Traffic light control method and system

Abstract

The invention discloses a traffic light control method and system. The method comprises the following steps: respectively obtaining pedestrian data, non-motor vehicle data and motor vehicle data of a corresponding passing direction of an intersection, green light phase time data of a traffic light and motor vehicle data of a corresponding non-passing direction of the intersection; judging whether phase switching needs to be carried out on the traffic lights in the corresponding passing direction of the intersection or not; in response to the need of performing phase switching on the traffic light in the corresponding passing direction of the intersection, immediately switching the green light phase of the traffic light in the corresponding passing direction of the intersection to the yellow light phase or switching the green light phase to the yellow light phase after the corresponding remaining time; and in response to the situation that phase switching does not need to be carried out on the traffic light in the corresponding passing direction of the intersection, delaying the green light phase of the traffic light in the corresponding passing direction of the intersection. By means of the scheme, the traffic light control strategy meeting the actual requirement can be matched in real time according to the traffic condition, and the probability of traffic accidents can be reduced.

Description

Technical Field

[0001] The present application generally relates to the technical field of traffic light control, and more specifically, to a traffic light control method and system. Background Art

[0002] With the acceleration of urbanization, problems such as traffic congestion and frequent accidents have become increasingly prominent, bringing unprecedented pressure to urban traffic management.

[0003] In the prior art, fixed-time traffic signal control systems are mainly used for traffic management. However, fixed-time traffic signal control systems are often difficult to adapt to dynamically changing traffic flows, especially in peak hours or when there is a sudden increase in passenger flow due to special events, which can easily cause safety hazards and traffic chaos.

[0004] In view of this, there is an urgent need to provide a traffic light control solution to dynamically adjust the traffic light timing, improve the safety and efficiency of pedestrians crossing the street, while taking into account the smooth passage of vehicles and reducing traffic chaos. Summary of the invention

[0005] In order to at least solve one or more of the technical problems mentioned above, the present application proposes a control solution for a traffic light in multiple aspects.

[0006] In a first aspect, the present application provides a method for controlling a traffic light, including: respectively obtaining pedestrian data, non-motor vehicle data, motor vehicle data, green light phase time data of a traffic light, and motor vehicle data of a non-traffic direction corresponding to the intersection, wherein the pedestrian data includes: pedestrian flow, pedestrian speed, and pedestrian position; the non-motor vehicle data includes: non-motor vehicle flow, non-motor vehicle speed, and non-motor vehicle position; the green light phase time data of a traffic light includes: the duration of the green light phase of the traffic light and the total time currently set; the motor vehicle data includes: motor vehicle flow, motor vehicle speed, and motor vehicle position; based on Based on the acquired pedestrian data, non-motor vehicle data and motor vehicle data for the corresponding traffic direction of the intersection, it is determined whether it is necessary to perform phase switching on the traffic light for the corresponding traffic direction of the intersection; in response to the need to perform phase switching on the traffic light for the corresponding traffic direction of the intersection, the green light phase of the traffic light for the corresponding traffic direction of the intersection is immediately switched to the yellow light phase, or the green light phase of the traffic light for the corresponding traffic direction of the intersection is switched to the yellow light phase after the corresponding remaining time; in response to the need not to perform phase switching on the traffic light for the corresponding traffic direction of the intersection, the green light phase of the traffic light for the corresponding traffic direction of the intersection is delayed based on all acquired data.

[0007] In some embodiments, in response to the need to switch the phase of the traffic light corresponding to the traffic direction of the intersection, it is determined whether the phase of the traffic light corresponding to the traffic direction of the intersection needs to be immediately switched based on the acquired pedestrian data, non-motor vehicle data, motor vehicle data and motor vehicle data corresponding to the non-traffic direction of the intersection; in response to the need to switch the phase of the traffic light corresponding to the traffic direction of the intersection, the green light phase of the traffic light corresponding to the traffic direction of the intersection is immediately switched to a yellow light phase.

[0008] In some embodiments, in response to the fact that there is no need to immediately switch the phase of the traffic light corresponding to the direction of traffic at the intersection, it is determined based on all the acquired data whether it is necessary to delay after the phase switching of the traffic light corresponding to the direction of traffic at the intersection is performed; in response to the fact that there is no need to delay after the phase switching of the traffic light corresponding to the direction of traffic at the intersection, the green light phase of the traffic light corresponding to the direction of traffic at the intersection is switched to a yellow light phase after the corresponding remaining time; in response to the fact that a delay is needed after the phase switching of the traffic light corresponding to the direction of traffic at the intersection, the green light phase of the traffic light corresponding to the direction of traffic at the intersection is switched to a yellow light phase after the corresponding remaining time, and the yellow light phase is delayed.

