Traffic signal lamp control method and device based on vehicle infrastructure cooperation
Through the traffic light control method based on vehicle-road collaboration, the real-time information of special vehicles and road map information are used to dynamically adjust the timing of traffic lights, which solves the problem that it is difficult to meet the needs of special vehicles passing through intersections in the prior art and reduces the risk of collision.
Patent Information
- Application Number
- CN202411969454.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-30
- Publication Date
- 2025-04-11
AI Technical Summary
The existing reverse control methods of urban traffic lights are difficult to accurately adjust the timing of signal lights, especially when special vehicles require real-time demands, which are difficult to meet the demand for special vehicles to pass through intersections quickly, and it is also difficult to reduce the risk of collision between special vehicles and other vehicles on the other side.
Through the traffic light control method based on vehicle-road collaboration, the speed, position and road map information collected by the roadside unit of the special vehicle are used to calculate the pass time when the special vehicle arrives at the intersection, and the remaining time of the current phase of the traffic light is reconfigured to extend the green light time and shorten the red light time.
The precise pass time calculation of special vehicles and dynamic adjustment of traffic lights is realized to meet the needs of special vehicles to pass through intersections quickly, while reducing the risk of collision with vehicles on other sides.
Smart Images
Figure CN119811113A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of vehicle-road collaboration technology, and specifically to a traffic light control method and device based on vehicle-road collaboration. Background Art
[0002] With the development of cities, urban traffic congestion has become a common phenomenon. Since special vehicles, such as police cars, ambulances, and engineering rescue vehicles, have special travel tasks, achieving reverse control of signal lights by special vehicles and changing the phase of signal lights is an effective measure to solve the needs of special vehicles under the current urban traffic congestion conditions. It can meet the needs of special vehicles to quickly pass through intersections when they have special travel tasks, while reducing the risk of collision between special vehicles and other side vehicles at intersections.
[0003] The existing reverse control methods of urban traffic lights mainly include the following two strategies: manual signal light control and traffic light timing control. The manual signal light control solution mainly allows the traffic control system to manually adjust the timing of the traffic lights at a single or multiple intersections to achieve signal light control and allow special vehicles to pass through the intersection. The traffic light timing control solution mainly uses fixed timing and induction timing to send red light duration and green light duration requests to the signal control system at the intersection during fixed time periods or when traffic flow fluctuates greatly to achieve signal light control.
[0004] However, both methods have obvious disadvantages. The manual signal light control method requires manual observation of the position of special vehicles before adjusting the signal light, which makes it difficult to accurately adjust the timing of the signal light. The traffic light timing control scheme is only suitable for phase adjustment during fixed time periods and periods with large changes in traffic flow, such as morning and evening rush hours, and it is difficult to adjust the timing of the signal light in real time according to special vehicles. Summary of the invention
[0005] The present application provides a traffic light control method and device based on vehicle-road collaboration, which can accurately adjust the timing of traffic lights according to the speed, position and road map information collected by the roadside unit of the special vehicle, thereby meeting the needs of special vehicles to pass through the intersection quickly.
[0006] In a first aspect, an embodiment of the present application provides a traffic light control method based on vehicle-road collaboration, the method comprising:
[0007] When a special vehicle enters the communication range of the roadside unit, the first travel time required for the special vehicle to reach the first intersection is determined according to the speed and position of the special vehicle and the road map information collected by the roadside unit;
[0008] reconfiguring the remaining duration of the current phase of the traffic light according to the current phase and the remaining duration of the current phase of the first traffic light in the passing direction of the special vehicle and the first passing duration;
[0009] When the special vehicle passes through the first intersection, the next phase duration of the traffic light is set as the initial timing.
[0010] In combination with the first aspect, in one implementation, determining a first travel time required for the special vehicle to reach the first intersection according to the speed and position of the special vehicle and the road map information collected by the roadside unit includes:
[0011] Determine a first distance between the special vehicle and a first intersection according to the position of the special vehicle and the road map information collected by the roadside unit;
[0012] A first travel time required for the special vehicle to reach the first intersection is calculated based on the speed of the special vehicle and the first distance.
