An intersection phase control method, device and electronic device

Abstract

An embodiment of the present application provides an intersection phase control method, device and electronic device. The method includes: determining a release template corresponding to a target intersection based on the intersection setting information of the target intersection; where each release template includes the release modes of each stage within one cycle; if there are multiple release templates corresponding to the target intersection, then for any release template, adjusting the initial saturation of the phases of the target intersection in a target cycle based on the release template to obtain the corrected saturation of the phases of the target cycle; selecting a candidate release template corresponding to the target cycle from the multiple release templates based on the initial saturation and the corrected saturation of the phases of the target cycle; and determining a target release template corresponding to the target time period based on the candidate release templates corresponding to multiple target cycles in the target time period. This embodiment accurately determines the target release template suitable for the target time period, so as to accurately determine the appropriate phase release order of the intersection.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of traffic control, and in particular, to an intersection phase control method, device, and electronic device. 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 key nodes for the convergence, divergence, and conversion of traffic flows. The release sequence of traffic lights directly affects vehicle passing efficiency and driving safety. A reasonable release sequence can reduce vehicle waiting time and improve road passing capacity, otherwise it may lead to traffic congestion and safety hazards.

[0003] In the related art, based on queuing theory, each approach of an unbalanced intersection is regarded as a multi-channel service system with multiple queues, and the average queue length behind the stop line of each approach of the intersection is calculated. Based on the average queue length of each approach lane, the intersection signal phase is optimized.

[0004] The above solution is applicable to scenarios that follow an exponential distribution. However, in actual applications, the assumption that the distribution of vehicles arriving at the intersection is affected by adjacent intersections may not hold, resulting in the average queue data used not matching the actual traffic demand. Therefore, it is difficult to accurately determine the appropriate phase release sequence at the intersection by the above method. Summary of the Invention

[0005] The embodiments of the present application provide an intersection phase control method, device, and electronic device for accurately determining the appropriate phase release sequence at the intersection.

[0006] In a first aspect, the embodiments of the present application provide a first intersection phase control method, which includes:

[0007] Based on the intersection setting information of the target intersection, determine the release template corresponding to the target intersection; wherein, each release template includes the release method of each stage within one cycle.

[0008] If there are multiple release templates corresponding to the target intersection, then for any release template, adjust 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.

[0009] Based on the initial saturation and corrected saturation of the phase of the target cycle, select the candidate release template corresponding to the target cycle from the multiple release templates.

[0010] Based on the candidate release templates corresponding to multiple target cycles in the target time period, determine the target release template corresponding to the target time period.

[0011] In some alternative embodiments, determining a release template corresponding to the target intersection based on the intersection setting information of the target intersection includes:

[0012] Selecting a preset release template that meets the various intersection setting information of the target intersection from the preset release templates corresponding to the number of approach lanes of the target intersection as the release template corresponding to the target intersection;

[0013] Among them, the intersection setting information includes some or all of the approach area setting information, non-motor vehicle crossing method, and lane attributes.

[0014] In some alternative embodiments, the initial saturation of the phase is determined by the following method:

[0015] For any lane corresponding to any phase, determining the saturated traffic information of the lane based on the saturated flow rate and green light duration of the lane;

[0016] Based on the saturated traffic information of the lane and the arrival flow of the lane in the target cycle, determining the saturation of the lane;

[0017] Based on the saturations of all lanes corresponding to the phase, determining the initial saturation of the phase.

[0018] In some alternative embodiments, 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:

[0019] For any non-overlapping phase of the target cycle, taking the maximum value of the initial saturations of the phases in the non-overlapping phase as the corrected saturation of the phases in the non-overlapping phase;

[0020] For the overlapping phase of the target cycle, adjusting the initial saturation based on whether there is a phase that is always released in the overlapping phase to obtain the corrected saturation.

[0021] In some alternative embodiments, adjusting the initial saturation based on whether there is a phase that is always released in the overlapping phase to obtain the corrected saturation includes:

[0022] If there is a phase that is always released in the overlapping phase, determining at least one critical path in the overlapping phase;

[0023] Based on the initial saturations of all phases corresponding to any critical path, determining the saturation of the critical path;

[0024] For any phase corresponding to the critical path, based on the initial saturation of the phase, the saturation of the critical path, and the maximum saturation of all critical paths, determine the corrected saturation of the phase.

[0025] In some alternative embodiments, based on whether there is a phase that is always released during the overlapping stage, adjust the initial saturation to obtain the corrected saturation, including:

[0026] If there is no phase that is always released during the overlapping stage, use the initial saturation of the non-overlapping phase as the corrected saturation; wherein, the non-overlapping phase is the phase released during one overlapping stage.

[0027] For any overlapping phase, determine the initial saturation difference between the overlapping phase and the non-overlapping phases in the same overlapping stage; wherein, the overlapping phase is the phase released during multiple overlapping stages.

[0028] Based on the difference and the initial saturation of the non-overlapping phases in the same overlapping stage, determine the corrected saturation of the overlapping phase.

[0029] In some alternative embodiments, based on the initial saturation and the corrected saturation of the phases of the target cycle, select the candidate release template corresponding to the target cycle from the multiple release templates, including:

[0030] For any release template, determine the saturation difference between the corrected saturation and the initial saturation of each phase of the target cycle.

[0031] Determine the sum of the saturation differences corresponding to all phases of the target cycle as the difference value corresponding to the release template.