[0009] In some embodiments, when the sum of the pedestrian flow in the corresponding direction of traffic at the intersection and the non-motor vehicle flow in the corresponding direction of traffic at the intersection is less than or equal to a first flow threshold, and the motor vehicle flow in the corresponding direction of traffic at the intersection is less than or equal to a second flow threshold, it is determined that the traffic lights in the corresponding direction of traffic at the intersection need to be phase switched.

[0010] In some embodiments, when the sum of the pedestrian flow in the corresponding direction of traffic at the intersection and the non-motor vehicle flow in the corresponding direction of traffic at the intersection is less than or equal to a third flow threshold, the motor vehicle flow in the corresponding direction of traffic at the intersection is less than or equal to a fourth flow threshold, and the motor vehicle flow in the non-traffic direction corresponding to the intersection is greater than the motor vehicle flow in the corresponding direction of traffic at the intersection, it is determined that the phase of the traffic light in the corresponding direction of traffic at the intersection needs to be switched immediately; wherein the third flow threshold is less than the first flow threshold, and the fourth flow threshold is less than the second flow threshold.

[0011] In some embodiments, the time required for the current last target to pass is obtained based on the pedestrian speed, pedestrian position, non-motor vehicle speed and non-motor vehicle position in the corresponding direction of traffic at the intersection, where the target is a pedestrian or a non-motor vehicle; it is determined whether the time required for the current last target to pass is greater than the remaining time of the green light phase of the traffic light; in response to the time required for the current last target to pass is not greater than the remaining time of the green light phase of the traffic light, it is determined that there is no need to delay after the phase switching of the traffic light in the corresponding direction of traffic at the intersection; in response to the time required for the current last target to pass is greater than the remaining time of the green light phase of the traffic light, it is determined that a delay is required after the phase switching of the traffic light in the corresponding direction of traffic at the intersection.

[0012] In some embodiments, the difference between the time required for the last target to pass and the remaining time of the green light phase of the traffic light is taken as the first difference; the difference between the set waiting tolerance time and the duration of the green light phase is taken as the second difference; it is determined whether the first difference is less than the second difference; in response to the first difference being less than the second difference, the first difference is taken as the delay time after the green light phase of the traffic light in the corresponding direction of traffic at the intersection is switched to the yellow light phase; in response to the first difference being not less than the second difference, the second difference is taken as the delay time after the green light phase of the traffic light in the corresponding direction of traffic at the intersection is switched to the yellow light phase.

[0013] In some embodiments, delaying the green light phase of the traffic light in the corresponding direction of the intersection based on all acquired data includes: when the sum of the pedestrian flow in the corresponding direction of the intersection and the non-motor vehicle flow in the corresponding direction of the intersection is less than or equal to the first flow threshold, and the motor vehicle flow in the corresponding direction of the intersection is greater than the second flow threshold, obtaining the delay time of the green light phase according to the first delay time calculation formula, wherein the first delay time calculation formula is: Among them, T m is the time required for the motor vehicle flow in the corresponding direction of the intersection to be reduced to a second flow threshold value, calculated based on the motor vehicle data in the corresponding direction of the intersection, T th is the set waiting tolerance time; when the sum of the pedestrian flow in the corresponding direction of the intersection and the non-motor vehicle flow in the corresponding direction of the intersection is greater than the first flow threshold, and the motor vehicle flow in the corresponding direction of the intersection is less than or equal to the second flow threshold, the delay time of the green light phase is obtained according to the second delay time calculation formula, where the second delay time calculation formula is: Among them, T n is the time required to reduce the sum of pedestrian flow and non-motor vehicle flow in the corresponding direction of the intersection to equal the first flow threshold, calculated based on the pedestrian data and non-motor vehicle data in the corresponding direction of the intersection. th The waiting tolerance time is set.