[0013] In combination with the first aspect, in one implementation, after determining the first travel time required for the special vehicle to reach the first intersection, the method further includes:
[0014] The current phase of the traffic light and the remaining duration of the current phase are displayed on the dashboard of the special vehicle.
[0015] In combination with the first aspect, in one implementation, according to the current phase of the first traffic light in the special vehicle passing direction, the remaining duration of the current phase, and the first passing duration, reconfiguring the remaining duration of the current phase of the traffic light includes:
[0016] If the current phase of the traffic light is a green light phase, and the remaining duration of the current phase is greater than the first passing duration, the remaining duration of the current phase is maintained unchanged;
[0017] If the current phase of the traffic light is a green light phase, and the remaining duration of the current phase is less than or equal to the first passing duration, increase the remaining duration of the current phase;
[0018] If the current phase of the traffic light is a red light phase, and the remaining duration of the current phase is greater than the first passing duration, reducing the remaining duration of the current phase;
[0019] If the current phase of the traffic light is a red light phase, and the remaining duration of the current phase is less than or equal to the first passing duration, the remaining duration of the current phase is maintained unchanged.
[0020] In combination with the first aspect, in one implementation, increasing the remaining duration of the current phase includes:
[0021] Subtract the remaining duration of the current phase from the first pass duration to obtain a first difference;
[0022] The remaining duration of the current phase is increased by the first difference.
[0023] In combination with the first aspect, in one implementation, reducing the remaining duration of the current phase includes:
[0024] Subtract the remaining duration of the current phase from the remaining duration of the phase to obtain a second difference;
[0025] The remaining duration of the current phase is reduced by the second difference.
[0026] In combination with the first aspect, in one implementation, when a plurality of special vehicles enter the communication range of the roadside unit from opposite directions, the method further includes:
[0027] Obtain the travel time of each special vehicle, and select the shortest travel time as the first travel time;
[0028] If the current phase of the traffic light is the green light phase, determine whether the difference between any passing time and the first passing time is greater than the preset first time; if so, when the first special vehicle passes the first intersection, set the next phase duration of the traffic light as the initial timing; if not, when the last special vehicle passes the first intersection, set the next phase duration of the traffic light as the initial timing;
[0029] If the current phase of the traffic light is the red light phase, determine whether the difference between any passing time and the first passing time is greater than the preset green light phase length; if so, when the first special vehicle passes the first intersection, set the next phase duration of the traffic light as the initial timing; if not, when the last special vehicle passes the first intersection, set the next phase duration of the traffic light as the initial timing.
[0030] In combination with the first aspect, in one implementation, when multiple special vehicles enter the communication range of the roadside unit from the same direction, the method further includes:
[0031] Get the travel time of each special vehicle;
[0032] If the special vehicle corresponding to the shortest travel time is on the straight lane, then the travel time is used as the first travel time;
[0033] If the special vehicle corresponding to the shortest passing time is in the turning lane and the priority of the special vehicle is higher than that of all other special vehicles, the passing time is used as the first passing time; the priority of the special vehicle is determined according to the type of task performed by the special vehicle;
[0034] When the first special vehicle passes through the first intersection, the next phase duration of the traffic light is set as the initial timing.
[0035] In combination with the first aspect, in one implementation, when a plurality of special vehicles enter the communication range of the roadside unit from the crossing direction, the method further includes:
[0036] Obtain the travel time of each special vehicle, and select the shortest travel time as the first travel time;
[0037] When the first special vehicle passes through the first intersection, the next phase duration of the traffic light is set as the initial timing.
