection (i-1) to the intersection (i).

[0089] When the number of coordination cycles calculated in step 702 is less than zero, or the pending loss value calculated in step 703 is not less than zero, it means that the current number of coordination cycles is the optimal solution for allowing vehicles to have unimpeded passage rights as much as possible. At this time, the pending loss value can be directly used as the time loss value under the current phase sequence.

[0090] When the number of coordination cycles is not less than zero and the pending loss value is less than zero, the number of correction cycles needs to be determined based on the coordination green signal ratio of the first intersection and the second intersection. The coordination green signal ratio of any intersection is the proportion of the green light duration of the coordinated signal in the upbound direction of the main road in a signal cycle, and the proportion of the green light duration of the coordinated signal in the downbound direction in a signal cycle in the traffic lights of the intersection.

[0091] With the aforementioned Figure 3 Take the phase sequence [P1, P2, P3, P4] shown as an example. Fig. 9 As shown in the figure, the duration of a traffic light signal cycle is 95s (i.e. 30s+65s, or 50s+45s). The coordination phase in the up direction of the main road is the forward coordination phase P4, and the coordination phase in the down direction of the main road is the reverse coordination phase P2.

[0092] The coordinated green signal ratio of the traffic light includes the forward coordinated green signal ratio and the reverse coordinated green signal ratio; among them, the forward coordinated green signal ratio is the proportion of the green light duration of P4 in a signal cycle, that is, 45 / 95. The reverse coordinated green signal ratio is the proportion of the green light duration of P2 in a signal cycle, that is, 65 / 95.

[0093] The number of correction cycles in the embodiment of the present application is determined in the following manner:

[0094] During implementation, the first bandwidth sum value and the second bandwidth sum value are determined in advance according to the coordinated green-to-signal ratio;

[0095] The first bandwidth sum value is the sum of the maximum green wave bandwidths generated in the uplink and downlink directions of the main road when the target signal light operates with the above coordination cycle number. The second bandwidth sum value is the sum of the maximum green wave bandwidths generated in the uplink and downlink directions of the main road when the target signal light operates with the above coordination cycle number minus one.

[0096] That is, when the total coordination cycle time of the target traffic light is N×C, the vehicle can obtain the maximum green wave bandwidth and value of the unimpeded passage right when traveling between the first intersection and the second intersection. When the total coordination cycle time of the target traffic light is (N-1)×C, the vehicle can obtain the maximum green wave bandwidth and value of the unimpeded passage right when traveling between the first intersection and the second intersection.

[0097] It should be noted that the unimpeded right of passage here refers to the unimpeded right of passage in both directions of the main road, that is, a vehicle entering the second intersection from the first intersection (driving along the downward direction of the main road) does not need to wait for the traffic light, and a vehicle entering the first intersection from the second intersection (driving along the upward direction of the main road) does not need to wait for the traffic light.

[0098] In a specific implementation, the first bandwidth and value S1 can be expressed by the following formula (5), and the second bandwidth and value S2 can be expressed by the following formula (6):

[0099] S1=min(g i正 +g i-1反 +|T i |1,min(g i正 , g i-1反 )), min(g i反 , g i-1反 )) (5)

[0100] S2=min(g i-1正 +g i反 +|T i |2, min(g i正 , g i-1反 )), min(g i反 , g i-1反 )) (6)

[0101] Among them, g i正 is the forward coordination green signal ratio of the first intersection, g i反 is the reverse coordination green signal ratio of the first intersection, g i-1正 is the forward coordination green signal ratio of the second intersection, g i-1 Reverse is the reverse coordination green signal ratio of the second intersection; |T i |1 is the number of coordination cycles N obtained in step 702, which is substituted into the above formula (3) to obtain T i The absolute value of |T i |2 is the number of coordination cycles N obtained in step 702 minus one and substituted into the above formula (3), that is, (N-1) is substituted into the above formula (3) to obtain T i The absolute value of .

[0102] If the first bandwidth sum value S1 is not less than the second bandwidth sum value S2, the coordination cycle number minus one (N-1) is used as the corrected cycle number; otherwise, the coordination cycle number (N) is used as the corrected cycle number. Further, after determining that the corrected cycle number is the coordination cycle number N or the coordination cycle number N-1, by substituting the corrected cycle number into the above formula (3), the loss value T obtained at this time is i That is the time loss value of the target signal light in the current phase sequence.

[0103] Step 203: Selecting a phase sequence for operating the target signal light from the plurality of phase sequences based on the time loss value.

[0104] During implementation, after the time loss value of the target signal light in each phase sequence is calculated through the above step 202, the absolute value of the time loss value of each phase sequence is calculated respectively, and the phase sequence with the smallest absolute value of the event loss value is taken as the target phase sequence.

[0105] If there is only one target phase sequence, the target phase sequence can be used as the phase sequence used when the target signal light is running. If there are multiple target phase sequences, the phase sequence used when the target signal light is running is determined according to the first light-up time difference of the target signal light under multiple phase sequences and multiple phase sequences to be processed. Among them, the multiple phase sequences to be processed are determined according to the phases of the traffic lights at the third intersection; the third intersection is adjacent to the first intersection and is located on the upbound direction of the main road of the first intersection.

[0106] During implementation, according to the first light-on time difference of the target signal light in any phase sequence and the third light-on time difference in multiple phase sequences to be processed, the time loss value of the traffic signal light at the third intersection in each phase sequence to be processed is determined;

[0107] Here, it can be understood that any phase sequence is selected from the multiple phase sequences of the target traffic light, and the phase sequence is assumed to be the phase sequence used by the target traffic light during operation. That is, the first turn-on time difference under the any phase sequence is equivalent to the second turn-on time difference in step 202. The third turn-on time difference of the traffic light at the third intersection under the multiple phase sequences to be processed is equivalent to the first turn-on time difference of the target traffic light at the first intersection under the multiple phase sequences in step 201.