[0032] Use the release template with the smallest difference value as the candidate release template corresponding to the target cycle.

[0033] In some alternative embodiments, after determining the target release template corresponding to the target time period, further include:

[0034] 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 cycle; wherein, the first difference value is determined based on the corrected saturation and the initial saturation of each phase of the target release template; the second difference value is determined based on the corrected saturation and the initial saturation of each phase of the current release template.

[0035] If the ratio is less than the preset threshold, control the phases of the target intersection during the target time period based on the target release template.

[0036] In a second aspect, an embodiment of the present application provides a first intersection phase control device, which includes:

[0037] A template selection module, configured 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 the release modes of each stage within one cycle;

[0038] A saturation processing module, configured to, if there are multiple release templates corresponding to the target intersection, for any one of the release templates, adjust 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;

[0039] The template selection module is further configured to select a candidate release template corresponding to the target cycle from the multiple release templates based on the initial saturation and the corrected saturation of the phase of the target cycle;

[0040] The template selection module is further configured to determine a target release template corresponding to the target time period based on the candidate release templates corresponding to multiple target cycles in the target time period.

[0041] In some optional embodiments, the template selection module is specifically configured to:

[0042] Select a preset release template that meets the intersection setting information of the target intersection from the preset release templates corresponding to the number of approach lanes of the target intersection as the release template corresponding to the target intersection;

[0043] Wherein, the intersection setting information includes some or all of the approach area setting information, the non-motor vehicle crossing mode, and the lane attribute.

[0044] In some optional embodiments, the saturation processing module is further configured to:

[0045] For any lane corresponding to any phase, determine the saturated passing information of the lane based on the saturated flow rate and the green light duration of the lane;

[0046] Determine the saturation of the lane based on the saturated passing information of the lane and the arrival flow of the lane in the target cycle;

[0047] Determine the initial saturation of the phase based on the saturations of all lanes corresponding to the phase.

[0048] In some optional embodiments, the saturation processing module is specifically configured to:

[0049] For any non-overlapping stage of the target cycle, use the maximum value of the initial saturation of the phases in the non-overlapping stage as the corrected saturation of the phases in the non-overlapping stage;

[0050] For the overlapping stage of the target cycle, adjust the initial saturation based on whether there is a phase that is always released in the overlapping stage to obtain the corrected saturation.

[0051] In some alternative embodiments, the saturation processing module is specifically configured to:

[0052] If there is a phase that is always released in the overlapping stage, determine at least one critical path in the overlapping stage;

[0053] Based on the initial saturations of all phases corresponding to any critical path, determine the saturation of the critical path;

[0054] For any phase corresponding to the critical path, based on the initial saturation of the phase, the saturation of the critical path, and the maximum value of the saturations of all critical paths, determine the corrected saturation of the phase.

[0055] In some alternative embodiments, the saturation processing module is specifically configured to:

[0056] If there is no phase that is always released in the overlapping stage, use the initial saturation of the non-overlapping phase as the corrected saturation; wherein, the non-overlapping phase is the phase released in one overlapping stage;

[0057] For any overlapping phase, determine the difference between the initial saturations of the overlapping phase and the non-overlapping phase in the same overlapping stage; wherein, the overlapping phase is the phase released in multiple overlapping stages;

[0058] Based on the difference and the initial saturation of the non-overlapping phase in the same overlapping stage, determine the corrected saturation of the overlapping phase.

[0059] In some alternative embodiments, the template selection module is specifically configured to:

[0060] For any release template, determine the saturation difference between the corrected saturation and the initial saturation of each phase of the target cycle;

[0061] Determine the sum of the saturation differences corresponding to all phases of the target cycle as the difference value corresponding to the release template;

[0062] Use the release template with the smallest difference value as the candidate release template corresponding to the target cycle.

[0063] In some alternative embodiments, it further includes a phase control module for:

[0064] 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, determine the ratio between the first difference value and the second difference value in the current cycle; wherein, the first difference value is determined based on the corrected saturation and the initial saturation of each phase of the target release template; the second difference value is determined based on the corrected saturation and the initial saturation of each phase of the current release template.

[0065] If the ratio is less than the preset threshold, control the phases of the target intersection in the target time period based on the target release template.

[0066] In a third aspect, an embodiment of the present application provides an electronic device, including at least one processor and at least one memory. Among them, the memory stores a computer program, and when the program is executed by the processor, the processor is enabled to execute the intersection phase control method described in any one of the first aspects above.

[0067] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program executable by a processor. When the program runs on the processor, the processor is enabled to execute the intersection phase control method described in any one of the first aspects above.

[0068] In this embodiment, based on the intersection setting information, determine the release template that matches the settings of the target intersection; when there are multiple release templates corresponding to the target intersection, adjust the initial saturation of the phases of the target intersection in the target cycle through each release template to obtain the corrected saturation of the phases of the target cycle when using each release template; by comparing the initial saturation and the corrected saturation corresponding to each release template, refine the candidate release templates (release templates applicable to each target cycle) in each target cycle; and then comprehensively determine the candidate release templates corresponding to multiple target cycles in the target time period to determine a more suitable target release template (including the release methods of each stage within one cycle) in the target time period, so as to accurately determine the appropriate phase release order of the intersection. Description of the Drawings

[0069] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0070] Figure 1 It is the first schematic diagram of indicator lights provided by the embodiment of the present application;

[0071] Figure 2 The second schematic diagram of the indicator light provided by the embodiment of the present application;