[0038] In a second aspect, an embodiment of the present application provides a traffic light control device based on vehicle-road collaboration based on the above method, the device comprising:
[0039] A calculation module, used for determining a first travel time required for the special vehicle to reach a first intersection according to the speed and position of the special vehicle and the road map information collected by the roadside unit when the special vehicle enters the communication range of the roadside unit;
[0040] a setting module, configured to reconfigure the remaining duration of the current phase of the traffic light according to the current phase and the remaining duration of the current phase of the first traffic light in the passing direction of the special vehicle and the first passing duration;
[0041] The reset module is used to set the next phase duration of the traffic light to the initial timing when the special vehicle passes through the first intersection.
[0042] The beneficial effects brought by the technical solution provided in the embodiments of the present application include:
[0043] This application calculates the travel time of special vehicles to the intersection based on the speed, position and road map information collected by the roadside unit of the special vehicle, and reconfigures the remaining time of the current phase of the traffic light based on the travel time, the current phase of the traffic light and the remaining time of the current phase, so as to extend the green light time and shorten the red light time, thereby meeting the needs of special vehicles to pass through the intersection quickly. BRIEF DESCRIPTION OF THE DRAWINGS
[0044] Figure 1 This is a flow chart of a traffic light control method based on vehicle-road collaboration according to an embodiment of the present application;
[0045] Figure 2 This is an application diagram of a traffic light control system based on vehicle-road collaboration according to an embodiment of the present application.
[0046] Figure 3This is a structural block diagram of a traffic light control system based on vehicle-road collaboration in an embodiment of the present application. DETAILED DESCRIPTION
[0047] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.
[0048] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.
[0049] First, please refer to Figure 1 , Figure 1 The following is a flow chart of a traffic signal light control method based on vehicle-road collaboration according to an embodiment of the present application. The traffic signal light control method based on vehicle-road collaboration provided in this embodiment includes the following steps:
[0050] Step S1: When a special vehicle enters the communication range of the roadside unit, the first travel time required for the special vehicle to reach the first intersection is determined based on the speed and position of the special vehicle and the road map information collected by the roadside unit.
[0051] Step S2: reconfigure the remaining duration of the current phase of the first traffic light in the passing direction of the special vehicle according to the current phase and the remaining duration of the current phase, and the first passing duration.
[0052] Step S3: When the special vehicle passes through the first intersection, the next phase duration of the traffic light is set as the initial timing.
[0053] This application calculates the travel time of special vehicles to the intersection based on the speed, position and road map information collected by the roadside unit of the special vehicle, and reconfigures the remaining time of the current phase of the traffic light based on the travel time, the current phase of the traffic light and the remaining time of the current phase, so as to extend the green light time and shorten the red light time, thereby meeting the needs of special vehicles to pass through the intersection quickly.
[0054] In some embodiments, the above-mentioned special vehicles include but are not limited to police cars, ambulances, fire trucks, and engineering rescue vehicles.
[0055] In some embodiments, the method of setting a vehicle as a special vehicle is: setting the field of BSM (Basic Safety Message) in the on-board device OBU (On Board Unit) to the field corresponding to the special vehicle.
[0056] In some embodiments, in the above step S1, the road map information collected by the roadside unit includes but is not limited to the ID of the first intersection, the lane attributes (left turn, right turn, straight or U-turn) where the above special vehicle is located, lane width, first-stage lane, second-stage lane, lane speed limit and vehicle entrance direction and other information.
[0057] The lanes between the first length and the second length from the stop line of the first intersection are the first-stage lanes, and the lanes between the second length and 0 from the stop line of the first intersection are the second-stage lanes. The first length is greater than the second length, and the first length and the second length can be flexibly adjusted according to the speed limit of the first intersection, the number of lanes, and the traffic density on the lanes. For example, when the speed limit of the first intersection is 30km / h, the first length can be set to 70 meters; when the speed limit of the first intersection is 60km / h, the first length can be set to 120 meters.