[0108] Specific as Fig.10 As shown, it is assumed that the target traffic light at the first intersection includes two phase sequences, namely B1 and B2. It is also assumed that the traffic light at the third intersection includes three phase sequences, namely C1 to C3. Then, by treating the third turn-on time difference of the traffic light at the third intersection under multiple phase sequences to be processed as the first turn-on time difference in step 201, and treating the first turn-on time difference of any phase sequence of the target traffic light as the second turn-on time difference in step 202, the above steps 201 to 203 can be used to obtain the following: Fig.10 As shown in FIG. 1 , the time loss value T of the traffic light at the third intersection under each phase sequence to be processed C .

[0109] Next, the phase sequence adopted by the target signal light is determined according to the first light-on time difference under multiple phase sequences and the third light-on time difference under multiple phase sequences to be processed. Fig.11 As shown, the following steps are included:

[0110] Step 111: grouping the first light-on time differences under multiple phase sequences and the third light-on time differences under multiple phase sequences to be processed into groups in pairs to obtain multiple time difference groups; wherein any time difference group includes a first light-on time difference and a third light-on time difference; and the first light-on time difference and / or the third light-on time difference in any two time difference groups are different;

[0111] Still with the above Fig.10 Taking the first light-on time difference under multiple phase sequences and the third light-on time difference under multiple phase sequences to be processed as examples, the grouping results specifically include: [B1, C1], [B1, C2], [B1, C3], [B2, C1], [B2, C2] and [B2, C3], totaling 6 groups.

[0112] Step 112: for any time difference group, determining the absolute value of the time loss value corresponding to the first light-on time difference in the time difference group and the absolute value of the time loss value corresponding to the third light-on time difference in the time difference group;

[0113] Regarding the above Fig.10 For each time difference group shown, calculate the absolute value of the time loss value corresponding to the first time difference of the time difference group and the absolute value of the time loss value corresponding to the third time difference of the time difference group. The time loss value corresponding to the third time difference of any time difference group is the above Fig.10 T shown in C The time loss value corresponding to the first light-on time difference in any time difference group is calculated according to the aforementioned steps 701 to 704.

[0114] Step 113: If the target time difference group with the smallest absolute value and value is unique, the phase sequence corresponding to the first light-on time difference in the target time difference is used as the phase sequence adopted for the operation of the target signal light; otherwise, the phase sequence corresponding to the first light-on time difference in any target time difference group is used as the phase sequence adopted for the operation of the target signal light.

[0115] During implementation, the target time difference group with the smallest absolute value and value is selected from each time difference group. If there is only one target time difference group, the phase sequence corresponding to the first start-up time difference in the target time difference group is used as the phase sequence adopted by the target signal light operation. If there are multiple target time difference groups, one of the multiple target time difference groups can be selected, and the phase sequence corresponding to the first start-up time difference in the selected target time difference group is used as the phase sequence adopted by the target signal light operation.

[0116] It should be understood that in the embodiment of the present application, for a main road containing multiple intersections, the intersections will be sorted in sequence according to the direction of the main road, and then the phase sequence of the traffic lights at the downstream intersection of the two adjacent intersections will be calculated according to the time difference between the two adjacent intersections when they are in operation.

[0117] For example Fig.12 In the main road shown to contain 3 intersections, the intersections are arranged in order according to the direction of the main road as intersection (i-1), intersection (i) and intersection (i+1). Then this application will pre-take intersection (i-1) and intersection (i), take intersection (i-1) as the second intersection, and take intersection (i) as the first intersection. Then, based on the second light-on time difference used by the traffic light at intersection (i) during operation, and the first light-on time difference of the traffic light at intersection (i) under each phase sequence, the phase sequence used by the traffic light at intersection (i) during operation is determined.

[0118] After the phase sequence used by the traffic light at intersection (i) is determined, intersection (i) is taken as the second intersection and intersection (i+1) is taken as the first intersection, and the above process is repeated to determine the phase sequence used by the traffic light at intersection (i+1) during operation.

[0119] For any two adjacent intersections on the main road, the above process will determine the phase sequence used by the target traffic light at the downstream intersection based on the second time difference of the traffic light at the upstream intersection and the first time difference of the traffic light at the downstream intersection under each phase sequence. This leads to a problem that the phase sequence of the traffic light at the first intersection is unknown.

[0120] For example, when executing step 201, the first intersection is Fig.12 The intersection (i) in the figure, but the second intersection upstream of the first intersection is Fig.12 The first intersection (i-1) in the main road is shown. At this time, the phase sequence of the traffic light at the first intersection during operation can be obtained through the similar logic of the above steps 111 to 113.

[0121] Still with the above Fig.12 The main road shown in the figure is used for explanation. Since there is no intersection upstream of intersection (i-1), all parameters of the second intersection corresponding to intersection (i-1) can be set to 0. Fig.13 As shown, it is assumed that the phase sequence corresponding to the traffic light A at intersection (i-1) is A1~A4, the phase sequence corresponding to the traffic light B at intersection (i) is B1~B3, and the phase sequence corresponding to the traffic light C at intersection (i+1) is C1~C4.

