Intersection phase control method and device and electronic equipment

Abstract

The embodiment of the invention provides an intersection phase control method and device and electronic equipment, and the method comprises the steps: determining a release template corresponding to a target intersection based on the intersection setting information of the target intersection; wherein each release template comprises a release mode of each stage in a period; if the target intersection corresponds to a plurality of release templates, for any release template, adjusting the initial saturation of the phase of the target intersection in the target period based on the release template to obtain the corrected saturation of the phase of the target period; selecting a candidate release template corresponding to the target period from the plurality of release templates based on the initial saturation and the corrected saturation of the phase of the target period; and determining a target release template corresponding to the target time period based on the candidate release templates corresponding to the plurality of target periods in the target time period. According to the embodiment of the invention, the target release template suitable for the target time period is accurately determined, so that the appropriate phase release sequence of the intersection is accurately determined.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of traffic control technology, and in particular to a method, device and electronic equipment for intersection phase control. Background Art

[0002] With the rapid development of cities, traffic is becoming increasingly busy. Intersections are an important part of the road traffic network and a key node for the gathering, dispersion and conversion of traffic flows. The release order of traffic lights directly affects the traffic efficiency and driving safety of vehicles. A reasonable release order can reduce vehicle waiting time and improve road traffic capacity. Otherwise, it may lead to traffic congestion and safety hazards.

[0003] In the related technology, based on queuing theory, each entrance lane of an unbalanced intersection is regarded as a multi-way queuing and multi-channel service system, and the average queue length behind the stop line of the intersection entrance lane is calculated. The signal phase of the intersection is optimized based on the average queue length of each entrance lane.

[0004] The above scheme is applicable to scenarios that follow exponential distribution. However, in actual applications, the assumption that the distribution of vehicles arriving at an intersection is affected by the surrounding adjacent intersections may not hold true, resulting in the average queue data used not being consistent with actual traffic demand. Therefore, the above method is difficult to accurately determine the appropriate phase release order for the intersection. Summary of the invention

[0005] The embodiments of the present application provide a method, device and electronic device for controlling phase of an intersection, so as to accurately determine the appropriate phase release sequence of an intersection.

[0006] In a first aspect, an embodiment of the present application provides a first intersection phase control method, the method comprising: Based on the intersection setting information of the target intersection, determine the release template corresponding to the target intersection; wherein each release template includes a release mode at each stage within a cycle; If the target intersection corresponds to multiple release templates, for any release template, the initial saturation of the phase of the target intersection in the target cycle is adjusted based on the release template to obtain a corrected saturation of the phase of the target cycle; Selecting a candidate release template corresponding to the target period from the multiple release templates based on the initial saturation and the modified saturation of the phase of the target period; Based on candidate release templates corresponding to multiple target periods in the target time period, a target release template corresponding to the target time period is determined.

[0007] In some optional implementations, determining a release template corresponding to the target intersection based on the intersection setting information of the target intersection includes: Selecting, from the preset release templates corresponding to the entrance lane number of the target intersection, a preset release template that satisfies various intersection setting information of the target intersection as the release template corresponding to the target intersection; The intersection setting information includes part or all of the waiting area setting information, non-motor vehicle crossing method and lane attributes.

[0008] In some optional implementations, the initial saturation of the phase is determined by: For any lane corresponding to any phase, based on the saturation flow rate and green light duration of the lane, determine the saturation traffic information of the lane; Determining the saturation of the lane based on the saturated traffic information of the lane and the arrival flow of the lane in the target period; An initial saturation of the phase is determined based on the saturations of all lanes corresponding to the phase.

[0009] In some optional implementations, adjusting the initial saturation of the phase of the target intersection in the target cycle based on the release template to obtain the corrected saturation of the phase of the target cycle includes: For any non-overlapping phase of the target cycle, taking the maximum value of the initial saturation of the phase in the non-overlapping phase as the corrected saturation of the phase in the non-overlapping phase; For the overlap phase of the target cycle, the initial saturation is adjusted based on whether there is a phase that is always released during the overlap phase to obtain the modified saturation.

[0010] In some optional implementations, based on whether a phase is always released during the overlap stage, the initial saturation is adjusted to obtain the corrected saturation, including: If there is a phase that is always released during the overlap phase, determining at least one critical path during the overlap phase; Determining the saturation of any critical path based on the initial saturations of all phases corresponding to the critical path; For any phase corresponding to the critical path, a corrected saturation of the phase is determined based on an initial saturation of the phase, a saturation of the critical path, and a maximum saturation value of all critical paths.

[0011] In some optional implementations, based on whether a phase is always released during the overlap stage, the initial saturation is adjusted to obtain the corrected saturation, including: If no phase is released during the overlapping stage, the initial saturation of the non-overlapping phase is used as the corrected saturation; wherein the non-overlapping phase is a phase released during an overlapping stage; For any overlapping phase, determining an initial saturation difference between the overlapping phase and a non-overlapping phase in the same overlapping stage; wherein the overlapping phase is a phase released in multiple overlapping stages; Based on the difference and the initial saturation of the non-overlapping phase of the same overlapping stage, a modified saturation of the overlapping phase is determined.

[0012] In some optional implementations, selecting a candidate release template corresponding to the target period from the multiple release templates based on the initial saturation and the modified saturation of the phase of the target period includes: For any release template, determining the saturation difference between the corrected saturation of each phase of the target cycle and the initial saturation; The sum of the saturation differences corresponding to all phases of the target cycle is determined as the difference value corresponding to the release template; The release template with the smallest difference value is used as the candidate release template corresponding to the target period.

[0013] In some optional implementation manners, after determining the target release template corresponding to the target time period, the method further includes: If the target release template is different from the current release template of the target intersection, determine the ratio between the first difference value and the second difference value in the current period; wherein the first difference value is determined based on the corrected saturation and the initial saturation of each phase of the target release template; and the second difference value is determined based on the corrected saturation and the initial saturation of each phase of the current release template; If the ratio is less than a preset threshold, the phase of the target intersection in the target time period is controlled based on the target release template.