[0058] In some embodiments, in the above step S1, determining the first travel time required for the above special vehicle to reach the first intersection according to the speed and position of the above special vehicle and the road map information collected by the above roadside unit includes the following steps:
[0059] S11: Determine a first distance between the special vehicle and a first intersection according to the position of the special vehicle and the road map information collected by the roadside unit.
[0060] S12: Calculate a first travel time required for the special vehicle to reach the first intersection according to the speed of the special vehicle and the first distance.
[0061] In some embodiments, before the above step S11, the following steps are also included:
[0062] Determine whether the special vehicle is performing a special task. If yes, proceed to step S1 of the method. If no, it means that the special vehicle is performing a non-special task, and the method will not be continued.
[0063] Specifically, the vehicle-side device can read the task type set by the driver on the vehicle-side application to determine whether the above-mentioned special vehicle is performing a special task.
[0064] In some embodiments, after determining the first travel time required for the special vehicle to reach the first intersection, the method further includes:
[0065] The current phase of the traffic light and the remaining time of the current phase are displayed on the dashboard of the special vehicle.
[0066] In some embodiments, in the above step S2, according to the current phase of the first traffic light in the special vehicle passing direction, the remaining duration of the current phase, and the first passing duration, the remaining duration of the current phase of the above traffic light is reconfigured, including:
[0067] If the current phase of the above-mentioned traffic light is the green light phase, and the remaining time of the current phase is greater than the first passing time, the remaining time of the current phase is maintained unchanged.
[0068] If the current phase of the above-mentioned traffic light is the green light phase, and the remaining time of the current phase is less than or equal to the first passing time, the remaining time of the current phase is increased.
[0069] If the current phase of the above-mentioned traffic light is a red light phase, and the remaining time of the current phase is greater than the first passing time, the remaining time of the current phase is reduced.
[0070] If the current phase of the above-mentioned traffic light is the red light phase, and the remaining duration of the current phase is less than or equal to the first passing duration, the remaining duration of the current phase is maintained unchanged.
[0071] In an optimized embodiment, if the current phase of the traffic light is the green light phase, the first passage time is T ttc , the remaining duration of the current phase is The preset maximum duration of the green phase is
[0072] like This means that the above special vehicle can pass the first intersection before the green light ends, thus maintaining the remaining time of the current phase unchanged.
[0073] like This means that the special vehicle cannot pass the first intersection before the green light ends, and the remaining time of the current phase needs to be increased. Considering the delay caused by the calculation process and information transmission, δ is set as the delay time, and further judgment is made:
[0074] like This means that the special vehicle cannot pass through the intersection within the maximum duration of the preset green light phase, and it is meaningless to increase the remaining duration of the current phase, so the remaining duration of the current phase is maintained unchanged.
[0075] like This means that the special vehicle can pass through the intersection within the preset maximum duration of the green light phase, thus increasing the remaining duration of the current phase.
[0076] In some embodiments, in the above step S2, the above increasing the remaining duration of the current phase includes the following steps:
[0077] First, the remaining duration of the current phase is subtracted from the first pass duration to obtain the first difference, and then the remaining duration of the current phase is added, and the added amount is the first difference. The specific formula is:
[0078]
[0079] In formula (1), t adjust is the increase in the remaining duration of the current phase, T ttc is the first pass duration, is the remaining duration of the current phase when the current phase is the green light phase, and δ is the delay duration. Preferably, the value of δ is 3s.
[0080] Specifically, the remaining duration of the current phase may be increased by increasing the countdown of the current phase, or by locking the countdown of the current phase so that it no longer decreases.
[0081] In an optimized embodiment, if the current phase of the traffic light is a red light phase, the first passage time is T ttc , the remaining duration of the current phase is The delay caused by the calculation process and information transmission is δ. Preferably, the value of δ is 3s.
[0082] like This means that when the above-mentioned special vehicle arrives at the first intersection, the red light phase has ended and entered the green light phase, so the remaining duration of the current phase remains unchanged.