[0122] Since there is no upstream intersection at intersection (i-1), the time loss value T for each phase sequence A1 to A4 in intersection (i-1) is A1 ~T A4 At this time, the light-on time difference in any phase sequence of phase sequences A1 to A4 is regarded as the second light-on time difference in step 201, and the light-on time difference of the traffic light at intersection (i) in each phase sequence B1 to B3 is regarded as the first light-on time difference in step 202. By substituting into the above steps 701 to 704, the following is obtained: Fig.13 As shown in the figure, the time loss value T of the intersection (i-1) in the phase sequence [A1, B1] ~ [A4, B3] A1B1 ~T A4B3 .

[0123] Assume that the time loss value T A1B1 ~T A4B3 There is a unique solution with the smallest absolute value. For example, T A1B1 The absolute value of is the smallest, then the phase sequence A1 is used as the phase sequence adopted by the traffic light at intersection (i-1) during operation.

[0124] Correspondingly, if there are multiple solutions with the smallest absolute value among the time loss values ​​TA1B1~TA4B3. Fig.13 As shown in A2B2 and T A4B2 The absolute value of is the smallest. The same logic as in the above steps 111 to 113 is used to take the turn-on time difference of junction (i) under phase sequence B2 as the second turn-on time difference in step 202, and take the turn-on time difference of junction (i+1) under phase sequence C1 to C3 as the first turn-on time difference under multiple phase sequences in step 201. By substituting into the above steps 701 to 703, we can get Fig.13 As shown in the figure, the time loss value of the traffic light at the intersection (i+1) under each phase sequence C1 to C3 is: T A2B2C1 ~T A4B2C3 .

[0125] At this time, if T A2B2C1 ~T A4B2C3 There is a unique solution with the smallest absolute value. For example, T A4B2C3 The absolute value of is the smallest, then the phase sequence A4 is used as the phase sequence used by the traffic light at the intersection (i-1) during operation. A2B2C1 ~T A4B2C3There are multiple solutions with the smallest absolute value. For example, since there is no intersection downstream of intersection (i+1), one of phases A2 and A4 can be selected as the phase sequence used by the traffic light at intersection (i-1) during operation.

[0126] In the above process, a loss function is set to obtain the time loss value of the target signal light in each phase sequence based on the phase sequence of the second intersection, so as to select the phase sequence used by the target signal light when it is running from multiple phase sequences according to the time loss value of the target signal light in each phase sequence.

[0127] In addition, after selecting the phase sequence of the target signal light through the above process, you can also Fig.14 The process shown in the figure calculates the phase difference used by the target signal light when it is running, that is, the green light start-up time difference between the reverse coordination phase and the forward coordination phase:

[0128] Step 141: determining a first time interval based on the comparison start-up time difference, the vehicle passing time and the coordinated green-to-signal ratio of the traffic lights at the comparison intersection; and determining a second time interval based on the coordination cycle time and the coordinated green-to-signal ratio of the traffic lights at the target intersection;

[0129] The comparison intersection and the target intersection in the above step 141 are the first intersection and the second intersection in the above steps 201 to 203.

[0130] Specifically, if the comparison intersection is the second intersection, the target intersection is the first intersection, and the comparison start-up time difference is the second start-up time difference; if the comparison intersection is the first intersection, the target intersection is the second intersection, and the comparison start-up time difference is the first start-up time difference under the phase sequence adopted by the target signal light. The above-mentioned vehicle passing time represents the time taken for a vehicle to drive from the comparison intersection to the target intersection, and is an input value obtained through pre-testing.

[0131] In specific implementation, since the coordination period C in the green wave coordinated control is known, the target light-on time difference O that can be adopted by the traffic lights at each intersection can be calculated according to the coordination period C. Ti , O Ti ∈[0,C). For example, if the coordination period C = 60s, then the phase difference that the target signal light can adopt is O T1 =0s,O T2 =1s,O T3 =2s, ...O T60 =59s.

[0132] Next, the first time interval Q1 and the second time interval Q2 are obtained respectively by the following formulas (7) and (8):

[0133]

[0134] Q2=(O Ti +N×C,O Ti +g i +n×C) (8)

[0135] Among them, O Ti-1 To compare the start time difference, O Ti is the target light-on time difference that can be adopted by the traffic lights at the target intersection, L i / V i is the length of time it takes to pass the vehicle, g i-1 To compare the coordinated green signal ratio and g of traffic lights at intersections i is the coordinated green-to-signal ratio of the traffic lights at the target intersection.

[0136] The n in formula (8) is a multiple of the coordination period C, which is determined by the following formula (9):

[0137]

[0138] Where [n] is the constraint range of n, and n is any integer value in [n].

[0139] In the above process, the phase difference of the traffic lights at the intersection is fixed, and the phase diagram corresponding to the traffic lights (such as the above Figure 1 ) In the above process, the phase difference of the traffic lights at the target intersection is unknown.

[0140] If the comparison intersection is the first intersection and the target intersection is the second intersection, it means that the vehicle is traveling in the downward direction of the main road, that is, it is driving from the first intersection to the second intersection. Assuming [n] = 0, the above parameters are substituted into formulas (7) and (8), and the following equations can be obtained: Fig.15 As shown, when n = 0, the corresponding 60 Q2 下 and 1 Q1 下 Then, the comparison intersection and the target intersection are interchanged, and 60 Q2 corresponding to n = 0 can be obtained, indicating that the vehicle is traveling in the upward direction of the main road. 上 and 1 Q1 上 .

[0141] It should be understood that Fig.15 As shown in the figure, Q2 obtained when n = 0 上_i and Q2 下_i All of them are the target lighting time difference O that can be adopted by the aforementioned traffic lights. Ti Obtained, every integer in i∈[0,60).