[0014] In a second aspect, an embodiment of the present application provides a first intersection phase control device, the device comprising: A template selection module, used to determine a release template corresponding to the target intersection based on the intersection setting information of the target intersection; wherein each release template includes a release mode at each stage within a cycle; A saturation processing module, for adjusting the initial saturation of the phase of the target intersection in the target cycle based on any release template if the target intersection corresponds to multiple release templates, to obtain a corrected saturation of the phase of the target cycle; The template selection module is further configured to select a candidate release template corresponding to the target period from the multiple release templates based on the initial saturation and the modified saturation of the phase of the target period; The template selection module is further used to determine the target release template corresponding to the target time period based on the candidate release templates corresponding to multiple target periods in the target time period.

[0015] In some optional implementation manners, the template selection module is specifically used to: Selecting, from the preset release templates corresponding to the entrance lane number of the target intersection, a preset release template that satisfies various intersection setting information of the target intersection as the release template corresponding to the target intersection; The intersection setting information includes part or all of the waiting area setting information, non-motor vehicle crossing method and lane attributes.

[0016] In some optional implementation manners, the saturation processing module is further used to: For any lane corresponding to any phase, based on the saturation flow rate and green light duration of the lane, determine the saturation traffic information of the lane; Determining the saturation of the lane based on the saturated traffic information of the lane and the arrival flow of the lane in the target period; An initial saturation of the phase is determined based on the saturations of all lanes corresponding to the phase.

[0017] In some optional implementation manners, the saturation processing module is specifically used to: For any non-overlapping phase of the target cycle, taking the maximum value of the initial saturation of the phase in the non-overlapping phase as the corrected saturation of the phase in the non-overlapping phase; For the overlap phase of the target cycle, the initial saturation is adjusted based on whether there is a phase that is always released during the overlap phase to obtain the modified saturation.

[0018] In some optional implementation manners, the saturation processing module is specifically used to: If there is a phase that is always released during the overlap phase, determining at least one critical path during the overlap phase; Determining the saturation of any critical path based on the initial saturations of all phases corresponding to the critical path; For any phase corresponding to the critical path, a corrected saturation of the phase is determined based on an initial saturation of the phase, a saturation of the critical path, and a maximum saturation value of all critical paths.

[0019] In some optional implementation manners, the saturation processing module is specifically used to: If no phase is released during the overlapping stage, the initial saturation of the non-overlapping phase is used as the corrected saturation; wherein the non-overlapping phase is a phase released during an overlapping stage; For any overlapping phase, determining an initial saturation difference between the overlapping phase and a non-overlapping phase in the same overlapping stage; wherein the overlapping phase is a phase released in multiple overlapping stages; Based on the difference and the initial saturation of the non-overlapping phase of the same overlapping stage, a modified saturation of the overlapping phase is determined.

[0020] In some optional implementation manners, the template selection module is specifically used to: For any release template, determining the saturation difference between the corrected saturation of each phase of the target cycle and the initial saturation; The sum of the saturation differences corresponding to all phases of the target cycle is determined as the difference value corresponding to the release template; The release template with the smallest difference value is used as the candidate release template corresponding to the target period.

[0021] Some optional implementations further include a phase control module, which is used to: After the template selection module determines the target release template corresponding to the target time period, if the target release template is different from the current release template of the target intersection, a ratio between a first difference value and a second difference value in the current period is determined; wherein the first difference value is determined based on the corrected saturation and the initial saturation of each phase of the target release template; and the second difference value is determined based on the corrected saturation and the initial saturation of each phase of the current release template; If the ratio is less than a preset threshold, the phase of the target intersection in the target time period is controlled based on the target release template.

[0022] In a third aspect, an embodiment of the present application provides an electronic device, comprising at least one processor and at least one memory, wherein the memory stores a computer program, and when the program is executed by the processor, the processor executes any intersection phase control method described in the first aspect.

[0023] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium storing a computer program executable by a processor, wherein when the program runs on the processor, the processor executes the intersection phase control method described in any one of the first aspects above.

[0024] In this embodiment, based on the intersection setting information, a release template that matches the setting of the target intersection is determined; when the target intersection corresponds to multiple release templates, the initial saturation of the phase of the target intersection in the target cycle is adjusted by each release template to obtain the corrected saturation of the phase of the target cycle when each release template is used; by comparing the initial saturation and the corrected saturation corresponding to each release template, the candidate release templates in each target cycle (the release template applicable to each target cycle) are refined; and then the candidate release templates corresponding to multiple target cycles in the target time period are integrated to determine a target release template that is more suitable in the target time period (including the release methods of each stage within a cycle), so as to accurately determine the appropriate phase release order for the intersection. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 A schematic diagram of a first indicator light provided in an embodiment of the present application; Figure 2 A schematic diagram of a second indicator light provided in an embodiment of the present application; Figure 3 A schematic flow chart of a first intersection phase control method provided in an embodiment of the present application; Figure 4 A schematic diagram of a release template for a first intersection provided in an embodiment of the present application; Figure 5 A schematic diagram of a second type of intersection release template provided in an embodiment of the present application; Figure 6 A schematic diagram of a release template for a third intersection provided in an embodiment of the present application; Figure 7 A schematic diagram of a release template for a fourth intersection provided in an embodiment of the present application; Figure 8 A schematic diagram of a release template for a fifth intersection provided in an embodiment of the present application; Fig. 9 A schematic diagram of a release template for a sixth intersection provided in an embodiment of the present application; Fig.10 A schematic diagram of a seventh type of release template for an intersection provided in an embodiment of the present application; Fig.11 A schematic diagram of a release template for an eighth intersection provided in an embodiment of the present application; Fig.12 A schematic diagram of a ninth type of release template for an intersection provided in an embodiment of the present application; Fig.13 A schematic diagram of a release template for a first T-junction provided in an embodiment of the present application; Fig.14 A schematic diagram of a release template for a second T-junction provided in an embodiment of the present application; Fig.15 A schematic diagram of a release template for a third T-junction provided in an embodiment of the present application; Fig.16 A schematic diagram of a release template for a fourth T-junction provided in an embodiment of the present application; Fig.17 A schematic diagram of a release template for a fifth T-junction provided in an embodiment of the present application; Fig.18 A schematic diagram of a release template for a sixth T-junction provided in an embodiment of the present application; Fig.19 A schematic diagram of a release template for a seventh T-junction provided in an embodiment of the present application; Fig. 20 A schematic diagram of the target cycle phases provided by the embodiment of the present application; Fig.21 A schematic diagram of the structure of a road intersection phase control device provided in an embodiment of the present application; Fig. 22 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all 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 the present application.