[0083] like This means that the special vehicle is still in the red light phase when it arrives at the first intersection, so it is necessary to reduce the remaining time of the current phase to ensure that the traffic light phase is the green light phase when the special vehicle passes the stop line of the intersection.
[0084] In some embodiments, in the above step S2, reducing the remaining duration of the above current phase includes the following steps:
[0085] First, the remaining duration of the current phase is subtracted from the remaining duration of the remaining phase to obtain the second difference, and then the remaining duration of the current phase is reduced by the second difference. The specific formula is:
[0086]
[0087] In formula (2), t adjust is the reduction in the remaining duration of the current phase, T ttc is the first pass duration, is the remaining duration of the current phase when the current phase is the red light phase, and δ is the delay duration. Preferably, the value of δ is 3s.
[0088] In some embodiments, in the above step S2, if the current phase is the yellow light phase, the remaining duration of the current phase is maintained unchanged.
[0089] In some embodiments, when multiple special vehicles enter the communication range of the roadside unit from opposite directions, the method further includes the following steps:
[0090] First, the travel time of each special vehicle is obtained, and the shortest travel time is selected as the first travel time.
[0091] If the current phase of the above-mentioned traffic light is the green light phase, determine whether the difference between any passing time and the first passing time is greater than the preset first time; if so, when the first special vehicle passes the first intersection, set the next phase duration of the above-mentioned traffic light as the initial timing; if not, when the last special vehicle passes the first intersection, set the next phase duration of the above-mentioned traffic light as the initial timing.
[0092] If the current phase of the above-mentioned traffic light is the red light phase, determine whether the difference between any passing time and the first passing time is greater than the preset green light phase length; if so, when the first special vehicle passes the first intersection, set the next phase duration of the above-mentioned traffic light as the initial timing; if not, when the last special vehicle passes the first intersection, set the next phase duration of the above-mentioned traffic light as the initial timing.
[0093] In a more specific embodiment, the first special vehicle and the second special vehicle enter the communication range of the roadside unit from opposite directions, and the passage time of the first special vehicle is T ttc1 , the travel time of the second special vehicle is T ttc2 , T ttc2 >T ttc1 , the preset first duration is δ, and the preset duration of the green light phase is Therefore, in this embodiment, the shortest travel time T ttc1 As the first pass duration.
[0094] If the current phase of the above traffic light is the green light phase, and T ttc2 -T ttc1 >δ, indicating that after configuring the remaining duration of the current phase of the traffic light according to the first passing duration, only the first special vehicle can pass through the first intersection. Therefore, when the first special vehicle passes through the first intersection, the duration of the next phase of the above traffic light is set as the initial timing.
[0095] If the current phase of the above traffic light is the green light phase, and Tttc2 -T ttc1 ≤δ, indicating that after configuring the remaining duration of the current phase of the traffic light according to the first passing duration, both vehicles can pass through the first intersection. Therefore, when the second special vehicle passes through the first intersection, the duration of the next phase of the above traffic light is set as the initial timing.
[0096] If the current phase of the above traffic light is the red light phase, and It indicates that after configuring the remaining duration of the current phase of the traffic light according to the first passing duration, the second special vehicle cannot pass through the first intersection. Therefore, when the first special vehicle passes through the first intersection, the duration of the next phase of the above traffic light is set as the initial timing.
[0097] If the current phase of the above traffic light is the red light phase, and It indicates that after configuring the remaining duration of the current phase of the traffic light according to the first passing duration, both vehicles can pass through the first intersection. Therefore, when the second special vehicle passes through the first intersection, the duration of the next phase of the above traffic light is set as the initial timing.
[0098] In some embodiments, when multiple special vehicles enter the communication range of the roadside unit from the same direction, the method further includes the following steps:
[0099] First, obtain the travel time of each special vehicle.
[0100] If the special vehicle corresponding to the shortest passing time is on the straight lane, the passing time is used as the first passing time.