[0014] In some embodiments, delaying the green light phase of the traffic light corresponding to the traffic direction of the intersection based on all acquired data further includes:

[0015] When the sum of the pedestrian flow in the corresponding direction of the intersection and the non-motor vehicle flow in the corresponding direction of the intersection is greater than or equal to the first flow threshold, and the motor vehicle flow in the corresponding direction of the intersection is greater than the second flow threshold, the delay time of the green light phase is obtained according to the third delay time calculation formula, wherein the third delay time calculation formula is: Among them, T n is the time required to reduce the sum of pedestrian flow and non-motor vehicle flow in the corresponding direction of the intersection to equal the first flow threshold, calculated based on the pedestrian data and non-motor vehicle data in the corresponding direction of the intersection. m is the time required for the motor vehicle flow in the corresponding direction of the intersection to be reduced to a second flow threshold value, calculated based on the motor vehicle data in the corresponding direction of the intersection, T th is the waiting tolerance time set, ω n T n The corresponding weight, ω m T m The corresponding weight.

[0016] In a second aspect, the present application provides a control system for a traffic light, which controls the traffic light using a traffic light control method as described in any embodiment of the first aspect, and the system includes: a data acquisition module, which is used to respectively acquire pedestrian data, non-motor vehicle data, motor vehicle data, green light phase time data of the traffic light, and motor vehicle data of the non-traffic direction corresponding to the intersection; a judgment module, which is used to judge whether it is necessary to perform phase switching on the traffic light corresponding to the traffic direction of the intersection based on the acquired pedestrian data, non-motor vehicle data and motor vehicle data of the traffic direction corresponding to the intersection; an execution module, which is used to respond to the need to perform phase switching on the traffic light corresponding to the traffic direction of the intersection, immediately switch the green light phase of the traffic light corresponding to the traffic direction of the intersection to a yellow light phase, or switch the green light phase of the traffic light corresponding to the traffic direction of the intersection to a yellow light phase after its corresponding remaining time; in response to the need not to perform phase switching on the traffic light corresponding to the traffic direction of the intersection, delay the green light phase of the traffic light corresponding to the traffic direction of the intersection based on all acquired data.

[0017] Through the control scheme of the traffic light provided above, the embodiment of the present application determines whether it is necessary to switch the phase of the traffic light based on the pedestrian data, non-motor vehicle data and motor vehicle data corresponding to the traffic direction of the intersection obtained, and adjusts the green light phase to the yellow light phase according to the actual situation, and delays the green light phase, which can match the traffic light control strategy that meets the actual needs according to the traffic situation in real time, and can reduce the probability of traffic accidents. Further, in some embodiments, in response to the need to delay after the phase switching of the traffic light corresponding to the traffic direction of the intersection, the green light phase of the traffic light corresponding to the traffic direction of the intersection is switched to the yellow light phase after the corresponding remaining time, and the yellow light phase is delayed, so that all pedestrians can safely pass through the intersection and ensure the safety of pedestrians. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] By reading the detailed description below with reference to the accompanying drawings, the above and other purposes, features and advantages of the exemplary embodiments of the present application will become easy to understand. In the accompanying drawings, several embodiments of the present application are shown in an exemplary and non-limiting manner, and the same or corresponding reference numerals represent the same or corresponding parts, wherein:

[0019] Figure 1 An exemplary flow chart showing a method for controlling a traffic light according to an embodiment of the present application is shown;

[0020] Figure 2 An exemplary flow chart of a process for determining a traffic light phase switching according to an embodiment of the present application is shown;

[0021] Figure 3 An exemplary flow chart of a process for determining whether a traffic light performs a delay after phase switching according to an embodiment of the present application is shown;

[0022] Figure 4 An exemplary flow chart of obtaining the delay time of the yellow light phase of a traffic light according to an embodiment of the present application is shown;

[0023] Figure 5 An exemplary structural block diagram of a traffic light control system according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0025] It should be understood that the terms "include" and "comprising" used in the specification and claims of the present application indicate the presence of described features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or collections thereof.

[0026] It should also be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in this application specification and claims, unless the context clearly indicates otherwise, the singular forms of "a", "an" and "the" are intended to include plural forms. It should also be further understood that the term "and / or" used in this application specification and claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes these combinations.

[0027] As used in this specification and claims, the term "if" may be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" may be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0028] The specific implementation of the present application is described in detail below with reference to the accompanying drawings.

[0029] Figure 1 An exemplary flow chart of a method 100 for controlling a traffic light according to an embodiment of the present application is shown.