[0028] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0029] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense, for example, it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal connection of two devices. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0030] With the rapid development of cities, traffic is becoming increasingly busy. Intersections are an important part of the road traffic network and a key node for the gathering, dispersion and conversion of traffic flows. The release order of traffic lights directly affects the traffic efficiency and driving safety of vehicles. A reasonable release order can reduce vehicle waiting time and improve road traffic capacity. Otherwise, it may lead to traffic congestion and safety hazards.

[0031] See also Figure 1 As shown, some intersections have circular lights as indicator lights; see Figure 2 As shown, some indicator lights at intersections are arrow lights.

[0032] In the related technology, based on queuing theory, each entrance lane of an unbalanced intersection is regarded as a multi-way queuing and multi-channel service system, and the average queue length behind the stop line of the intersection entrance lane is calculated. The signal phase of the intersection is optimized based on the average queue length of each entrance lane.

[0033] The above scheme is applicable to scenarios that follow exponential distribution. However, in actual applications, the assumption that the distribution of vehicles arriving at an intersection is affected by the surrounding adjacent intersections may not hold true, resulting in the average queue data used not being consistent with actual traffic demand. Therefore, the above method is difficult to accurately determine the appropriate phase release order for the intersection.

[0034] In view of this, the embodiments of the present application propose a method, device and electronic device for controlling phase of an intersection, so as to accurately determine the appropriate phase release sequence of an intersection.

[0035] The following will be combined with the accompanying drawings and specific embodiments to describe in detail the technical solution of the present application and how the technical solution of the present application solves the above technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0036] Figure 3 A schematic diagram of the flow chart of the first intersection phase control method provided in the embodiment of the present application, such as Figure 3 As shown, the following steps are included: Step S301: Based on the intersection setting information of the target intersection, determine the release template corresponding to the target intersection.

[0037] Among them, each release template includes the release method at each stage within a cycle.

[0038] In implementation, different templates are adapted for intersections with different intersection setting information, and some templates are not applicable to some setting conditions; Based on this, this embodiment first preliminarily determines a release template corresponding to the target intersection based on the intersection setting information of the target intersection.

[0039] Step S302: If the target intersection corresponds to multiple release templates, for any release template, the initial saturation of the phase of the target intersection in the target cycle is adjusted based on the release template to obtain a corrected saturation of the phase of the target cycle.

[0040] In implementation, when a target intersection corresponds to multiple release templates, different templates have different degrees of adaptation to the target intersection; Based on this, this embodiment adjusts the initial saturation of the phase of the target intersection in the target cycle through each release template, and obtains the corrected saturation of the phase of the target cycle when each release template is used.

[0041] Step S303: Based on the initial saturation and the modified saturation of the phase of the target period, select a candidate release template corresponding to the target period from the multiple release templates.

[0042] After determining the corrected saturation of the phase of the target period when using each release template, the candidate release templates in each target period (the release templates applicable to each target period) are refined by comparing the initial saturation and the corrected saturation corresponding to each release template.

[0043] Step S304: Determine a target release template corresponding to the target time period based on candidate release templates corresponding to multiple target periods in the target time period.

[0044] The above scheme determines the release template that matches the setting of the target intersection based on the intersection setting information; when the target intersection corresponds to multiple release templates, the initial saturation of the phase of the target intersection in the target cycle is adjusted by each release template to obtain the corrected saturation of the phase of the target cycle when each release template is used; by comparing the initial saturation and the corrected saturation corresponding to each release template, the candidate release templates in each target cycle (the release template applicable to each target cycle) are refined; and then the candidate release templates corresponding to multiple target cycles in the target time period are integrated to determine the target release template that is more suitable in the target time period (including the release methods of each stage in a cycle), so as to accurately determine the appropriate phase release order of the intersection.

[0045] In some optional implementation manners, before the above step S301, the following steps are further performed: It is determined that the target intersection satisfies a channelization condition.

[0046] This embodiment does not specifically limit the channelization conditions, such as including the following conditions: The number of entrance lanes is less than or equal to four, such as the intersection is a crossroad or T-junction; There are one or more import no-wait zones; There is no left turn external.

[0047] In some optional implementation manners, the above step S301 may be implemented by but not limited to the following methods: Selecting, from the preset release templates corresponding to the entrance lane number of the target intersection, a preset release template that satisfies various intersection setting information of the target intersection as the release template corresponding to the target intersection; The intersection setting information includes part or all of the waiting area setting information, non-motor vehicle crossing method and lane attributes.

[0048] During implementation, different preset release templates are set for different numbers of import lanes.