[0142] Step 142: determining a green wave bandwidth group corresponding to each target start-up time difference according to the first time interval and the second time interval; wherein the target start-up time difference is determined according to the coordination period duration;

[0143] During implementation, the intersection D of the first time interval and the second time interval is calculated by the following formula (10):

[0144]

[0145] With the aforementioned Fig.15 Take the following example as an example. Fig.16 As shown, 60 Q 2下 Separate and unique Q 1下 By comparing, we can get each Q 2下 The corresponding D 下 . The same principle applies to 60 Q 2上 Separate and unique Q 1上 By comparing, we can get each Q 2上 The corresponding D 上 For any D, if the D value is less than 0, it is an abnormal value that does not conform to the actual situation. In this case, the D value is set to 0.

[0146] As mentioned above, Q2 上_i and Q 2下_i All of them are the target lighting time difference O that can be adopted by the aforementioned traffic lights. Ti Based on this, by setting the D value under the same i as a group, we can get Fig.16 As shown in the figure, at each target light-up time difference O Ti The corresponding green wave bandwidth group. T1 The corresponding green wave bandwidth group is [D 上_1 , D 下_1 】、O T2 The corresponding green wave bandwidth group is [D 上_2 , D 下_2 】……O Ti The corresponding green wave bandwidth group is [D 上_i , D 下_i 】.

[0147] Step 143: Determine the time difference for the target signal light to be turned on based on the green wave bandwidth group and the green initial time of the intersection; wherein the green initial time T 初 It is the coordinated phase green initial value of the traffic light. Here, it refers to the coordinated phase green initial value of the traffic light at the comparison intersection. That is, the start time of the green light signal in the specified direction of the traffic light at the comparison intersection, and the specified direction is the direction from the comparison intersection to the target intersection.

[0148] During implementation, for any green wave bandwidth group, the sum of the time differences between each green wave bandwidth in the green wave bandwidth group and the green initial time is determined, and the difference between the time differences between each green wave bandwidth and the green initial time is determined;

[0149] Next, the bandwidth group with the largest sum value among the green wave bandwidth groups is taken as the first bandwidth group W1, and the bandwidth group with the smallest difference value among the green wave bandwidth groups is taken as the second bandwidth group W2. Fig.17 The judgment process shown is used to determine the phase used when the target signal light is running:

[0150] Step 171: Detect whether there is a minimum green bandwidth in any first bandwidth group W1 that is not less than the minimum green bandwidth in each second bandwidth group W2;

[0151] Step 172: If it exists, the corresponding target lighting time difference of the first bandwidth group W1 is used as the lighting time difference used for the target signal light operation; when there are multiple first bandwidth groups that meet the above judgment conditions, one can be selected from each first bandwidth group, and the corresponding target lighting time difference of the selected first bandwidth group is used as the lighting time difference used for the target signal light operation.

[0152] Step 173: If not, then check whether there is any first bandwidth group W1 whose corresponding sum is greater than the corresponding sum of each second bandwidth group W2; if so, return to the aforementioned step 172, and use the target light-on time difference corresponding to the first bandwidth group W1 as the light-on time difference used for the target signal light operation;

[0153] When there are multiple first bandwidth groups that meet the above determination conditions, one may be selected from each of the first bandwidth groups, and the target light-on time difference corresponding to the selected first bandwidth group is used as the light-on time difference used for the operation of the target signal light.

[0154] Step 174: If it is not greater than, the target lighting time difference corresponding to the second bandwidth group W2 is used as the lighting time difference used for the target signal light operation; when there are multiple second bandwidth groups that meet the above determination conditions, one can be selected from each second bandwidth group, and the target lighting time difference corresponding to the selected second bandwidth group is used as the lighting time difference used for the target signal light operation.

[0155] In the above process, by calculating the bidirectional coordinated phase difference in the uplink and downlink directions of the trunk line, the optimal solution (i.e., the target lighting time difference) is selected from the lighting time differences supported by the target signal light as the lighting time difference used for the operation of the target signal light.

[0156] Based on the same inventive concept, the embodiment of the present application also provides a phase sequence configuration device for a traffic signal light, specifically, Fig.18 As shown, the device comprises:

[0157] The time difference acquisition unit 181 is configured to execute, in response to the configuration instruction, acquiring multiple phase sequences of the target traffic light and the first light-on time difference under each phase sequence; wherein the target traffic light is a traffic light located at the first intersection, and each phase sequence represents any sequence of each phase in the target traffic light; the first light-on time difference is the difference between the green light-on time of the coordinated phases in the downlink direction and the uplink direction of the main road when each phase in the target traffic light is sequenced in the corresponding phase sequence;

[0158] The loss calculation unit 182 is configured to determine the time loss value generated by the target signal light under each phase sequence based on the first light-on time difference, the second light-on time difference and the preset coordination cycle duration; wherein the second light-on time difference is determined according to the phase sequence adopted by the traffic light at the second intersection; the second intersection is adjacent to the first intersection and is located in the down direction of the main road of the first intersection;

[0159] The phase sequence selection unit 183 is configured to select a phase sequence for operation of the target signal light from the multiple phase sequences based on the time loss value.

[0160] In some possible embodiments, the time loss value generated by the target signal light in each phase sequence is determined based on the first start-up time difference, the second start-up time difference and the preset coordination cycle duration, and the loss calculation unit 182 is configured as follows:

[0161] For any phase sequence, determining the coordination cycle range of the target traffic light according to the intersection size information of the first intersection and the second intersection, and the vehicle passing information between the first intersection and the second intersection;

[0162] The number of coordinated cycles of the phase sequence is determined according to the coordinated cycle range, the first start-up time difference under the phase sequence, the second start-up time difference and the coordinated cycle duration, and the time loss value under the phase sequence is determined based on the number of coordinated cycles.