[0101] If the special vehicle corresponding to the shortest passing time is in the turning lane and the priority of the special vehicle is higher than that of all other special vehicles, the passing time will be taken as the first passing time. The priority of the above special vehicles is determined according to the type of task performed by the special vehicle.
[0102] When the first special vehicle passes through the first intersection, the next phase duration of the above traffic light is set as the initial timing.
[0103] In a more specific embodiment, the third special vehicle and the fourth special vehicle enter the communication range of the roadside unit from the same direction, and the passage time of the third special vehicle is T ttc3 , the travel time of the fourth special vehicle is T ttc4 . T ttc3 <T ttc4 .
[0104] If the third special vehicle is on the straight lane, then T ttc3 As the first pass duration.
[0105] If the third special vehicle is in the turning lane and the third special vehicle has a higher priority than the fourth special vehicle, then T ttc3 As the first pass duration.
[0106] If the third special vehicle is in the turning lane and the third special vehicle has a lower priority than the fourth special vehicle, then T ttc4 As the first pass duration.
[0107] When the third special vehicle passes through the first intersection, the next phase duration of the above traffic light is set as the initial timing.
[0108] In some embodiments, when multiple special vehicles enter the communication range of the roadside unit from the crossing direction, the method further includes the following steps:
[0109] The travel time of each special vehicle is obtained, and the shortest travel time is selected as the first travel time.
[0110] When the first special vehicle passes through the first intersection, the next phase duration of the above traffic light is set as the initial timing.
[0111] In a second aspect, the traffic signal light control device based on vehicle-road collaboration provided in this embodiment includes the following modules:
[0112] The calculation module is used to determine the first travel time required for the special vehicle to reach the first intersection based on the speed and position of the special vehicle and the road map information collected by the roadside unit when the special vehicle enters the communication range of the roadside unit.
[0113] The setting module is used to reconfigure the remaining duration of the current phase of the above-mentioned traffic light according to the current phase and the remaining duration of the current phase of the first traffic light in the passing direction of the above-mentioned special vehicle, and the first passing duration.
[0114] The reset module is used to set the next phase duration of the traffic light to the initial timing when the special vehicle passes through the first intersection.
[0115] In a more specific embodiment, please refer to Figure 2 , Figure 2 This is an application diagram of a traffic light control system based on vehicle-road collaboration in an embodiment of the present application. The system includes all modules in the above-mentioned traffic light control device based on vehicle-road collaboration, and can realize information transmission between special vehicles, roadside units and traffic lights. Figure 2 The following modules are included:
[0116] RSU (Road Side Unit) is used to collect road map information and also includes the above-mentioned calculation module, setting module and reset module.
[0117] OBU is used to obtain the speed and position of a specific vehicle and is also used to communicate with the RSU.
[0118] Traffic light: used to display the current phase and the remaining time of the current phase of the above traffic lights.
[0119] Cloud management platform: used to store the equipment information of RSU and signal machine, including but not limited to name, model, IP, location, online status and operation status. It is also used to collect navigation information reported by OBU.
[0120] For the specific structure of the above modules, please refer to Figure 3 , Figure 3 This is a structural block diagram of a traffic light control system based on vehicle-road collaboration in an embodiment of the present application.
[0121] exist Figure 3 The above RSU includes the following modules:
[0122] The positioning module is used to receive the vehicle location information transmitted by the OBU and mark it on the road map.
[0123] RSU function configuration module, used to configure the control function of the signal machine.
[0124] The roadside terminal processing unit module includes the aforementioned traffic signal light control device, specifically including the following modules:
[0125] The calculation module is used to process the BSM and VIR (Vehicle Intention And Request) information sent by the special vehicle when the special vehicle enters the communication range of the roadside unit. It is also used to receive the data sent by the signal machine and encapsulate it into SPAT (Signal Phase and Time) information, and encapsulate the road map information collected by the RSU into MAP (map) information; according to the speed and position of the special vehicle and the road map information collected by the RSU, determine the first travel time required for the special vehicle to reach the first intersection.