[0049] See also Figures 4 to 12 As shown, there are several preset release templates corresponding to the intersections provided in this embodiment. These release templates take the north-south direction as an example, and the east-west direction is the same, so they will not be given one by one. Among them: Figure 4 The release template includes the north-south straight left release stage, which is recorded as the preset release template 1; Figure 5 is a release template that includes the two release stages of north entrance straight left and south entrance straight left. The duration constraints are north straight = north left turn, south straight = south left turn, which is recorded as preset release template 2; Figure 6 is a release template that includes two release stages: south-north straight driving and south-north left turning. The duration constraints are south straight driving = north straight driving, south left turning = north left turning. It is recorded as preset release template 3; Figure 7 The release template includes the two release stages of north exit straight left + north straight south straight left, and the duration constraint is north straight = north left turn + south roundabout, which is recorded as preset release template 4; Figure 8 The release template includes the two release stages of south entrance straight left + south straight north straight left, and the duration constraint is south left turn < south straight go < south left turn + north roundabout, which is recorded as preset release template 5; Fig. 9 is a release template that includes three release stages: north exit left straight + south-north left turn + south exit left straight, and the duration constraints are north left turn > north straight, and south left turn > south straight, recorded as preset release template 6; Fig.10is a release template including the three release stages of north exit left turn + south-north straight going + south exit left turn, with a duration constraint of north left turn < north straight going, and south left turn < south straight going, recorded as preset release template 7; Fig.11 is a release template that includes three release stages: north-south straight driving + north exit straight left driving + north-south left turn driving. The duration constraints are north straight driving > south straight driving, and north left turn > south left turn driving. It is recorded as preset release template 8; Fig.12 It is a release template that includes three release stages: south-north straight driving, south-left driving, and south-north left turning. The duration constraints are south straight driving > north straight driving, and south left turning > north left turning. It is recorded as preset release template 9.

[0050] See also Figures 13 to 19 As shown in the figure, there are several preset release templates corresponding to the T-shaped intersection provided in this embodiment. Among them: Fig.13 is a release template including three release stages: east-west straight driving + east left turn + west left turn, and the duration constraint is west straight driving = east straight driving, recorded as preset release template 10; Fig.14 is a release template including three release stages: east-west straight going + east-west left turn + south left turn, with duration constraints of west straight going = east straight going, and west U-turn = east U-turn, recorded as preset release template 11; Fig.15 is a release template including the two release stages of west straight, east straight left and south left turn, recorded as preset release template 12; Fig.16 is a release template including three release stages: west straight U-turn + east straight left + south left turn, and the duration constraint is west straight = west U-turn, and east left turn = east straight, recorded as preset release template 13; Fig.17 is a release template including the four release stages of west straight U-turn + east-west straight + east straight left + west left turn, and the duration constraints are west straight > west U-turn, east straight > east left turn, recorded as preset release template 14; Fig.18 is a release template including three release stages: east-west straight + east straight left + south left turn, and the duration constraint is east straight = west straight + east left turn, recorded as preset release template 15; Fig.19 It is a release template including three release stages: east-west straight driving + east left turn + east straight south left. The duration constraint is east straight driving = west straight driving + south left turn. It is recorded as preset release template 16.

[0051] In the preset release template corresponding to the entrance lane number, the release template corresponding to the target intersection is selected based on the waiting area setting information, the non-motor vehicle crossing method and part or all of the lane attributes.

[0052] Still taking the preset release templates of the above-mentioned intersections as an example, the preset release templates of the intersections that meet the setting information of each intersection can be shown in Table 1: Table 1

[0053] Referring to Table 1, for the cross target intersection, a preset release template that satisfies each intersection setting information is determined, and then the preset release template that satisfies all intersection setting information of the target intersection is used as the release template corresponding to the target intersection.

[0054] If the waiting area setting information of the target intersection is a south through waiting area or a north through waiting area, the target intersection corresponds to the current release template.

[0055] Still taking the above-mentioned preset release templates of the T-shaped intersections as an example, the preset release templates of the T-shaped intersections that meet the setting information of each intersection can be referred to as shown in Table 2: Table 2

[0056] As shown in Table 2, for a T-shaped target intersection, a preset release template that satisfies each intersection setting information is determined, and then the preset release template that satisfies all intersection setting information of the target intersection is used as the release template corresponding to the target intersection.

[0057] If the waiting area setting information of the target intersection is other waiting area settings, the target intersection corresponds to the current release template.

[0058] In some optional implementations, the initial saturation of the phase is determined by: For any lane corresponding to any phase, based on the saturation flow rate and green light duration of the lane, determine the saturation traffic information of the lane; Determining the saturation of the lane based on the saturated traffic information of the lane and the arrival flow of the lane in the target period; An initial saturation of the phase is determined based on the saturations of all lanes corresponding to the phase.

[0059] In implementation, one phase may correspond to one or more lanes, and the traffic flow in each lane is different; based on this, this embodiment first determines the saturation of the lane for each lane in the phase.

[0060] For example, the saturation S of lane m m =Q m / R m ; Among them, Q m is the arrival flow of lane m in the target cycle, in units of standard vehicle equivalents (pcu / cycle); R mis the saturated capacity of the lane, in pcu / cycle; R m =X m g m ; Among them, X m is the preset lane saturation flow rate, in pcu / unit time; g m The duration of the green light; Q m =q now +q now,s -q last,s ; Among them, q now is the traffic volume of lane m in the target cycle, q now,s is the target period stranded vehicle, q last,s The vehicles stranded in the previous cycle of the target cycle; q now,s =P∙(L dn -L t ) / L c ; Where P is the preset space occupancy (%), L c is the preset vehicle length (such as 4.8m), L dn is the detection range of the detector in the target cycle, L t is the redundant distance (the distance between the detector and the lane detection line); q last,s =P∙(L dl -L t ) / L c ; Where P is the preset space occupancy (%), L c is the preset vehicle length, L dl is the detection range of the detector in the previous cycle, L t is the redundant distance.

[0061] After the saturations of all lanes corresponding to the phase are determined, the initial saturation of the phase is determined based on the saturations of these lanes.