[0163] In some possible embodiments, the coordination period range is determined by the following formula:

[0164]

[0165] Wherein, [N] is the range of the coordination cycle; L1 is the sum of the intersection spacing and the width of the second intersection, L2 is the sum of the intersection spacing and the width of the first intersection, and the intersection spacing is the shortest distance between the first intersection and the second intersection; V1 is the average speed of vehicles entering the first intersection from the second intersection during the preset time period, and V2 is the average speed of vehicles entering the second intersection from the first intersection during the preset time period; int means rounding; C is the duration of the coordination cycle.

[0166] In some possible embodiments, to determine the time loss value under the phase sequence based on the number of coordination cycles, the loss calculation unit 182 is configured as follows:

[0167] Determine the loss value to be processed under the phase sequence according to the first light-on time difference, the second light-on time difference, the coordination cycle length and the number of coordination cycles under the phase sequence;

[0168] If the number of coordination cycles is less than zero, or the pending loss value is not less than zero, the pending loss value is used as the time loss value under the phase sequence;

[0169] Otherwise, the number of correction cycles is determined according to the coordinated green-to-signal ratio of the first intersection and the second intersection; and the time loss value under the phase sequence is determined based on the number of correction cycles; wherein the coordinated green-to-signal ratio of any intersection is the ratio of the green light duration of the coordinated signal in the upward direction of the main road in one signal cycle, and the ratio of the green light duration of the coordinated signal in the downward direction in one signal cycle among the traffic lights at the intersection.

[0170] In some possible embodiments, to determine the time loss value under the phase sequence based on the number of correction cycles, the loss calculation unit 182 is configured as follows:

[0171] Determine the time loss value under the phase sequence according to the first light-on time difference, the second light-on time difference, the correction cycle length and the number of coordination cycles under the phase sequence;

[0172] The number of correction cycles is determined in the following manner:

[0173] Determine a first bandwidth sum value and a second bandwidth sum value according to the coordinated green-to-signal ratio; wherein the first bandwidth sum value is the sum of the maximum green wave bandwidths generated by the target signal light in the uplink direction and the downlink direction of the main road respectively when the number of coordination cycles is the number of coordination cycles; the second bandwidth sum value is the sum of the maximum green wave bandwidths generated by the target signal light in the uplink direction and the downlink direction of the main road respectively when the number of coordination cycles is reduced by one;

[0174] If the first bandwidth sum value is not less than the second bandwidth sum value, the coordination cycle number is reduced by one as the revised cycle number; otherwise, the coordination cycle number is used as the revised cycle number.

[0175] In some possible embodiments, the phase sequence for operating the target signal light is selected from the multiple phase sequences based on the time loss value, and the phase sequence selection unit 183 is configured as follows:

[0176] If the target phase sequence is unique, the target phase sequence is used as the phase sequence adopted by the target signal light to operate; wherein the target phase sequence is the phase sequence with the smallest absolute value of the time loss value among the multiple phase sequences;

[0177] Otherwise, the phase sequence adopted for the operation of the target traffic light is determined according to the first turn-on time difference under the multiple phase sequences and the multiple phase sequences to be processed; wherein the multiple phase sequences to be processed are determined according to the phases of the traffic lights at the third intersection; the third intersection is adjacent to the first intersection and is located on the upstream direction of the main road of the first intersection.

[0178] In some possible embodiments, the phase sequence selection unit 183 is configured to determine the phase sequence used for the operation of the target signal light according to the first light-on time difference under the multiple phase sequences and the multiple phase sequences to be processed:

[0179] Determine the time loss value of the traffic light at the third intersection under each phase sequence to be processed according to the first light-on time difference under any phase sequence and the third light-on time differences under the plurality of phase sequences to be processed;

[0180] The phase sequence adopted by the target signal light for operation is determined according to the first light-on time difference under the multiple phase sequences and the third light-on time difference under the multiple phase sequences to be processed.

[0181] In some possible embodiments, the phase sequence selection unit 183 is configured to determine the phase sequence adopted by the target signal light according to the first light-on time difference under the multiple phase sequences and the third light-on time difference under the multiple phase sequences to be processed:

[0182] The first light-on time differences under the multiple phase sequences and the third light-on time differences under the multiple phase sequences to be processed are grouped in pairs to obtain multiple time difference groups; wherein any time difference group includes a first light-on time difference and a third light-on time difference; and the first light-on time difference and / or the third light-on time difference in any two time difference groups are different;

[0183] For any time difference group, determine the absolute value of the time loss value corresponding to the first light-on time difference in the time difference group and the absolute value and value of the time loss value corresponding to the third light-on time difference in the time difference group;

[0184] If the target time difference group with the smallest absolute value and value is unique, the phase sequence corresponding to the first turn-on time difference in the target time difference is used as the phase sequence adopted for the operation of the target signal light; otherwise, the phase sequence corresponding to the first turn-on time difference in any target time difference group is used as the phase sequence adopted for the operation of the target signal light.

[0185] In some possible embodiments, after executing the phase sequence selected for the target signal light to operate, the phase sequence selection unit 183 is further configured to:

[0186] Determine the first time interval based on the comparison start-up time difference of the comparison intersection, the length of time for passing the vehicle, and the coordinated green signal ratio of the traffic lights at the comparison intersection; and,

[0187] Based on the coordination cycle duration and the coordinated green-to-green ratio of the traffic lights at the target intersection, a second time interval is determined; wherein, if the comparison intersection is the second intersection, the target intersection is the first intersection, and the comparison start-up time difference is the second start-up time difference; if the comparison intersection is the first intersection, the target intersection is the second intersection, and the comparison start-up time difference is the first start-up time difference under the phase sequence adopted by the target traffic light; the vehicle passing time represents the time required for a vehicle to drive from the comparison intersection into the target intersection;

[0188] Determine a green wave bandwidth group corresponding to each target light-on time difference according to the first time interval and the second time interval; wherein the target light-on time difference is determined according to the coordination period duration;

[0189] The activation time difference of the target traffic light is determined based on the green wave bandwidth group and the green start time of the comparison intersection; wherein the green start time is the starting time of the green light signal in the specified direction of the traffic light at the comparison intersection; and the specified direction is the direction from the comparison intersection to the target intersection.