[0072] Figure 3 The flow schematic diagram of the first intersection phase control method provided by the embodiment of the present application;

[0073] Figure 4 The release template schematic diagram of the first crossroads provided by the embodiment of the present application;

[0074] Figure 5 The release template schematic diagram of the second crossroads provided by the embodiment of the present application;

[0075] Figure 6 The release template schematic diagram of the third crossroads provided by the embodiment of the present application;

[0076] Figure 7 The release template schematic diagram of the fourth crossroads provided by the embodiment of the present application;

[0077] Figure 8 The release template schematic diagram of the fifth crossroads provided by the embodiment of the present application;

[0078] Figure 9 The release template schematic diagram of the sixth crossroads provided by the embodiment of the present application;

[0079] Figure 10 The release template schematic diagram of the seventh crossroads provided by the embodiment of the present application;

[0080] Figure 11 The release template schematic diagram of the eighth crossroads provided by the embodiment of the present application;

[0081] Figure 12 The release template schematic diagram of the ninth crossroads provided by the embodiment of the present application;

[0082] Figure 13 The release template schematic diagram of the first T-shaped intersection provided by the embodiment of the present application;

[0083] Figure 14 The release template schematic diagram of the second T-shaped intersection provided by the embodiment of the present application;

[0084] Figure 15 The release template schematic diagram of the third T-shaped intersection provided by the embodiment of the present application;

[0085] Figure 16 The release template schematic diagram of the fourth T-shaped intersection provided by the embodiment of the present application;

[0086] Figure 17Schematic diagram of the release template for the fifth T-junction provided by the embodiments of the present application;

[0087] Figure 18 Schematic diagram of the release template for the sixth T-junction provided by the embodiments of the present application;

[0088] Figure 19 Schematic diagram of the release template for the seventh T-junction provided by the embodiments of the present application;

[0089] Figure 20 Schematic diagram of the phase diagram of the target cycle provided by the embodiments of the present application;

[0090] Figure 21 Schematic diagram of the structure of the intersection phase control device provided by the embodiments of the present application;

[0091] Figure 22 Schematic diagram of the structure of the electronic device provided by the embodiments of the present application. Detailed implementation manners

[0092] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the scope of protection of the present application.

[0093] The terms "first" and "second" are only used for descriptive purposes, and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, unless otherwise specified, the meaning of "a plurality" is two or more.

[0094] In the description of the present application, it should be noted that unless otherwise clearly defined 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, and it can be the connection inside two devices. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to specific situations.

[0095] With the rapid development of cities, traffic is becoming increasingly busy. Intersections are an important part of the road traffic network and also key nodes for the convergence, dispersion and conversion of traffic flows. The release sequence of traffic lights directly affects vehicle passing efficiency and driving safety. A reasonable release sequence can reduce vehicle waiting time and improve road passing capacity. Otherwise, it may lead to traffic congestion and safety hazards.

[0096] Refer toFigure 1 As shown, the indicator lights set at some intersections are round lights; refer to Figure 2 As shown, the indicator lights set at some intersections are arrow lights.

[0097] In the related art, based on queuing theory, each approach of the unbalanced intersection is regarded as a multi-queue multi-channel service system, and the average queue length behind the stop line of the intersection approach is calculated. Based on the average queue length of each approach lane, the intersection signal phase is optimized.

[0098] The above solution is applicable to scenarios that follow the exponential distribution. However, in actual applications, the assumption that the distribution of vehicles arriving at the intersection is affected by adjacent intersections may not hold, resulting in the average queue data used not matching the actual traffic demand. Therefore, it is difficult to accurately determine the appropriate phase release sequence at the intersection by the above method.

[0099] In view of this, the embodiments of the present application propose an intersection phase control method, device and electronic device to accurately determine the appropriate phase release sequence at the intersection.

[0100] Next, the technical solution of the present application and how the technical solution of the present application solves the above technical problems will be described in detail in conjunction with the accompanying drawings and specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0101] Figure 3 It is a schematic flowchart of the first intersection phase control method provided by the embodiments of the present application. As Figure 3 shown, it includes the following steps:

[0102] Step S301: Based on the intersection setting information of the target intersection, determine the release template corresponding to the target intersection.

[0103] Among them, each release template includes the release method of each stage within one cycle.

[0104] In implementation, different templates are adapted to intersections with different intersection setting information, and some templates are not applicable to some setting conditions;

[0105] Based on this, in this embodiment, first, based on the intersection setting information of the target intersection, the release template corresponding to the target intersection is initially determined.

[0106] Step S302: If there are multiple release templates corresponding to the target intersection, for any release template, adjust 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.

[0107] In implementation, when there are multiple release templates corresponding to the target intersection, the adaptation degrees of different templates to the target intersection are different;

[0108] Based on this, in this embodiment, the initial saturation of the phases of the target intersection in the target cycle is adjusted by each release template, and the corrected saturation of the phases of the target cycle when each release template is used is obtained.

[0109] Step S303: Select the candidate release template corresponding to the target cycle from the multiple release templates based on the initial saturation and the corrected saturation of the phases of the target cycle.

[0110] After determining the corrected saturation of the phases 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 templates applicable to each target cycle) are refined.

[0111] Step S304: Determine the target release template corresponding to the target time period based on the candidate release templates corresponding to multiple target cycles in the target time period.