[0030] like Figure 1 As shown, in step S110, pedestrian data, non-motor vehicle data, motor vehicle data, green light phase time data of traffic lights and motor vehicle data of non-traffic directions corresponding to the intersections are obtained respectively. Specifically, pedestrian data includes: pedestrian flow, pedestrian speed, pedestrian position, non-motor vehicle data includes: non-motor vehicle flow, non-motor vehicle speed, non-motor vehicle position, green light phase time data of traffic lights includes: green light phase duration of traffic lights and total time currently set, and motor vehicle data includes: motor vehicle flow, motor vehicle speed, motor vehicle position.

[0031] In the embodiments of the present application, in addition to obtaining the specific data listed above, other data may also be obtained, and the present application does not limit this.

[0032] Specifically, pedestrian data and non-motor vehicle data are obtained by collecting and processing pedestrians and non-motor vehicles in the zebra crossing area of ​​the intersection, and motor vehicle data are obtained by collecting and processing motor vehicles in the motor vehicle lane area outside the intersection area. By collecting and processing data on motor vehicles in the motor vehicle lane area outside the intersection area, the data of motor vehicles that are about to enter the intersection area can be accurately obtained, thereby better understanding and managing traffic flow and improving road safety and traffic efficiency.

[0033] In an embodiment of the present application, multiple cameras are set in the zebra crossing area of ​​the intersection to collect video streams of pedestrians and non-motor vehicles, and multiple cameras are set in the motor vehicle lane outside the intersection area to collect motor vehicle video streams of the motor vehicle lane area outside the intersection area in the passing direction and the non-passing direction, respectively, wherein the motor vehicle lane area outside the intersection area can be an area with a preset distance from the intersection. Then, the collected pedestrian and non-motor vehicle video streams and motor vehicle video streams are processed to obtain pedestrian data, non-motor vehicle data, motor vehicle data in the passing direction of the intersection, and motor vehicle data in the non-passing direction corresponding to the intersection. Specifically, the user can set the preset distance value according to historical experience data and actual needs, and the present application does not limit it here.

[0034] Specifically, one side of the zebra crossing area in the intersection is used as the starting zebra crossing, and the other side is used as the stopping zebra crossing. A point on the starting zebra crossing in the traffic direction of the intersection is used as the origin of the real-world coordinate system, the line passing through the origin in the traffic direction is used as the x-axis of the real-world coordinate system, and the line passing through the origin in the non-traffic direction is used as the y-axis of the real-world coordinate system. At the same time, through the map data, the distance between the zebra crossing area and the distance between the motor vehicle lane areas in the traffic direction of the intersection, and the distance between the zebra crossing area and the distance between the motor vehicle lane areas in the non-traffic direction of the intersection are obtained. Based on the distance of the zebra crossing area in the intersection in the passing direction, the coordinates of the stop zebra crossing in the passing direction of the intersection are obtained; based on the distance between the motor vehicle lane areas in the intersection in the passing direction, the coordinates of the starting line and the coordinates of the stop line in the passing direction of the motor vehicle lane area are obtained; based on the distance of the zebra crossing area in the intersection in the non-passing direction, the coordinates of the stop zebra crossing in the non-passing direction of the intersection are obtained; based on the distance between the motor vehicle lane areas in the intersection in the non-passing direction, the coordinates of the starting line and the coordinates of the stop line in the non-passing direction of the motor vehicle lane area are obtained.

[0035] Next, the camera transmits the collected video streams of pedestrians and non-motor vehicles, and motor vehicles to the back-end server for processing. The back-end server extracts picture frames from the video streams of pedestrians and non-motor vehicles, and motor vehicles respectively through video processing software or API according to the set frequency. By counting the number of pedestrians detected in each frame and combining the time series information to calculate the number of pedestrians passing through the intersection in the direction of travel per unit time, the pedestrian flow is obtained. Similarly, the number of non-motor vehicles in each frame is recorded to obtain the non-motor vehicle flow in the direction of travel through the intersection. The number of motor vehicles in each frame is recorded to obtain the motor vehicle flow in the motor vehicle lane area outside the intersection area in the travel direction and the non-traffic direction.