[0126] The setting module is used to generate RSC (Roadside Coordination) information according to the data processed and packaged by the calculation module, and control the signal machine to change the remaining time of the current phase of the traffic light to achieve reconfiguration of the remaining time of the current phase of the above-mentioned traffic light. Among them, the RSC information generated according to the data processed and packaged by the calculation module includes: the current phase of the first traffic light in the passing direction of the above-mentioned special vehicle and the remaining time of the current phase, as well as the first passing time.
[0127] The reset module is used to reset the next phase duration of the traffic light to the initial timing when the above-mentioned special vehicle passes through the first intersection.
[0128] The roadside terminal V2X (Vehicle to Everything, vehicle wireless communication technology) module is used to broadcast SPAT information, RSC information and MAP information to special vehicles through V2X. At the same time, it receives BSM and VIR information sent by special vehicles.
[0129] The cloud reporting and receiving module is used to report the device information of RSU to the cloud management platform and receive manual control instructions sent by the cloud management platform.
[0130] The above OBU includes the following modules:
[0131] The inertial navigation positioning module is used to obtain the position, speed and heading angle of special vehicles in real time.
[0132] The vehicle-mounted equipment processing unit module processes the RSC, MAP, and SPAT information received by the vehicle-mounted terminal V2X wireless communication module, and is also used to generate BSM and VIR information based on the RSC, MAP, SPAT information and the data collected by the inertial navigation positioning module.
[0133] The vehicle terminal V2X module is used to send the BSM and VIR information generated by the vehicle equipment processing unit module to the RSU through V2X, and is also used to receive the RSC, MAP, and SPAT information broadcast by the RSU.
[0134] An electronic control system is used to collect vehicle data from the vehicle's CAN (Controller Area Network) and feed back the processed data to the driver through display screens, dashboards and sounds.
[0135] It should be noted that the serial numbers of the above-mentioned embodiments of the present application are only for description and do not represent the advantages or disadvantages of the embodiments.
[0136] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit "first", "second" and "third" to different types.
[0137] In the description of the embodiments of the present application, "exemplary", "for example" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary", "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary", "for example" or "for example" is intended to present related concepts in a specific way.
[0138] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; the “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.
[0139] In some processes described in the embodiments of the present application, multiple operations or steps that appear in a specific order are included, but it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of the present application or in parallel, and the sequence number of the operation is only used to distinguish the different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.
[0140] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, disk, CD) as described above, and includes a number of instructions for a terminal device to execute the methods described in each embodiment of the present application.
[0141] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.
Claims
1. A traffic light control method based on vehicle-road collaboration, characterized in that: The method comprises: When a special vehicle enters the communication range of the roadside unit, the first travel time required for the special vehicle to reach the first intersection is determined according to the speed and position of the special vehicle and the road map information collected by the roadside unit; reconfiguring the remaining duration of the current phase of the traffic light according to the current phase and the remaining duration of the current phase of the first traffic light in the passing direction of the special vehicle and the first passing duration; When the special vehicle passes through the first intersection, the next phase duration of the traffic light is set as the initial timing.
2. The traffic signal light control method based on vehicle-road collaboration as claimed in claim 1, characterized in that: Determining a first travel time required for the special vehicle to reach a first intersection according to the speed and position of the special vehicle and the road map information collected by the roadside unit includes: Determine a first distance between the special vehicle and a first intersection according to the position of the special vehicle and the road map information collected by the roadside unit; A first travel time required for the special vehicle to reach the first intersection is calculated based on the speed of the special vehicle and the first distance.
3. The traffic signal light control method based on vehicle-road collaboration as claimed in claim 1, characterized in that: After determining the first travel time required for the special vehicle to reach the first intersection, it also includes: The current phase of the traffic light and the remaining duration of the current phase are displayed on the dashboard of the special vehicle.