[0112] In the above solution, based on the intersection setting information, the release template matching the setting of the target intersection is determined; when there are multiple release templates corresponding to the target intersection, the initial saturation of the phases of the target intersection in the target cycle is adjusted by each release template, and the corrected saturation of the phases of the target cycle when each release template is used is obtained; by comparing the initial saturation and the corrected saturation corresponding to each release template, the candidate release templates in each target cycle (the release templates applicable to each target cycle) are refined; and then, by synthesizing the candidate release templates corresponding to multiple target cycles in the target time period, the more appropriate target release template (including the release modes of each stage in one cycle) in the target time period is determined, so as to accurately determine the appropriate phase release sequence of the intersection.

[0113] In some optional implementation manners, before the above step S301, the following steps are further performed:

[0114] Determine that the target intersection meets the channelization conditions.

[0115] In this embodiment, no specific limitations are imposed on the channelization conditions. For example, the following conditions are included:

[0116] The number of approach lanes is less than or equal to four, such as an intersection being a crossroads or a T-shaped intersection;

[0117] There is one or more approaches without a queueing area;

[0118] There is no left-turn outside.

[0119] In some optional implementation manners, the above step S301 can be implemented by, but not limited to, the following methods:

[0120] Select a preset release template that meets the intersection setting information of the target intersection from the preset release templates corresponding to the number of approach lanes of the target intersection as the release template corresponding to the target intersection;

[0121] Among them, the intersection setting information includes some or all of the waiting area setting information, non-motor vehicle crossing methods, and lane attributes.

[0122] In implementation, different preset release templates are set for different numbers of approach lanes.

[0123] Refer to Figures 4 to 12 As shown, several preset release templates corresponding to the crossroads provided in this embodiment are taken as an example in the north-south direction, and the same applies to the east-west direction, so no further examples will be given. Among them:

[0124] Figure 4 It is a release template including the north-south straight-left release stage, denoted as preset release template 1;

[0125] Figure 5 It is a release template including the two release stages of north entrance straight-left + south entrance straight-left, with the time constraint that north straight = north left, south straight = south left, denoted as preset release template 2;

[0126] Figure 6 It is a release template including the two release stages of north-south straight + north-south left, with the time constraint that south straight = north straight, south left = north left, denoted as preset release template 3;

[0127] Figure 7 It is a release template including the two release stages of north entrance straight-left + north straight-south straight-left, with the time constraint that north straight = north left + south roundabout, denoted as preset release template 4;

[0128] Figure 8 It is a release template including the two release stages of south entrance straight-left + south straight-north straight-left, with the time constraint that south left < south straight < south left + north roundabout, denoted as preset release template 5;

[0129] Figure 9 It is a release template including the three release stages of north entrance straight-left + north-south left + south entrance straight-left, with the time constraint that north left > north straight and south left > south straight, denoted as preset release template 6;

[0130] Figure 10 It is a release template including the three release stages of north entrance straight-left + north-south straight + south entrance straight-left, with the time constraint that north left < north straight and south left < south straight, denoted as preset release template 7;

[0131] Figure 11It is a release template including three release phases: north-south straight + north entrance straight-left + north-south left turn. The duration constraint is that north straight > south straight, and north left turn > south left turn, denoted as the preset release template 8;

[0132] Figure 12 It is a release template including three release phases: north-south straight + south entrance straight-left + north-south left turn. The duration constraint is that south straight > north straight, and south left turn > north left turn, denoted as the preset release template 9.

[0133] Refer to Figures 13 to 19 As shown, several preset release templates corresponding to the T-shaped intersection provided in this embodiment are as follows. Among them:

[0134] Figure 13 It is a release template including three release phases: east-west straight + east left turn + west left turn. The duration constraint is that west straight = east straight, denoted as the preset release template 10;

[0135] Figure 14 It is a release template including three release phases: east-west straight + east-west left turn + south left turn. The duration constraint is that west straight = east straight, and west U-turn = east U-turn, denoted as the preset release template 11;

[0136] Figure 15 It is a release template including two release phases: west straight-east straight-left + south left turn, denoted as the preset release template 12;

[0137] Figure 16 It is a release template including three release phases: west straight U-turn + east straight-left + south left turn. The duration constraint is that west straight = west U-turn, and east left turn = east straight, denoted as the preset release template 13;

[0138] Figure 17 It is a release template including four release phases: west straight U-turn + east-west straight + east straight-left + west left turn. The duration constraint is that west straight > west U-turn, and east straight > east left turn, denoted as the preset release template 14;

[0139] Figure 18 It is a release template including three release phases: east-west straight + east straight-left + south left turn. The duration constraint is that east straight = west straight + east left turn, denoted as the preset release template 15;

[0140] Figure 19 It is a release template including three release phases: east-west straight + east left turn + east straight-south left turn. The duration constraint is that east straight = west straight + south left turn, denoted as the preset release template 16.

[0141] Among the preset release templates corresponding to the number of import lanes, select the release template corresponding to the target intersection based on some or all of the information such as the setting information of the waiting area, the non-motor vehicle crossing method, and the lane attributes.

[0142] Taking the preset release templates of the above-mentioned several crossroads as an example, the preset release templates that meet the intersection setting information of each intersection can be referred to in Table 1 as follows:

[0143] Table 1

[0144]

[0145] Referring to Table 1, for the target crossroads, determine the preset release templates that meet each intersection setting information, and then use the preset release templates that meet all the intersection setting information of the target intersection as the release templates corresponding to the target intersection.