[0036] At the same time, deep learning models such as YOLO, SSD or Faster R-CNN are used to perform target recognition processing on the image frames corresponding to the extracted pedestrian and non-motor vehicle video streams and motor vehicle video streams, respectively, and the bounding boxes of pedestrians, non-motor vehicles and motor vehicles are extracted respectively, and the center point of the pedestrian bounding box is used as the pixel coordinate of the pedestrian, the center point of the non-motor vehicle bounding box is used as the pixel coordinate of the non-motor vehicle, and the center point of the motor vehicle bounding box is used as the pixel coordinate of the motor vehicle. Then, the pixel coordinates are mapped to the coordinate system of the real world through projection transformation, and the pixel coordinates obtained above are switched to the coordinates in the real world coordinate system to obtain the positions of pedestrians, non-motor vehicles and motor vehicles.

[0037] Then, by comparing the changes in the positions of pedestrians, non-motor vehicles and motor vehicles in several consecutive frames, the distances of pedestrian displacement, non-motor vehicle displacement and motor vehicle displacement in several consecutive frames are obtained. The distance is divided by the time difference involved in several consecutive frames to obtain the pedestrian speed, non-motor vehicle speed and motor vehicle speed respectively.

[0038] In an embodiment of the present application, the duration of the green light phase of a traffic light is the time that motor vehicles, pedestrians and non-motor vehicles in the non-traffic direction of the intersection have been waiting. The currently set total time is the total time that the currently set green light phase of the traffic light needs to last. The remaining time of the green light phase of the traffic light can be obtained by subtracting the duration of the green light phase of the traffic light from the currently set total time.

[0039] After the aforementioned data is obtained in step S110, in step S120, it is determined whether the traffic lights in the corresponding direction of traffic at the intersection need to be phase-switched based on the obtained pedestrian data, non-motor vehicle data and motor vehicle data in the corresponding direction of traffic at the intersection.

[0040] In an embodiment of the present application, when the sum of the pedestrian flow in the corresponding direction of the intersection and the non-motor vehicle flow in the corresponding direction of the intersection is less than or equal to the first flow threshold, and the motor vehicle flow in the corresponding direction of the intersection is less than or equal to the second flow threshold, it is determined that the traffic light in the corresponding direction of the intersection needs to be phase-switched. Since the sum of the pedestrian flow in the corresponding direction of the intersection and the non-motor vehicle flow in the corresponding direction of the intersection is less than or equal to the first flow threshold, and the motor vehicle flow in the corresponding direction of the intersection is less than or equal to the second flow threshold, it indicates that the current traffic condition has not yet reached a saturated state, and there is no need to continue to maintain the green light phase. Timely phase switching of the traffic light can effectively improve the traffic efficiency of the entire intersection.

[0041] Contrary to the aforementioned conditions for phase switching of the traffic lights corresponding to the traffic direction of the intersection, when the sum of the pedestrian flow in the corresponding traffic direction of the intersection and the non-motor vehicle flow in the corresponding traffic direction of the intersection is greater than the first flow threshold, and the motor vehicle flow in the corresponding traffic direction of the intersection is less than or equal to the second flow threshold, it is determined that the traffic lights corresponding to the traffic direction of the intersection do not need to be phase switched. Alternatively, when the sum of the pedestrian flow in the corresponding traffic direction of the intersection and the non-motor vehicle flow in the corresponding traffic direction of the intersection is greater than the first flow threshold, and the motor vehicle flow in the corresponding traffic direction of the intersection is greater than the second flow threshold, it is determined that the traffic lights corresponding to the traffic direction of the intersection do not need to be phase switched. Alternatively, when the sum of the pedestrian flow in the corresponding traffic direction of the intersection and the non-motor vehicle flow in the corresponding traffic direction of the intersection is less than or equal to the first flow threshold, and the motor vehicle flow in the corresponding traffic direction of the intersection is greater than the second flow threshold, it is determined that the traffic lights corresponding to the traffic direction of the intersection do not need to be phase switched.

[0042] In the embodiments of the present application, the first flow threshold and the second flow threshold can be set according to actual needs and historical experience data, and the present application does not limit this.

[0043] After executing step S120, in response to the need to switch the phase of the traffic light corresponding to the traffic direction of the intersection, in step S130, the green light phase of the traffic light corresponding to the traffic direction of the intersection is immediately switched to the yellow light phase or the green light phase of the traffic light corresponding to the traffic direction of the intersection is switched to the yellow light phase after the corresponding remaining time.