4. The traffic signal light control method based on vehicle-road collaboration as claimed in claim 1, characterized in that: According to the current phase of the first traffic light in the special vehicle passing direction, the remaining duration of the current phase, and the first passing duration, reconfiguring the remaining duration of the current phase of the traffic light comprises: If the current phase of the traffic light is a green light phase, and the remaining duration of the current phase is greater than the first passing duration, the remaining duration of the current phase is maintained unchanged; If the current phase of the traffic light is a green light phase, and the remaining duration of the current phase is less than or equal to the first passing duration, increase the remaining duration of the current phase; If the current phase of the traffic light is a red light phase, and the remaining duration of the current phase is greater than the first passing duration, reducing the remaining duration of the current phase; If the current phase of the traffic light is a red light phase, and the remaining duration of the current phase is less than or equal to the first passing duration, the remaining duration of the current phase is maintained unchanged.
5. The traffic signal light control method based on vehicle-road collaboration as claimed in claim 4, characterized in that: The increasing the remaining duration of the current phase includes: Subtract the remaining duration of the current phase from the first pass duration to obtain a first difference; The remaining duration of the current phase is increased by the first difference.
6. The traffic signal light control method based on vehicle-road collaboration as claimed in claim 4, characterized in that: Reducing the remaining duration of the current phase, including: Subtract the remaining duration of the current phase from the remaining duration of the phase to obtain a second difference; The remaining duration of the current phase is reduced by the second difference.
7. The traffic signal light control method based on vehicle-road collaboration as claimed in claim 1, characterized in that: When multiple special vehicles enter the communication range of the roadside unit from opposite directions, it also includes: Obtain the travel time of each special vehicle, and select the shortest travel time as the first travel time; If the current phase of the traffic light is the green light phase, determine whether the difference between any passing time and the first passing time is greater than the preset first time; if so, when the first special vehicle passes the first intersection, set the next phase duration of the traffic light as the initial timing; if not, when the last special vehicle passes the first intersection, set the next phase duration of the traffic light as the initial timing; If the current phase of the traffic light is the red light phase, determine whether the difference between any passing time and the first passing time is greater than the preset green light phase length; if so, when the first special vehicle passes the first intersection, set the next phase duration of the traffic light as the initial timing; if not, when the last special vehicle passes the first intersection, set the next phase duration of the traffic light as the initial timing.
8. The traffic signal light control method based on vehicle-road collaboration as claimed in claim 1, characterized in that: When multiple special vehicles enter the communication range of the roadside unit from the same direction, it also includes: Get the travel time of each special vehicle; If the special vehicle corresponding to the shortest travel time is on the straight lane, then the travel time is used as the first travel time; If the special vehicle corresponding to the shortest passing time is in the turning lane and the priority of the special vehicle is higher than that of all other special vehicles, the passing time is used as the first passing time; the priority of the special vehicle is determined according to the type of task performed by the special vehicle; When the first special vehicle passes through the first intersection, the next phase duration of the traffic light is set as the initial timing.
9. The traffic signal light control method based on vehicle-road collaboration as claimed in claim 1, characterized in that: When multiple special vehicles enter the communication range of the roadside unit from the crossing direction, it also includes: Obtain the travel time of each special vehicle, and select the shortest travel time as the first travel time; When the first special vehicle passes through the first intersection, the next phase duration of the traffic light is set as the initial timing.
10. A traffic light control device based on vehicle-road collaboration based on the method according to any one of claims 1 to 9, characterized in that: The device comprises: A calculation module, used for determining a first travel time required for the special vehicle to reach a first intersection according to the speed and position of the special vehicle and the road map information collected by the roadside unit when the special vehicle enters the communication range of the roadside unit; a setting module, configured to reconfigure the remaining duration of the current phase of the traffic light according to the current phase and the remaining duration of the current phase of the first traffic light in the passing direction of the special vehicle and the first passing duration; The reset module is used to set the next phase duration of the traffic light to the initial timing when the special vehicle passes through the first intersection.