[0062] For example, the initial saturation S of phase p p =max{S m}∀m∈p; where S m is the lane corresponding to phase p, that is, the maximum saturation value (max) of all lanes corresponding to the phase is taken as the initial saturation of the phase.

[0063] The above scheme accurately determines the saturation of each lane based on the lane's saturated traffic information and the lane's arrival flow in the target period; and then determines the initial saturation that reflects the ideal saturation condition of the phase.

[0064] In some optional implementation manners, the above step S302 may be implemented by but not limited to the following methods: For any non-overlapping phase of the target cycle, taking the maximum value of the initial saturation of the phase in the non-overlapping phase as the corrected saturation of the phase in the non-overlapping phase; For the overlap phase of the target cycle, the initial saturation is adjusted based on whether there is a phase that is always released during the overlap phase to obtain the modified saturation.

[0065] A complete cycle includes an overlap phase and a non-overlap phase. Fig. 20 In the target cycle shown, phase 1, phase 2, and phase 3 are overlapping phases, and phase 4 and phase 5 are non-overlapping phases.

[0066] Different methods are used to perform saturation correction in the overlapping stage and the non-overlapping stage.

[0067] For each non-overlapping stage, the maximum value of the initial saturation of the phase is used as the corrected saturation of the phase in the non-overlapping stage.

[0068] With the above Fig. 20 Taking stage 4 in as an example, there are two phases, east straight and west straight. The initial saturation of these two phases is compared, and the largest initial saturation is used as the corrected saturation of these two phases.

[0069] For the overlapping stage, it is necessary to adopt a corresponding correction method according to whether there is a phase that is always released during the overlapping stage.

[0070] See also Fig.18 As shown, in the overlap phase (east-west straight + east-straight left), there is a phase that is always released (east-straight); See also Fig. 20 As shown, no phase is always released during the overlapping stages (stage 1, stage 2, stage 3).

[0071] In some optional implementations, the situation where a phase is always released during the overlap stage can be corrected by, but not limited to, the following methods: determining at least one critical path in the stitching phase; Determining the saturation of any critical path based on the initial saturations of all phases corresponding to the critical path; For any phase corresponding to the critical path, a corrected saturation of the phase is determined based on an initial saturation of the phase, a saturation of the critical path, and a maximum saturation value of all critical paths.

[0072] For example, according to the phases of each stage, the critical path Path in the overlap stage is determined, the total release duration of the phases in the critical path is equal to the duration of the overlap stage, and the adjacent phases on the path cannot be released at the same time. In other words, the previous and next phases in a critical path are not released at the same time, and all phases run through the entire overlap stage.

[0073] The initial saturation of all phases on each critical path is counted, such as taking the sum of the initial saturation of all phases on each critical path as the saturation of the critical path. That is, the saturation of critical path i Path i is the critical path i, S p is the initial saturation of phase p on critical path i.

[0074] Finally, based on the initial saturation of each phase corresponding to the critical path, the saturation of the critical path, and the maximum saturation of all critical paths, the corrected saturation of the phase is determined. Among them, S p is the initial saturation of phase p on critical path i, S total,i is the saturation of critical path i, S max is the maximum saturation value of all critical paths.

[0075] In implementation, there may be a phase that is not in any critical path, and the first preset saturation may be used as the modified saturation of the bit.

[0076] In implementation, there may be phases in multiple critical paths. Multiple corrected saturations corresponding to the phases may be determined in the above manner, and the maximum value thereof may be used as the final corrected saturation.

[0077] In some optional implementations, the situation where a phase is always released during the overlap stage can be corrected by, but not limited to, the following methods: The initial saturation of the non-overlapping phase is used as the corrected saturation; wherein the non-overlapping phase is a phase released in an overlapping stage; For any overlapping phase, determining an initial saturation difference between the overlapping phase and a non-overlapping phase in the same overlapping stage; wherein the overlapping phase is a phase released in multiple overlapping stages; Based on the difference and the initial saturation of the non-overlapping phase of the same overlapping stage, a modified saturation of the overlapping phase is determined.

[0078] In this embodiment, in the overlapping phase group, all phases are divided into overlapping phases (released in multiple overlapping phases) and non-overlapping phases (released in only one overlapping phase); The initial saturation of the non-overlapping phase is taken as the corrected saturation, that is, the corrected saturation of the non-overlapping phase p,no , S p,no is the initial saturation of the non-overlap phase p,no; Determine the non-overlapping phase that is in the same overlapping phase as the overlapping phase (there may be multiple non-overlapping phases in the same overlapping phase); Then, the initial saturation difference between the overlapped phase and the non-overlapped phase of the same overlapped stage is determined; Based on the difference and the initial saturation of the non-overlapping phase of the same overlapping stage, the corrected saturation of the overlapping phase is determined.

[0079] For example, , p,o∈P i , p,no∈P i ; Among them, S p,o is the initial saturation of the overlap phase p,o, S p,no is the initial saturation of the non-overlap phase p,no, P i is the phase of the overlap stage i; from Select the maximum value corresponding to p and o ; Based on the maximum value corresponding to the overlap phase p, o, the target difference of p, o is determined, such as the target difference ; Wherein, S2 is the second preset saturation, and the second preset saturation can be selected to be infinite (+∞); Corrected saturation of overlap phase p,o ; Among them, S p,no is the initial saturation of the non-overlapping phase p,no, is the target difference mentioned above.

[0080] The above method of determining the corrected saturation of the overlapping phase is only an exemplary description. In implementation, other methods may be used to determine the corrected saturation of the overlapping phase based on the initial saturation difference between the overlapping phase and the non-overlapping phase of the same overlapping stage.