[0044] In an embodiment of the present application, in response to the need to switch the phase of the traffic light corresponding to the direction of travel at the intersection, it is also necessary to determine whether the phase of the traffic light corresponding to the direction of travel at the intersection needs to be switched immediately. When it is determined that the phase of the traffic light corresponding to the direction of travel at the intersection does not need to be switched immediately, the green light phase of the traffic light corresponding to the direction of travel at the intersection is immediately switched to a yellow light phase. When it is determined that the phase of the traffic light corresponding to the direction of travel at the intersection does not need to be switched immediately, it is then determined whether a delay is required after the phase of the traffic light corresponding to the direction of travel at the intersection is switched, thereby switching the green light phase of the traffic light corresponding to the direction of travel at the intersection to a yellow light phase after the corresponding remaining time and delaying or not delaying it according to the determination result. The following is combined with Figure 2 The specific processes involved here are explained in detail.

[0045] Figure 2 An exemplary flow chart of a process for determining a traffic light phase switching according to an embodiment of the present application is shown.

[0046] like Figure 2 As shown, in response to the need to switch the phase of the traffic light corresponding to the traffic direction of the intersection, in step S210, based on the acquired pedestrian data, non-motor vehicle data, motor vehicle data of the traffic direction of the intersection and the motor vehicle data of the non-traffic direction corresponding to the intersection, it is determined whether it is necessary to immediately switch the phase of the traffic light corresponding to the traffic direction of the intersection. In response to the need to immediately switch the phase of the traffic light corresponding to the traffic direction of the intersection, in step S220, the green light phase of the traffic light corresponding to the traffic direction of the intersection is immediately switched to the yellow light phase. In response to the need not to immediately switch the phase of the traffic light corresponding to the traffic direction of the intersection, in step S230, based on all the acquired data, it is determined whether it is necessary to delay after the phase of the traffic light corresponding to the traffic direction of the intersection is switched.

[0047] Then, in response to the fact that it is not necessary to delay after the phase switching of the traffic light corresponding to the traffic direction of the intersection is performed, in step S240, the green light phase of the traffic light corresponding to the traffic direction of the intersection is switched to the yellow light phase after the corresponding remaining time. In response to the fact that it is necessary to delay after the phase switching of the traffic light corresponding to the traffic direction of the intersection is performed, in step S250, the green light phase of the traffic light corresponding to the traffic direction of the intersection is switched to the yellow light phase after the corresponding remaining time, and the yellow light phase is delayed.

[0048] In an embodiment of the present application, when the sum of the pedestrian flow in the corresponding traffic direction of the intersection and the non-motor vehicle flow in the corresponding traffic direction of the intersection is less than or equal to the third flow threshold, the motor vehicle flow in the corresponding traffic direction of the intersection is less than or equal to the fourth flow threshold, and the motor vehicle flow in the non-traffic direction of the intersection is greater than the motor vehicle flow in the corresponding traffic direction of the intersection, it is determined that the phase of the traffic light in the corresponding traffic direction of the intersection needs to be switched immediately. Among them, the third flow threshold is less than the first flow threshold, and the fourth flow threshold is less than the second flow threshold.

[0049] That is, when the sum of the pedestrian flow in the corresponding direction of traffic at the intersection and the non-motor vehicle flow in the corresponding direction of traffic at the intersection is less than or equal to the first flow threshold, and the motor vehicle flow in the corresponding direction of traffic at the intersection is less than or equal to the second flow threshold, the sum of the pedestrian flow in the corresponding direction of traffic at the intersection and the non-motor vehicle flow in the corresponding direction of traffic at the intersection is then compared with the third flow threshold, and the motor vehicle flow in the corresponding direction of traffic at the intersection is compared with the fourth flow threshold and the motor vehicle flow in the corresponding non-traffic direction of the intersection, so as to determine whether it is necessary to immediately switch the phase of the traffic light in the corresponding direction of traffic at the intersection.

[0050] In the embodiment of the present application, by comparing the motor vehicle flow in the corresponding traffic direction of the intersection with the motor vehicle flow in the non-traffic direction of the intersection, invalid switching of the traffic light phase can be avoided. For example, when the sum of the pedestrian flow in the corresponding traffic direction of the intersection and the non-motor vehicle flow in the corresponding traffic direction of the intersection is less than or equal to the third flow threshold, the motor vehicle flow in the corresponding traffic direction of the intersection is less than or equal to the fourth flow threshold, but the motor vehicle flow in the non-traffic direction of the intersection is less than or equal to the motor vehicle flow in the corresponding traffic direction of the intersection, if the phase of the traffic light is immediately switched, no improvement in traffic flow is brought about.