[0190] Based on the same inventive concept, the present application embodiment also provides an electronic device, specifically Fig.19 As shown, it includes a data transmission unit 191 and a processor 192:

[0191] The data transmission unit 191 is configured to: receive a configuration indication;

[0192] The processor 192 is configured to: in response to the configuration instruction, obtain multiple phase sequences of the target traffic light and the first light-on time difference under each phase sequence; wherein the target traffic light is a traffic light located at the first intersection, and each phase sequence represents any order of each phase in the target traffic light; the first light-on time difference is the difference between the green light-on time of the coordinated phases in the downlink direction and the uplink direction of the main road when each phase in the target traffic light is ordered in the corresponding phase sequence;

[0193] Based on the first light-on time difference, the second light-on time difference and the preset coordination cycle duration, determining the time loss value generated by the target traffic light under each phase sequence; wherein the second light-on time difference is determined according to the phase sequence adopted by the traffic light at the second intersection; the second intersection is adjacent to the first intersection and is located in the down direction of the main road of the first intersection;

[0194] A phase sequence for operating the target signal lamp is selected from the plurality of phase sequences based on the time loss value.

[0195] In some possible embodiments, to determine the time loss value generated by the target signal light in each phase sequence based on the first light-on time difference, the second light-on time difference and the preset coordination cycle duration, the processor 192 is configured as follows:

[0196] For any phase sequence, determining the coordination cycle range of the target traffic light according to the intersection size information of the first intersection and the second intersection, and the vehicle passing information between the first intersection and the second intersection;

[0197] The number of coordinated cycles of the phase sequence is determined according to the coordinated cycle range, the first start-up time difference under the phase sequence, the second start-up time difference and the coordinated cycle duration, and the time loss value under the phase sequence is determined based on the number of coordinated cycles.

[0198] In some possible embodiments, the coordination period range is determined by the following formula:

[0199]

[0200] Wherein, [N] is the range of the coordination cycle; L1 is the sum of the intersection spacing and the width of the second intersection, L2 is the sum of the intersection spacing and the width of the first intersection, and the intersection spacing is the shortest distance between the first intersection and the second intersection; V1 is the average speed of vehicles entering the first intersection from the second intersection during the preset time period, and V2 is the average speed of vehicles entering the second intersection from the first intersection during the preset time period; int means rounding; C is the duration of the coordination cycle.

[0201] In some possible embodiments, to perform the step of determining the time loss value under the phase sequence based on the number of coordination cycles, the processor 192 is configured to:

[0202] Determine the loss value to be processed under the phase sequence according to the first light-on time difference, the second light-on time difference, the coordination cycle length and the number of coordination cycles under the phase sequence;

[0203] If the number of coordination cycles is less than zero, or the pending loss value is not less than zero, the pending loss value is used as the time loss value under the phase sequence;

[0204] Otherwise, the number of correction cycles is determined according to the coordinated green-to-signal ratio of the first intersection and the second intersection; and the time loss value under the phase sequence is determined based on the number of correction cycles; wherein the coordinated green-to-signal ratio of any intersection is the ratio of the green light duration of the coordinated signal in the upward direction of the main road in one signal cycle, and the ratio of the green light duration of the coordinated signal in the downward direction in one signal cycle among the traffic lights at the intersection.

[0205] In some possible embodiments, to determine the time loss value in the phase sequence based on the number of correction cycles, the processor 192 is configured to:

[0206] Determine the time loss value under the phase sequence according to the first light-on time difference, the second light-on time difference, the correction cycle length and the number of coordination cycles under the phase sequence;

[0207] The number of correction cycles is determined in the following manner:

[0208] Determine a first bandwidth sum value and a second bandwidth sum value according to the coordinated green-to-signal ratio; wherein the first bandwidth sum value is the sum of the maximum green wave bandwidths generated by the target signal light in the uplink direction and the downlink direction of the main road respectively when the number of coordination cycles is the number of coordination cycles; the second bandwidth sum value is the sum of the maximum green wave bandwidths generated by the target signal light in the uplink direction and the downlink direction of the main road respectively when the number of coordination cycles is reduced by one;

[0209] If the first bandwidth sum value is not less than the second bandwidth sum value, the coordination cycle number is reduced by one as the revised cycle number; otherwise, the coordination cycle number is used as the revised cycle number.

[0210] In some possible embodiments, to perform the step of selecting the phase sequence for the target signal light to be operated from the multiple phase sequences based on the time loss value, the processor 192 is configured to:

[0211] If the target phase sequence is unique, the target phase sequence is used as the phase sequence adopted by the target signal light to operate; wherein the target phase sequence is the phase sequence with the smallest absolute value of the time loss value among the multiple phase sequences;

[0212] Otherwise, the phase sequence adopted for the operation of the target traffic light is determined according to the first turn-on time difference under the multiple phase sequences and the multiple phase sequences to be processed; wherein the multiple phase sequences to be processed are determined according to the phases of the traffic lights at the third intersection; the third intersection is adjacent to the first intersection and is located on the upstream direction of the main road of the first intersection.