[0081] In some optional implementation manners, the above step S303 may be implemented by but not limited to the following methods: For any release template, determining the saturation difference between the corrected saturation of each phase of the target cycle and the initial saturation; The sum of the saturation differences corresponding to all phases of the target cycle is determined as the difference value corresponding to the release template; The release template with the smallest difference value is used as the candidate release template corresponding to the target period.

[0082] Exemplarily, for release template i, determine the sum of the saturation differences corresponding to all phases of the target period ;in, is the corrected saturation of the target cycle phase p, S p is the initial saturation of the target cycle phase p; Determine the minimum difference value The corresponding release template is a candidate release template corresponding to the target period.

[0083] In some optional implementation manners, the above step S304 may be implemented by but not limited to the following methods: The candidate release template with the largest number of occurrences in the target period is used as the target release template corresponding to the target period.

[0084] During implementation, by selecting the candidate release template with the largest number of occurrences in the target period, the candidate release template has the largest frequency of occurrence in the target period, and the candidate release template is used as the target release template corresponding to the target period.

[0085] In some optional implementation manners, after the above step S304, the following steps may also be performed: If the target release template is different from the current release template of the target intersection, determine the ratio between the first difference value and the second difference value in the current period; wherein the first difference value is determined based on the corrected saturation and the initial saturation of each phase of the target release template; and the second difference value is determined based on the corrected saturation and the initial saturation of each phase of the current release template; If the ratio is less than a preset threshold, the phase of the target intersection in the target time period is controlled based on the target release template.

[0086] In implementation, when phase control is triggered, the target release template and the current release template of the target intersection may be the same or different. If the target release template is the same as the current release template of the target intersection, the current release template can continue to be used during the target period.

[0087] If the target release template is different from the current release template of the target intersection, it is not directly adjusted to the target release template, but the first difference value is determined based on the corrected saturation and initial saturation of each phase of the target release template of the current period. ; Based on the corrected saturation and initial saturation of each phase of the current release template in the current cycle, determine the second difference value ; The method for determining the first difference value and the second difference value can refer to the above-mentioned method for determining the difference value corresponding to the release template, which will not be repeated here.

[0088] Then, a ratio between the first difference value and the second difference value is determined. If the ratio is less than a preset threshold, the target release mode is switched to control the phase of the target intersection in the target time period.

[0089] If the ratio is greater than or equal to the preset threshold, the current release template can continue to be used during the target period.

[0090] This embodiment does not specifically limit the preset threshold θ, such as 0<θ≤1.

[0091] like Fig.21 As shown, the embodiment of the present application provides a road intersection phase control device 2100, the device comprising: The template selection module 2101 is used to determine the release template corresponding to the target intersection based on the intersection setting information of the target intersection; wherein each release template includes a release mode at each stage within a cycle; The saturation processing module 2102 is used for adjusting the initial saturation of the phase of the target intersection in the target cycle based on any release template if the target intersection corresponds to multiple release templates, so as to obtain the corrected saturation of the phase of the target cycle; The template selection module 2101 is further configured to select a candidate release template corresponding to the target period from the multiple release templates based on the initial saturation and the modified saturation of the phase of the target period; The template selection module 2101 is further configured to determine a target release template corresponding to the target time period based on candidate release templates corresponding to multiple target periods in the target time period.

[0092] In some optional implementation manners, the template selection module 2101 is specifically used to: Selecting, from the preset release templates corresponding to the entrance lane number of the target intersection, a preset release template that satisfies various intersection setting information of the target intersection as the release template corresponding to the target intersection; The intersection setting information includes part or all of the waiting area setting information, non-motor vehicle crossing method and lane attributes.

[0093] In some optional implementations, the saturation processing module 2102 is further used for: For any lane corresponding to any phase, based on the saturation flow rate and green light duration of the lane, determine the saturation traffic information of the lane; Determining the saturation of the lane based on the saturated traffic information of the lane and the arrival flow of the lane in the target period; An initial saturation of the phase is determined based on the saturations of all lanes corresponding to the phase.

[0094] In some optional implementation manners, the saturation processing module 2102 is specifically used to: For any non-overlapping phase of the target cycle, taking the maximum value of the initial saturation of the phase in the non-overlapping phase as the corrected saturation of the phase in the non-overlapping phase; For the overlap phase of the target cycle, the initial saturation is adjusted based on whether there is a phase that is always released during the overlap phase to obtain the modified saturation.

[0095] In some optional implementation manners, the saturation processing module 2102 is specifically used to: If there is a phase that is always released during the overlap phase, determining at least one critical path during the overlap phase; Determining the saturation of any critical path based on the initial saturations of all phases corresponding to the critical path; For any phase corresponding to the critical path, a corrected saturation of the phase is determined based on an initial saturation of the phase, a saturation of the critical path, and a maximum saturation value of all critical paths.

[0096] In some optional implementation manners, the saturation processing module 2102 is specifically used to: If no phase is released during the overlapping stage, the initial saturation of the non-overlapping phase is used as the corrected saturation; wherein the non-overlapping phase is a phase released during an overlapping stage; For any overlapping phase, determining an initial saturation difference between the overlapping phase and a non-overlapping phase in the same overlapping stage; wherein the overlapping phase is a phase released in multiple overlapping stages; Based on the difference and the initial saturation of the non-overlapping phase of the same overlapping stage, a modified saturation of the overlapping phase is determined.

[0097] In some optional implementation manners, the template selection module 2101 is specifically used to: For any release template, determining the saturation difference between the corrected saturation of each phase of the target cycle and the initial saturation; The sum of the saturation differences corresponding to all phases of the target cycle is determined as the difference value corresponding to the release template; The release template with the smallest difference value is used as the candidate release template corresponding to the target period.