[0146] If the waiting area setting information of the target intersection is that there is a straight-ahead waiting area in the south or a straight-ahead waiting area in the north, the release template corresponding to the target intersection is the current release template.

[0147] Taking the preset release templates of the above-mentioned several T-shaped intersections as an example, the preset release templates that meet the intersection setting information of each intersection can be referred to in Table 2 as follows:

[0148] Table 2

[0149]

[0150] Referring to Table 2, for the target T-shaped intersection, determine the preset release templates that meet each intersection setting information, and then use the preset release templates that meet all the intersection setting information of the target intersection as the release templates corresponding to the target intersection.

[0151] If the waiting area setting information of the target intersection is other waiting area settings, the release template corresponding to the target intersection is the current release template.

[0152] In some alternative embodiments, the initial saturation of the phase is determined by the following method:

[0153] For any lane corresponding to any phase, based on the saturation flow rate and green light duration of the lane, determine the saturation passing information of the lane;

[0154] Based on the saturation passing information of the lane and the arrival flow of the lane in the target cycle, determine the saturation of the lane;

[0155] Based on the saturations of all lanes corresponding to the phase, determine the initial saturation of the phase.

[0156] In implementation, one phase may correspond to one or more lanes, and the traffic flow of each lane is different; based on this, in this embodiment, for each lane in the phase, the saturation of the lane is first determined.

[0157] Exemplarily, the saturation S of lane m m =Qm / R m ; where Q m is the arrival flow of lane m in the target cycle, with the unit of standard vehicle equivalent (pcu / cycle); R m is the saturated traffic capacity of the lane, with the unit of pcu / cycle;

[0158] R m =X m g m ; where X m is the preset saturated flow rate of the lane, with the unit of pcu / unit time; g m is the green light duration;

[0159] Q m =q now +q now,s -q last,s ; where q now is the traffic volume passing through lane m in the target cycle, q now,s is the vehicles detained in the target cycle, q last,s is the vehicles detained in the previous cycle of the target cycle;

[0160] q now,s =P∙(L dn -L t ) / L c ; where P is the preset space occupancy rate (%), L c is the preset vehicle body length (such as 4.8 m), 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);

[0161] q last,s =P∙(L dl -L t ) / L c ; where P is the preset space occupancy rate (%), L c is the preset vehicle body length, L dl is the detection range of the detector in the previous cycle, L t is the redundant distance.

[0162] After determining the saturation degrees of all lanes corresponding to a phase, based on the saturation degrees of these lanes, determine the initial saturation degree of the phase.

[0163] Exemplarily, the initial saturation degree S p of phase p = max{S m} ∀m ∈ p; where S m is the lane corresponding to phase p, that is, take the maximum value (max) of the saturation degrees of all lanes corresponding to the phase as the initial saturation degree of the phase.

[0164] Based on the saturated traffic information of the lanes and the arrival flow of the lanes in the target cycle, the saturation degree of each lane is accurately determined; furthermore, the initial saturation degree reflecting the ideal saturation situation of the phase is determined.

[0165] In some optional implementation manners, the above step S302 can be implemented by, but not limited to, the following manner:

[0166] For any non-overlapping phase of the target cycle, the maximum value of the initial saturation degree of the phase in the non-overlapping phase is used as the corrected saturation degree of the phase in the non-overlapping phase;

[0167] For the overlapping phase of the target cycle, based on whether there is a phase that is always released in the overlapping phase, the initial saturation degree is adjusted to obtain the corrected saturation degree.

[0168] A complete cycle includes an overlapping phase and a non-overlapping phase. Refer to Figure 20 In the shown target cycle, Phase 1, Phase 2, and Phase 3 are overlapping phases, and Phase 4 and Phase 5 are non-overlapping phases.

[0169] Different methods are used to correct the saturation degree in the overlapping phase and the non-overlapping phase.

[0170] For each non-overlapping phase, the maximum value of the initial saturation degree of the phase is used as the corrected saturation degree of the phase in the non-overlapping phase.

[0171] Taking the above Figure 20 as an example of Phase 4, there are two phases of east straight and west straight. Compare the magnitudes of the initial saturation degrees of these two phases, and use the maximum initial saturation degree as the corrected saturation degree of these two phases.

[0172] For the overlapping phase, it is necessary to adopt a corresponding correction method according to whether there is a phase that is always released in the overlapping phase.

[0173] Refer to Figure 18 As shown, in the overlapping phase (east-west straight + east straight left), there is a phase that is always released (east straight);

[0174] Refer to Figure 20 As shown, in the overlapping phases (Phase 1, Phase 2, Phase 3), there is no phase that is always released.

[0175] In some optional implementation manners, for the situation where there is a phase that is always released in the overlapping phase, the correction can be performed by, but not limited to, the following manner:

[0176] Determine at least one critical path in the overlapping phase;

[0177] Determine the saturation of the critical path based on the initial saturations of all phases corresponding to any critical path;

[0178] For any phase corresponding to the critical path, determine the corrected saturation of the phase based on the initial saturation of the phase, the saturation of the critical path, and the maximum saturation of all critical paths.

[0179] Exemplarily, according to the phases of each stage, determine the critical path Path in the overlapping stage. The total release duration of the phases on the critical path is equal to the duration of the overlapping stage, and the adjacent phases on the path cannot be released simultaneously. That is, the front and rear phases in a critical path are not released simultaneously, and all phases run through the entire overlapping stage.