[0213] In some possible embodiments, the processor 192 is configured to:

[0214] Determine the time loss value of the traffic light at the third intersection under each phase sequence to be processed according to the first light-on time difference under any phase sequence and the third light-on time differences under the plurality of phase sequences to be processed;

[0215] The phase sequence adopted by the target signal light for operation is determined according to the first light-on time difference under the multiple phase sequences and the third light-on time difference under the multiple phase sequences to be processed.

[0216] In some possible embodiments, the processor 192 is configured to:

[0217] The first light-on time differences under the multiple phase sequences and the third light-on time differences under the multiple phase sequences to be processed are grouped in pairs to obtain multiple time difference groups; wherein any time difference group includes a first light-on time difference and a third light-on time difference; and the first light-on time difference and / or the third light-on time difference in any two time difference groups are different;

[0218] For any time difference group, determine the absolute value of the time loss value corresponding to the first light-on time difference in the time difference group and the absolute value and value of the time loss value corresponding to the third light-on time difference in the time difference group;

[0219] If the target time difference group with the smallest absolute value and value is unique, the phase sequence corresponding to the first turn-on time difference in the target time difference is used as the phase sequence adopted for the operation of the target signal light; otherwise, the phase sequence corresponding to the first turn-on time difference in any target time difference group is used as the phase sequence adopted for the operation of the target signal light.

[0220] In some possible embodiments, after executing the phase sequence adopted by the selected target signal light operation, the processor 192 is further configured to:

[0221] Determine the first time interval based on the comparison start-up time difference of the comparison intersection, the length of time for passing the vehicle, and the coordinated green signal ratio of the traffic lights at the comparison intersection; and,

[0222] Based on the coordination cycle duration and the coordinated green-to-green ratio of the traffic lights at the target intersection, a second time interval is determined; wherein, if the comparison intersection is the second intersection, the target intersection is the first intersection, and the comparison start-up time difference is the second start-up time difference; if the comparison intersection is the first intersection, the target intersection is the second intersection, and the comparison start-up time difference is the first start-up time difference under the phase sequence adopted by the target traffic light; the vehicle passing time represents the time required for a vehicle to drive from the comparison intersection into the target intersection;

[0223] Determine a green wave bandwidth group corresponding to each target light-on time difference according to the first time interval and the second time interval; wherein the target light-on time difference is determined according to the coordination period duration;

[0224] The activation time difference of the target traffic light is determined based on the green wave bandwidth group and the green start time of the comparison intersection; wherein the green start time is the starting time of the green light signal in the specified direction of the traffic light at the comparison intersection; and the specified direction is the direction from the comparison intersection to the target intersection.

[0225] The embodiment of the present application further provides a computer storage medium, in which computer program instructions are stored. When the instructions are executed on a computer, the computer executes the steps of the above-mentioned traffic signal control method.

[0226] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0227] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor 202 of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor 202 of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0228] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0229] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0230] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A method for configuring the phase sequence of a traffic signal light, characterized in that: The method comprises: In response to the configuration instruction, a plurality of phase sequences of the target traffic light and a first light-on time difference under each phase sequence are obtained; wherein the target traffic light is a traffic light located at a first intersection, and each phase sequence represents any order of the phases in the target traffic light; the first light-on time difference is the difference between the green light-on time of the coordinated phases in the downlink direction and the uplink direction of the main road when the phases in the target traffic light are ordered in a corresponding phase sequence; Based on the first light-on time difference, the second light-on time difference and the preset coordination cycle duration, determining the time loss value generated by the target traffic light under each phase sequence; wherein the second light-on time difference is determined according to the phase sequence adopted by the traffic light at the second intersection; the second intersection is adjacent to the first intersection and is located in the down direction of the main road of the first intersection; A phase sequence for operating the target signal lamp is selected from the plurality of phase sequences based on the time loss value.

2. The method according to claim 1, characterized in that: The determining, based on the first light-on time difference, the second light-on time difference and a preset coordination cycle duration, a time loss value generated by the target signal light in each phase sequence includes: For any phase sequence, determining the coordination cycle range of the target traffic light according to the intersection size information of the first intersection and the second intersection, and the vehicle passing information between the first intersection and the second intersection; The number of coordinated cycles of the phase sequence is determined according to the coordinated cycle range, the first start-up time difference under the phase sequence, the second start-up time difference and the coordinated cycle duration, and the time loss value under the phase sequence is determined based on the number of coordinated cycles.

3. The method according to claim 2, characterized in that The coordination period range is determined by the following formula: Wherein, [N] is the range of the coordination cycle; L1 is the sum of the intersection spacing and the width of the second intersection, L2 is the sum of the intersection spacing and the width of the first intersection, and the intersection spacing is the shortest distance between the first intersection and the second intersection; V1 is the average speed of vehicles entering the first intersection from the second intersection during the preset time period, and V2 is the average speed of vehicles entering the second intersection from the first intersection during the preset time period; int means rounding; C is the duration of the coordination cycle.

4. The method according to claim 2, characterized in that: The determining of the time loss value under the phase sequence based on the number of coordination cycles includes: Determine the loss value to be processed under the phase sequence according to the first light-on time difference, the second light-on time difference, the coordination cycle length and the number of coordination cycles under the phase sequence; If the number of coordination cycles is less than zero, or the pending loss value is not less than zero, the pending loss value is used as the time loss value under the phase sequence; Otherwise, the number of correction cycles is determined according to the coordinated green-to-signal ratio of the first intersection and the second intersection; and the time loss value under the phase sequence is determined based on the number of correction cycles; wherein the coordinated green-to-signal ratio of any intersection is the ratio of the green light duration of the coordinated signal in the upward direction of the main road in one signal cycle, and the ratio of the green light duration of the coordinated signal in the downward direction in one signal cycle among the traffic lights at the intersection.