[0098] Some optional implementations further include a phase control module 2103, which is used to: After the template selection module 2101 determines the target release template corresponding to the target time period, if the target release template is different from the current release template of the target intersection, the ratio between the first difference value and the second difference value in the current period is determined; wherein the first difference value is determined based on the corrected saturation and the initial saturation of each phase of the target release template; and the second difference value is determined based on the corrected saturation and the initial saturation of each phase of the current release template; If the ratio is less than a preset threshold, the phase of the target intersection in the target time period is controlled based on the target release template.

[0099] Since the device is the device in the method in the embodiment of the present application, and the principle of solving the problem by the device is similar to that of the method, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0100] Based on the same technical concept, the embodiment of the present application also provides an electronic device 2200, such as Fig. 22 As shown, it includes at least one processor 2201 and a memory 2202 connected to the at least one processor. The specific connection medium between the processor 2201 and the memory 2202 is not limited in the embodiment of the present application. Fig. 22 For example, the processor 2201 and the memory 2202 are connected via a bus 2203. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig. 22 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0101] Among them, the processor 2201 is the control center of the electronic device, which can use various interfaces and lines to connect various parts of the electronic device, and realize data processing by running or executing instructions stored in the memory 2202 and calling data stored in the memory 2202. Optionally, the processor 2201 may include one or more processing units, and the processor 2201 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, etc., and the modem processor mainly processes the issuance of instructions. It is understandable that the above-mentioned modem processor may not be integrated into the processor 2201. In some embodiments, the processor 2201 and the memory 2202 may be implemented on the same chip, and in some embodiments, they may also be implemented separately on independent chips.

[0102] The processor 2201 may be a general-purpose processor, such as a CPU, a digital signal processor, an application-specific integrated circuit (ASIC), a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component, and may implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of the present application. A general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the method disclosed in the embodiment of the intersection phase control method may be directly embodied as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0103] The memory 2202 is a non-volatile computer-readable storage medium that can be used to store non-volatile software programs, non-volatile computer executable programs and modules. The memory 2202 may include at least one type of storage medium, such as a flash memory, a hard disk, a multimedia card, a card-type memory, a random access memory (Random Access Memory, RAM), a static random access memory (Static Random Access Memory, SRAM), a programmable read-only memory (Programmable Read Only Memory, PROM), a read-only memory (Read Only Memory, ROM), an electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), a magnetic memory, a disk, an optical disk, and the like. The memory 2202 is any other medium that can be used to carry or store the desired program code in the form of an instruction or data structure and can be accessed by a computer, but is not limited thereto. The memory 2202 in the embodiment of the present application can also be a circuit or any other device that can realize a storage function, for storing program instructions and / or data.

[0104] In the embodiment of the present application, the memory 2202 stores a computer program. When the program is executed by the processor 2201, the processor 2201 executes: Based on the intersection setting information of the target intersection, determine the release template corresponding to the target intersection; wherein each release template includes a release mode at each stage within a cycle; If the target intersection corresponds to multiple release templates, for any release template, the initial saturation of the phase of the target intersection in the target cycle is adjusted based on the release template to obtain a corrected saturation of the phase of the target cycle; Selecting a candidate release template corresponding to the target period from the multiple release templates based on the initial saturation and the modified saturation of the phase of the target period; Based on candidate release templates corresponding to multiple target periods in the target time period, a target release template corresponding to the target time period is determined.

[0105] In some optional implementation manners, the processor 2201 specifically performs: Selecting, from the preset release templates corresponding to the entrance lane number of the target intersection, a preset release template that satisfies various intersection setting information of the target intersection as the release template corresponding to the target intersection; The intersection setting information includes part or all of the waiting area setting information, non-motor vehicle crossing method and lane attributes.

[0106] In some optional implementations, the processor 2201 further executes: For any lane corresponding to any phase, based on the saturation flow rate and green light duration of the lane, determine the saturation traffic information of the lane; Determining the saturation of the lane based on the saturated traffic information of the lane and the arrival flow of the lane in the target period; An initial saturation of the phase is determined based on the saturations of all lanes corresponding to the phase.

[0107] In some optional implementation manners, the processor 2201 specifically performs: For any non-overlapping phase of the target cycle, taking the maximum value of the initial saturation of the phase in the non-overlapping phase as the corrected saturation of the phase in the non-overlapping phase; For the overlap phase of the target cycle, the initial saturation is adjusted based on whether there is a phase that is always released during the overlap phase to obtain the modified saturation.

[0108] In some optional implementation manners, the processor 2201 specifically performs: If there is a phase that is always released during the overlap phase, determining at least one critical path during the overlap phase; Determining the saturation of any critical path based on the initial saturations of all phases corresponding to the critical path; For any phase corresponding to the critical path, a corrected saturation of the phase is determined based on an initial saturation of the phase, a saturation of the critical path, and a maximum saturation value of all critical paths.

[0109] In some optional implementation manners, the processor 2201 specifically performs: If no phase is released during the overlapping stage, the initial saturation of the non-overlapping phase is used as the corrected saturation; wherein the non-overlapping phase is a phase released during an overlapping stage; For any overlapping phase, determining an initial saturation difference between the overlapping phase and a non-overlapping phase in the same overlapping stage; wherein the overlapping phase is a phase released in multiple overlapping stages; Based on the difference and the initial saturation of the non-overlapping phase of the same overlapping stage, a modified saturation of the overlapping phase is determined.

[0110] In some optional implementation manners, the processor 2201 specifically performs: For any release template, determining the saturation difference between the corrected saturation of each phase of the target cycle and the initial saturation; The sum of the saturation differences corresponding to all phases of the target cycle is determined as the difference value corresponding to the release template; The release template with the smallest difference value is used as the candidate release template corresponding to the target period.

[0111] In some optional implementations, after determining the target release template corresponding to the target time period, the processor 2201 further executes: If the target release template is different from the current release template of the target intersection, determine the ratio between the first difference value and the second difference value in the current period; wherein the first difference value is determined based on the corrected saturation and the initial saturation of each phase of the target release template; and the second difference value is determined based on the corrected saturation and the initial saturation of each phase of the current release template; If the ratio is less than a preset threshold, the phase of the target intersection in the target time period is controlled based on the target release template.