[0180] Statistically analyze the initial saturations of all phases on each critical path. For example, take the sum of the initial saturations of all phases on each critical path as the saturation of the critical path. That is, the saturation of critical path i ; where Path i is critical path i, and S p is the initial saturation of phase p on critical path i.

[0181] Finally, determine the corrected saturation of the phase 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. For example, the corrected saturation of the phase where S p is the initial saturation of phase p on critical path i, S total,i is the saturation of critical path i, and S max is the maximum saturation of all critical paths.

[0182] In implementation, there may be phases that are not on any critical path. The first preset saturation can be used as the corrected saturation of this phase.

[0183] In implementation, there may be phases that are on multiple critical paths. According to the above method, multiple corrected saturations corresponding to this phase will be determined. The maximum value among them can be used as the final corrected saturation.

[0184] In some optional implementation manners, for the situation where there is a phase that is always released in the overlapping stage, it can be corrected by but not limited to the following methods:

[0185] Take the initial saturation of the non-overlapping phase as the corrected saturation; where the non-overlapping phase is the phase that is released in one overlapping stage;

[0186] For any overlapping phase, determine the difference in the initial saturations between the overlapping phase and the non-overlapping phases in the same overlapping stage; where the overlapping phase is the phase that is released in multiple overlapping stages;

[0187] Based on the difference value and the initial saturation degree of the non-lap phase in the same lap stage, determine the corrected saturation degree of the lap phase.

[0188] In this embodiment, in the lap stage group, all phases are divided into lap phases (released in multiple lap stages) and non-lap phases (released only in one lap stage);

[0189] Take the initial saturation degree of the non-lap phase as the corrected saturation degree, that is, the corrected saturation degree of the non-lap phase p,no , S p,no is the initial saturation degree of the non-lap phase p,no;

[0190] Determine the non-lap phases in the same lap stage as the lap phase (there may be multiple non-lap phases in the same lap stage);

[0191] Furthermore, determine the initial saturation degree difference between the lap phase and the non-lap phases in the same lap stage;

[0192] Based on the above difference value and the initial saturation degree of the non-lap phase in the same lap stage, determine the corrected saturation degree of the lap phase.

[0193] Exemplarily, , p,o∈P i , p,no∈P i ; where S p,o is the initial saturation degree of the lap phase p,o, S p,no is the initial saturation degree of the non-lap phase p,no, and P i is the phase of the lap stage i;

[0194] Select the maximum value corresponding to p,o from ; ;

[0195] Determine the target difference value of p,o based on the maximum value corresponding to the lap phase p,o, such as the target difference value ; where S2 is the second preset saturation degree, and the second preset saturation degree can be selected as infinity (+∞);

[0196] The corrected saturation degree of the lap phase p,o ; where S p,no is the initial saturation degree of the above non-lap phase p,no, is the above target difference value.

[0197] The above method for determining the corrected saturation of the overlapping phase is only an illustrative example. In implementation, other methods can 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 in the same overlapping stage.

[0198] In some alternative embodiments, step S303 above can be implemented by, but not limited to, the following method:

[0199] For any release template, determine the saturation difference between the corrected saturation and the initial saturation of each phase of the target cycle;

[0200] Sum up the saturation differences corresponding to all phases of the target cycle, and determine the result as the difference value corresponding to the release template;

[0201] Take the release template with the smallest difference value as the candidate release template corresponding to the target cycle.

[0202] Exemplarily, for release template i, sum up the saturation differences corresponding to all phases of the target cycle ; where is the corrected saturation of phase p of the target cycle, and S p is the initial saturation of phase p of the target cycle;

[0203] Determine the release template corresponding to the minimum difference value as the candidate release template corresponding to this target cycle.

[0204] In some alternative embodiments, step S304 above can be implemented by, but not limited to, the following method:

[0205] Take the candidate release template with the highest frequency in the target time period as the target release template corresponding to the target time period.

[0206] In implementation, by selecting the candidate release template with the highest frequency in the target time period, this candidate release template has the highest frequency of occurrence in the target time period, and take this candidate release template as the target release template corresponding to the target time period.

[0207] In some alternative embodiments, after step S304 above, the following steps can also be executed:

[0208] If the target release template is different from the current release template of the target intersection, then determine the ratio between the first difference value and the second difference value in the current cycle; where the first difference value is determined based on the corrected saturation and the initial saturation of each phase of the target release template; the second difference value is determined based on the corrected saturation and the initial saturation of each phase of the current release template;

[0209] If the ratio is less than a preset threshold, control the phase of the target intersection during the target time period based on the target release template.

[0210] In implementation, when triggering phase control, the target release template may be the same as or different from the current release template of the target intersection. 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 time period.

[0211] If the target release template is different from the current release template of the target intersection, do not directly adjust it to the target release template. Instead, based on the corrected saturation and initial saturation of each phase of the target release template in the current cycle, determine the first difference value ; 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 of determining the first difference value and the second difference value can refer to the method of determining the difference value corresponding to the release template above, which will not be elaborated here.

[0212] Furthermore, determine the ratio between the first difference value and the second difference value. If this ratio is less than the preset threshold, replace it with the target release template and control the phase of the target intersection during the target time period.

[0213] If this ratio is greater than or equal to the preset threshold, the current release template can continue to be used during the target time period.

[0214] In this embodiment, no specific limitation is imposed on the above preset threshold θ, such as 0 < θ ≤ 1.