[0051] Contrary to the aforementioned condition that the phase of the traffic light corresponding to the traffic direction of the intersection needs to be switched immediately, the sum of the pedestrian flow in the corresponding traffic direction of the intersection and the non-motor vehicle flow in the corresponding traffic direction of the intersection is less than or equal to the first flow threshold, and the motor vehicle flow in the corresponding traffic direction of the intersection is less than or equal to the second flow threshold as a prerequisite. When the sum of the pedestrian flow in the corresponding traffic direction of the intersection and the non-motor vehicle flow in the corresponding traffic direction of the intersection is greater than the third flow threshold, and the motor vehicle flow in the corresponding traffic direction of the intersection is less than or equal to the fourth flow threshold, and the motor vehicle flow in the non-traffic direction corresponding to the intersection is greater than the motor vehicle flow in the corresponding traffic direction of the intersection, it is determined that there is no need to switch the phase of the traffic light corresponding to the traffic direction of the intersection immediately.

[0052] Alternatively, when the sum of the pedestrian flow in the corresponding direction of traffic at the intersection and the non-motor vehicle flow in the corresponding direction of traffic at the intersection is greater than the third flow threshold, and the motor vehicle flow in the corresponding direction of traffic at the intersection is greater than the fourth flow threshold, and the motor vehicle flow in the corresponding direction of traffic at the intersection is less than or equal to the motor vehicle flow in the corresponding non-traffic direction of the intersection, it is determined that there is no need to immediately switch the phase of the traffic light in the corresponding direction of traffic at the intersection.

[0053] Alternatively, when the sum of the pedestrian flow in the corresponding direction of traffic at the intersection and the non-motor vehicle flow in the corresponding direction of traffic at the intersection is greater than the third flow threshold, and the motor vehicle flow in the corresponding direction of traffic at the intersection is greater than the fourth flow threshold, and the motor vehicle flow in the corresponding direction of traffic at the intersection is greater than the motor vehicle flow in the corresponding direction of traffic at the intersection, it is determined that there is no need to immediately switch the phase of the traffic light in the corresponding direction of traffic at the intersection.

[0054] Alternatively, when the sum of the pedestrian flow in the corresponding direction of traffic at the intersection and the non-motor vehicle flow in the corresponding direction of traffic at the intersection is less than or equal to the third flow threshold, and the motor vehicle flow in the corresponding direction of traffic at the intersection is greater than the fourth flow threshold, and the motor vehicle flow in the corresponding direction of traffic at the intersection is less than or equal to the motor vehicle flow in the corresponding non-traffic direction of the intersection, it is determined that there is no need to immediately switch the phase of the traffic light in the corresponding direction of traffic at the intersection.

[0055] Alternatively, when the sum of the pedestrian flow in the corresponding direction of traffic at the intersection and the non-motor vehicle flow in the corresponding direction of traffic at the intersection is less than or equal to the third flow threshold, and the motor vehicle flow in the corresponding direction of traffic at the intersection is greater than the fourth flow threshold, and the motor vehicle flow in the corresponding direction of traffic at the intersection is greater than the motor vehicle flow in the corresponding direction of traffic at the intersection, it is determined that there is no need to immediately switch the phase of the traffic light in the corresponding direction of traffic at the intersection.

[0056] In the embodiment of the present application, the third flow threshold can be set to 0, and the fourth flow threshold can be set to 0 or a number greater than 0 according to actual needs and empirical data, and the present application does not limit this.

[0057] In the embodiment of the present application, firstly, the sum of the pedestrian flow in the corresponding traffic direction of the intersection and the non-motor vehicle flow in the corresponding traffic direction of the intersection is compared with the first flow threshold, and the motor vehicle flow in the corresponding traffic direction of the intersection is compared with the second flow threshold. When it is determined through comparison that the traffic light in the corresponding traffic direction of the intersection does not need to be phase-switched, it is no longer necessary to compare the sum of the pedestrian flow in the corresponding traffic direction of the intersection and the non-motor vehicle flow in the corresponding traffic direction of the intersection with the third flow threshold, and to compare the motor vehicle flow in the corresponding traffic direction of the intersection with the fourth flow threshold and the motor vehicle flow in the non-traffic direction corresponding to the intersection. Thus, the efficiency of the traffic light control system is improved and unnecessary operations are reduced.