[0112] Since the electronic device is the electronic device in the method in the embodiment of the present application, and the principle of solving the problem by the electronic device is similar to that of the method, the implementation of the electronic device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0113] Based on the same technical concept, an embodiment of the present application also provides a computer-readable storage medium, which stores a computer program executable by a processor. When the program runs on the processor, the processor executes the steps of the above-mentioned intersection phase control method.

[0114] In some optional embodiments, various aspects of the intersection phase control method provided in the present application may also be implemented in the form of a program product, which contains computer-executable instructions. When the program product is run on a computer device, the computer-executable instructions are used to enable the computer device to execute the steps of the intersection phase control method according to various exemplary embodiments of the present application described above in this specification.

[0115] 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 combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0116] 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 block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0117] 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 comprising 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.

[0118] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0119] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0120] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A method for controlling a phase of an intersection, characterized in that: The method includes: Based on the intersection setting information of the target intersection, determine the release template corresponding to the target intersection; wherein each release template includes a release mode at each stage within a cycle; If the target intersection corresponds to multiple release templates, for any release template, the initial saturation of the phase of the target intersection in the target cycle is adjusted based on the release template to obtain a corrected saturation of the phase of the target cycle; Selecting a candidate release template corresponding to the target period from the multiple release templates based on the initial saturation and the modified saturation of the phase of the target period; Based on candidate release templates corresponding to multiple target periods in the target time period, a target release template corresponding to the target time period is determined.

2. The method according to claim 1, characterized in that Determining a release template corresponding to the target intersection based on the intersection setting information of the target intersection includes: Selecting, from the preset release templates corresponding to the entrance lane number of the target intersection, a preset release template that satisfies various intersection setting information of the target intersection as the release template corresponding to the target intersection; The intersection setting information includes part or all of the waiting area setting information, non-motor vehicle crossing method and lane attributes.

3. The method according to claim 1, characterized in that The initial saturation of the phase is determined by: For any lane corresponding to any phase, based on the saturation flow rate and green light duration of the lane, determine the saturation traffic information of the lane; Determining the saturation of the lane based on the saturated traffic information of the lane and the arrival flow of the lane in the target period; An initial saturation of the phase is determined based on the saturations of all lanes corresponding to the phase.

4. The method according to claim 1, characterized in that The initial saturation of the phase of the target intersection in the target cycle is adjusted based on the release template to obtain a corrected saturation of the phase of the target cycle, including: For any non-overlapping phase of the target cycle, taking the maximum value of the initial saturation of the phase in the non-overlapping phase as the corrected saturation of the phase in the non-overlapping phase; For the overlap phase of the target cycle, the initial saturation is adjusted based on whether there is a phase that is always released during the overlap phase to obtain the modified saturation.

5. The method according to claim 4, characterized in that Based on whether there is a phase that is always released during the overlap stage, the initial saturation is adjusted to obtain the modified saturation, including: If there is a phase that is always released during the overlap phase, determining at least one critical path during the overlap phase; Determining the saturation of any critical path based on the initial saturations of all phases corresponding to the critical path; For any phase corresponding to the critical path, a corrected saturation of the phase is determined based on an initial saturation of the phase, a saturation of the critical path, and a maximum saturation value of all critical paths.

6. The method according to claim 4, characterized in that Based on whether there is a phase that is always released during the overlap stage, the initial saturation is adjusted to obtain the modified saturation, including: If no phase is released during the overlapping stage, the initial saturation of the non-overlapping phase is used as the corrected saturation; wherein the non-overlapping phase is a phase released during an overlapping stage; For any overlapping phase, determining an initial saturation difference between the overlapping phase and a non-overlapping phase in the same overlapping stage; wherein the overlapping phase is a phase released in multiple overlapping stages; Based on the difference and the initial saturation of the non-overlapping phase of the same overlapping stage, a modified saturation of the overlapping phase is determined.

7. The method according to claim 1, characterized in that Selecting a candidate release template corresponding to the target period from the multiple release templates based on the initial saturation and the modified saturation of the phase of the target period includes: For any release template, determining the saturation difference between the corrected saturation of each phase of the target cycle and the initial saturation; The sum of the saturation differences corresponding to all phases of the target cycle is determined as the difference value corresponding to the release template; The release template with the smallest difference value is used as the candidate release template corresponding to the target period.

8. The method according to claim 1, characterized in that After determining the target release template corresponding to the target time period, the method further includes: If the target release template is different from the current release template of the target intersection, determine the ratio between the first difference value and the second difference value in the current period; wherein the first difference value is determined based on the corrected saturation and the initial saturation of each phase of the target release template; and the second difference value is determined based on the corrected saturation and the initial saturation of each phase of the current release template; If the ratio is less than a preset threshold, the phase of the target intersection in the target time period is controlled based on the target release template.

9. A road intersection phase control device, characterized in that: The device includes: A template selection module, used to determine a release template corresponding to the target intersection based on the intersection setting information of the target intersection; wherein each release template includes a release mode at each stage within a cycle; A saturation processing module, for adjusting the initial saturation of the phase of the target intersection in the target cycle based on any release template if the target intersection corresponds to multiple release templates, to obtain a corrected saturation of the phase of the target cycle; The template selection module is further configured to select a candidate release template corresponding to the target period from the multiple release templates based on the initial saturation and the modified saturation of the phase of the target period; The template selection module is further used to determine the target release template corresponding to the target time period based on the candidate release templates corresponding to multiple target periods in the target time period.

10. An electronic device, characterized in that: The method comprises at least one processor and at least one memory, wherein the memory stores a computer program, and when the program is executed by the processor, the processor executes the method according to any one of claims 1 to 8.

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