5. The method according to claim 4, characterized in that The determining the time loss value under the phase sequence based on the number of correction cycles includes: Determine the time loss value under the phase sequence according to the first light-on time difference, the second light-on time difference, the correction cycle length and the number of coordination cycles under the phase sequence; The number of correction cycles is determined in the following manner: Determine a first bandwidth sum value and a second bandwidth sum value according to the coordinated green-to-signal ratio; wherein the first bandwidth sum value is the sum of the maximum green wave bandwidths generated by the target signal light in the uplink direction and the downlink direction of the main road respectively when the number of coordination cycles is the number of coordination cycles; the second bandwidth sum value is the sum of the maximum green wave bandwidths generated by the target signal light in the uplink direction and the downlink direction of the main road respectively when the number of coordination cycles is reduced by one; If the first bandwidth sum value is not less than the second bandwidth sum value, the coordination cycle number is reduced by one as the revised cycle number; otherwise, the coordination cycle number is used as the revised cycle number.

6. The method according to claim 1, characterized in that The step of selecting the phase sequence for the target signal lamp to be operated from the plurality of phase sequences based on the time loss value comprises: If the target phase sequence is unique, the target phase sequence is used as the phase sequence adopted by the target signal light to operate; wherein the target phase sequence is the phase sequence with the smallest absolute value of the time loss value among the multiple phase sequences; Otherwise, the phase sequence adopted for the operation of the target traffic light is determined according to the first turn-on time difference under the multiple phase sequences and the multiple phase sequences to be processed; wherein the multiple phase sequences to be processed are determined according to the phases of the traffic lights at the third intersection; the third intersection is adjacent to the first intersection and is located on the upstream direction of the main road of the first intersection.

7. The method according to claim 6, characterized in that The determining, according to the first light-on time difference under the multiple phase sequences and the multiple phase sequences to be processed, the phase sequence adopted for the operation of the target signal light comprises: Determine the time loss value of the traffic light at the third intersection under each phase sequence to be processed according to the first light-on time difference under any phase sequence and the third light-on time differences under the plurality of phase sequences to be processed; The phase sequence adopted by the target signal light for operation is determined according to the first light-on time difference under the multiple phase sequences and the third light-on time difference under the multiple phase sequences to be processed.

8. The method according to claim 7, characterized in that The determining the phase sequence adopted by the target signal light for operation according to the first light-on time difference under the multiple phase sequences and the third light-on time difference under the multiple phase sequences to be processed comprises: The first light-on time differences under the multiple phase sequences and the third light-on time differences under the multiple phase sequences to be processed are grouped in pairs to obtain multiple time difference groups; wherein any time difference group includes a first light-on time difference and a third light-on time difference; and the first light-on time difference and / or the third light-on time difference in any two time difference groups are different; For any time difference group, determine the absolute value of the time loss value corresponding to the first light-on time difference in the time difference group and the absolute value and value of the time loss value corresponding to the third light-on time difference in the time difference group; If the target time difference group with the smallest absolute value and value is unique, the phase sequence corresponding to the first turn-on time difference in the target time difference is used as the phase sequence adopted for the operation of the target signal light; otherwise, the phase sequence corresponding to the first turn-on time difference in any target time difference group is used as the phase sequence adopted for the operation of the target signal light.

9. The method according to any one of claims 1 to 8, characterized in that: After selecting the phase sequence adopted by the target signal lamp, the method further includes: Determine the first time interval based on the comparison start-up time difference of the comparison intersection, the length of time for passing the vehicle, and the coordinated green signal ratio of the traffic lights at the comparison intersection; and, Based on the coordination cycle duration and the coordinated green-to-green ratio of the traffic lights at the target intersection, a second time interval is determined; wherein, if the comparison intersection is the second intersection, the target intersection is the first intersection, and the comparison start-up time difference is the second start-up time difference; if the comparison intersection is the first intersection, the target intersection is the second intersection, and the comparison start-up time difference is the first start-up time difference under the phase sequence adopted by the target traffic light; the vehicle passing time represents the time required for a vehicle to drive from the comparison intersection into the target intersection; Determine a green wave bandwidth group corresponding to each target light-on time difference according to the first time interval and the second time interval; wherein the target light-on time difference is determined according to the coordination period duration; The activation time difference of the target traffic light is determined based on the green wave bandwidth group and the green start time of the comparison intersection; wherein the green start time is the starting time of the green light signal in the specified direction of the traffic light at the comparison intersection; and the specified direction is the direction from the comparison intersection to the target intersection.

10. An electronic device, characterized in that: Including data transmission unit and processor: The data transmission unit is configured to: receive a configuration indication; The processor is configured to: in response to the configuration instruction, obtain multiple phase sequences of the target traffic light and the first light-on time difference under each phase sequence; wherein the target traffic light is a traffic light located at the first intersection, and each phase sequence represents any order of the phases in the target traffic light; the first light-on time difference is the difference between the green light-on time of the coordinated phases in the downlink direction and the uplink direction of the main road when the phases in the target traffic light are ordered in the corresponding phase sequence; Based on the first light-on time difference, the second light-on time difference and the preset coordination cycle duration, determining the time loss value generated by the target traffic light under each phase sequence; wherein the second light-on time difference is determined according to the phase sequence adopted by the traffic light at the second intersection; the second intersection is adjacent to the first intersection and is located in the down direction of the main road of the first intersection; A phase sequence for operating the target signal lamp is selected from the plurality of phase sequences based on the time loss value.

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