[0215] Such as Figure 21 As shown, an intersection phase control device 2100 is provided in an embodiment of the present application. The device includes:

[0216] A template selection module 2101, configured 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 the release method of each stage within a cycle;

[0217] A saturation processing module 2102, configured to, if the target intersection corresponds to multiple release templates, for any one of the release templates, adjust the initial saturation of the phase of the target intersection in the target cycle to obtain the corrected saturation of the phase of the target cycle;

[0218] The template selection module 2101 is further configured to select the candidate release template corresponding to the target cycle from the multiple release templates based on the initial saturation and corrected saturation of the phase of the target cycle;

[0219] 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 a plurality of target cycles in the target time period.

[0220] In some alternative embodiments, the template selection module 2101 is specifically configured to:

[0221] Select a preset release template that meets the intersection setting information of the target intersection from the preset release templates corresponding to the number of approach lanes of the target intersection as the release template corresponding to the target intersection;

[0222] Wherein, the intersection setting information includes some or all of the setting information of the approach area, the non-motor vehicle crossing method, and the lane attributes.

[0223] In some alternative embodiments, the saturation processing module 2102 is further configured to:

[0224] For any lane corresponding to any phase, determine the saturated traffic information of the lane based on the saturated flow rate and the green light duration of the lane;

[0225] Determine the saturation of the lane based on the saturated traffic information of the lane and the arrival flow of the lane in the target cycle;

[0226] Determine the initial saturation of the phase based on the saturations of all lanes corresponding to the phase.

[0227] In some alternative embodiments, the saturation processing module 2102 is specifically configured to:

[0228] For any non-overlapping phase of the target cycle, use the maximum value of the initial saturations of the phases in the non-overlapping phase as the corrected saturation of the phases in the non-overlapping phase;

[0229] For the overlapping phase of the target cycle, adjust the initial saturation based on whether there is a phase that is always released in the overlapping phase to obtain the corrected saturation.

[0230] In some alternative embodiments, the saturation processing module 2102 is specifically configured to:

[0231] If there is a phase that is always released in the overlapping phase, determine at least one critical path in the overlapping phase;

[0232] Determine the saturation of the critical path based on the initial saturations of all phases corresponding to any critical path;

[0233] For any phase corresponding to the critical path, based on the initial saturation of the phase, the saturation of the critical path, and the maximum saturation of all critical paths, determine the corrected saturation of the phase.

[0234] In some alternative embodiments, the saturation processing module 2102 is specifically configured to:

[0235] If there is no phase that has been continuously released during the overlapping stage, use the initial saturation of the non-overlapping phase as the corrected saturation; wherein, the non-overlapping phase is the phase released during one overlapping stage.

[0236] For any overlapping phase, determine the initial saturation difference between the overlapping phase and the non-overlapping phases in the same overlapping stage; wherein, the overlapping phase is the phase released during multiple overlapping stages.

[0237] Based on the difference and the initial saturation of the non-overlapping phases in the same overlapping stage, determine the corrected saturation of the overlapping phase.

[0238] In some alternative embodiments, the template selection module 2101 is specifically configured to:

[0239] For any release template, determine the saturation difference between the corrected saturation and the initial saturation of each phase of the target cycle.

[0240] Determine the sum of the saturation differences corresponding to all phases of the target cycle as the difference value corresponding to the release template.

[0241] Use the release template with the smallest difference value as the candidate release template corresponding to the target cycle.

[0242] In some alternative embodiments, it further includes a phase control module 2103, configured to:

[0243] 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, determine the ratio between the first difference value and the second difference value in the current cycle; wherein, the first difference value is determined based on the corrected saturation and the initial saturation of each phase of the target release template; the second difference value is determined based on the corrected saturation and the initial saturation of each phase of the current release template.

[0244] If the ratio is less than the preset threshold, control the phases of the target intersection at the target time period based on the target release template.

[0245] Since this device is the device in the method of the embodiments of the present application, and the principle by which this device solves problems is similar to that of the method, the implementation of this device can refer to the implementation of the method, and repeated parts will not be elaborated.

[0246] Based on the same inventive concept, embodiments of the present application further provide an electronic device 2200, as Figure 22 shown, including at least one processor 2201 and a memory 2202 connected to the at least one processor. In the embodiments of the present application, the specific connection medium between the processor 2201 and the memory 2202 is not limited. Figure 22 Taking the example that the processor 2201 and the memory 2202 are connected through a bus 2203. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience of representation, Figure 22 only a thick line is used to represent it in the figure, but it does not mean that there is only one bus or one type of bus.

[0247] Among them, the processor 2201 is the control center of the electronic device, and can connect various parts of the electronic device by using various interfaces and lines. By running or executing instructions stored in the memory 2202 and calling data stored in the memory 2202, data processing can be achieved. Optionally, the processor 2201 may include one or more processing units. The processor 2201 may integrate an application processor and a modem processor. Among them, the application processor mainly processes the operating system, user interface, application programs, etc., and the modem processor mainly processes the issued instructions. It can be understood 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 separately implemented on independent chips.

[0248] 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 devices, discrete gate or transistor logic devices, discrete hardware components, and can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the method disclosed in combination with the embodiments of the intersection phase control method can be directly embodied as being executed by a hardware processor, or executed by a combination of hardware and software modules in the processor.

[0249] The memory 2202, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. The memory 2202 can include at least one type of storage medium. For example, it can include flash memory, hard disks, multimedia cards, card-type memories, random access memory (RAM), static random access memory (SRAM), programmable read-only memory (PROM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), magnetic memories, magnetic disks, optical discs, and so on. The memory 2202 is any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 2202 in the embodiments of the present application can also be a circuit or any other device capable of implementing a storage function, for storing program instructions and / or data.

[0250] In the embodiments of the present application, the memory 2202 stores a computer program, which, when executed by the processor 2201, causes the processor 2201 to execute:

[0251] Based on the intersection setting information of the target intersection, determine the release template corresponding to the target intersection; wherein each release template includes the release modes of each stage within one cycle.

[0252] If there are multiple release templates corresponding to the target intersection, then for any one of the release templates, adjust 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.

[0253] Based on the initial saturation and the corrected saturation of the phase of the target cycle, select the candidate release template corresponding to the target cycle from the multiple release templates.

[0254] Based on the candidate release templates corresponding to multiple target cycles in the target time period, determine the target release template corresponding to the target time period.

[0255] In some optional embodiments, the processor 2201 specifically executes:

[0256] Select a preset release template that meets the intersection setting information of the target intersection from the preset release templates corresponding to the number of approach lanes of the target intersection as the release template corresponding to the target intersection.

[0257] Among them, the intersection setting information includes some or all of the setting information of the waiting area, the non-motor vehicle crossing method, and the lane attributes.

[0258] In some optional embodiments, the processor 2201 further executes:

[0259] For any lane corresponding to any phase, based on the saturation flow rate and the green light duration of the lane, determine the saturation passing information of the lane;

[0260] Based on the saturation passing information of the lane and the arrival flow of the lane in the target cycle, determine the saturation of the lane;

[0261] Based on the saturations of all lanes corresponding to the phase, determine the initial saturation of the phase.

[0262] In some optional embodiments, the processor 2201 specifically executes:

[0263] For any non-overlapping phase in the target cycle, use the maximum value of the initial saturations of the phases in the non-overlapping phase as the corrected saturation of the phases in the non-overlapping phase;

[0264] For the overlapping phase of the target cycle, based on whether there is a phase that is always released in the overlapping phase, adjust the initial saturation to obtain the corrected saturation.

[0265] In some optional embodiments, the processor 2201 specifically executes:

[0266] If there is a phase that is always released in the overlapping phase, determine at least one critical path in the overlapping phase;

[0267] Based on the initial saturations of all phases corresponding to any critical path, determine the saturation of the critical path;

[0268] For any phase corresponding to the critical path, based on the initial saturation of the phase, the saturation of the critical path, and the maximum value of the saturations of all critical paths, determine the corrected saturation of the phase.

[0269] In some optional embodiments, the processor 2201 specifically executes:

[0270] If there is no phase that is always released in the overlapping phase, use the initial saturation of the non-overlapping phase as the corrected saturation; where the non-overlapping phase is the phase released in an overlapping phase;

[0271] For any overlapping phase, determine the initial saturation difference between the overlapping phase and the non-overlapping phases in the same overlapping stage; wherein, the overlapping phase is the phase released in multiple overlapping stages;

[0272] Based on the difference and the initial saturation of the non-overlapping phases in the same overlapping stage, determine the corrected saturation of the overlapping phase.

[0273] In some alternative embodiments, the processor 2201 specifically executes:

[0274] For any release template, determine the saturation difference between the corrected saturation and the initial saturation of each phase of the target cycle;

[0275] Determine the sum of the saturation differences corresponding to all phases of the target cycle as the difference value corresponding to the release template;

[0276] Take the release template with the smallest difference value as the candidate release template corresponding to the target cycle.

[0277] In some alternative embodiments, after determining the target release template corresponding to the target time period, the processor 2201 further executes:

[0278] 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 cycle; wherein, the first difference value is determined based on the corrected saturation and the initial saturation of each phase of the target release template; the second difference value is determined based on the corrected saturation and the initial saturation of each phase of the current release template;

[0279] If the ratio is less than the preset threshold, control the phases of the target intersection in the target time period based on the target release template.

[0280] Since this electronic device is the electronic device in the method of the embodiments of the present application, and the principle by which this electronic device solves problems is similar to that of the method, the implementation of this electronic device can refer to the implementation of the method, and the repeated parts will not be elaborated.

[0281] Based on the same technical concept, the embodiments of the present application further provide a computer-readable storage medium, which stores a computer program executable by a processor. When the program runs on the processor, it causes the processor to execute the steps of the above intersection phase control method.

[0282] In some alternative embodiments, various aspects of the intersection phase control method provided by the present application can also be implemented in the form of a program product, which includes computer-executable instructions. When the program product runs on a computer device, the computer-executable instructions are used to cause 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.

[0283] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of an all-hardware embodiment, an all-software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0284] The present application is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows 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 the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in one Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0285] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including instruction means that implement the functions specified in one Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0286] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0287] Although the preferred embodiments of the present application have been described, additional changes and modifications can be made by those skilled in the art once they learn the basic creative concept. Therefore, the appended claims are intended to be interpreted to include the preferred embodiments as well as all changes and modifications that fall within the scope of the present application.

[0288] 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 equivalent technologies, 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; Determine a target release template corresponding to the target period based on candidate release templates corresponding to multiple target periods in the target period; 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.

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 3, 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.

5. The method according to claim 3, 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.

6. 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, determine 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.

7. 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.

8. 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 period based on the candidate release templates corresponding to multiple target periods in the target period; The saturation processing module is specifically used for: 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.

9. 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 7.

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