[0058] In the embodiment of the present application, in response to the need to immediately switch the phase of the traffic light corresponding to the traffic direction of the intersection, that is, when the green light phase of the traffic light corresponding to the traffic direction of the intersection is no longer needed to be maintained, the green light phase of the traffic light corresponding to the traffic direction of the intersection is immediately switched to the yellow light phase. After the yellow light phase continues for its corresponding set time, the green light phase of the traffic light corresponding to the non-traffic direction of the intersection begins to take effect, thereby ensuring that pedestrians, non-motor vehicles and motor vehicles corresponding to the non-traffic direction of the intersection pass as soon as possible, thereby improving the traffic efficiency of the non-traffic direction.

[0059] In the embodiment of the present application, in response to the fact that there is no need to immediately switch the phase of the traffic light corresponding to the direction of travel at the intersection, it is also necessary to consider whether pedestrians and non-motor vehicles can smoothly pass through the zebra crossing area after the green light phase of the traffic light corresponding to the direction of travel at the intersection is switched to the yellow light phase after the corresponding remaining time, and during the process of the yellow light phase continuing to run and switching to the red light phase. That is, by delaying the yellow light phase, pedestrians and non-motor vehicles can safely pass through the zebra crossing area before the traffic light switches to the red light phase. Figure 3 This specific process is explained in detail.

[0060] Figure 3 An exemplary flow chart of a process for determining whether a traffic light performs a delay after phase switching according to an embodiment of the present application is shown.

[0061] like Figure 3 As shown, in step S310, the time required for the current last target to pass is obtained according to the pedestrian speed, pedestrian position, non-motor vehicle speed and non-motor vehicle position in the corresponding traffic direction of the intersection, where the target is a pedestrian or a non-motor vehicle. Then, in step S320, it is determined whether the time required for the current last target to pass is greater than the remaining time of the green light phase of the traffic light. In response to the time required for the current last target to pass is not greater than the remaining time of the green light phase of the traffic light, in step S330, it is determined that there is no need to delay after the phase switching of the traffic light in the corresponding traffic direction of the intersection. In response to the time required for the current last target to pass is greater than the remaining time of the green light phase of the traffic light, in step S340, it is determined that there is a need to delay after the phase switching of the traffic light in the corresponding traffic direction of the intersection.

[0062] In an embodiment of the present application, the distance between the pedestrian in the corresponding direction of travel of the intersection and the starting zebra crossing area or the stopping zebra crossing area is obtained according to the position of the pedestrian in the corresponding direction of travel of the intersection, the position of the non-motor vehicle, the coordinates of the stop zebra crossing in the direction of travel of the intersection, and the coordinate origin, and the distance between the non-motor vehicle in the corresponding direction of travel of the intersection and the starting zebra crossing area or the stopping zebra crossing area is obtained. Then, the time required for the current pedestrian to pass is obtained by dividing the obtained distance corresponding to the pedestrian by the pedestrian speed, and the time required for the current non-motor vehicle to pass is obtained by dividing the obtained distance corresponding to the non-motor vehicle by the non-motor vehicle speed. Then, the longest time obtained above is used as the time required for the current last target to pass.

[0063] Specifically, when the moving direction of a pedestrian or non-motor vehicle is close to the starting zebra crossing, the distance between the pedestrian or non-motor vehicle and the corresponding starting zebra crossing area is obtained. When the moving direction of a pedestrian or non-motor vehicle is close to the stopping zebra crossing, the distance between the pedestrian or non-motor vehicle and the corresponding stopping zebra crossing area is obtained.

[0064] In the embodiment of the present application, when the time required for the last target to pass is less than or equal to the remaining time of the green light phase of the traffic light, it means that the remaining time of the green light phase is enough for the last target to pass through the zebra crossing area, and there is no need to delay after the traffic light phase is switched. At this time, the green light phase of the traffic light corresponding to the direction of traffic at the intersection is switched to the yellow light phase after the corresponding remaining time. Then, after the yellow light phase runs according to the preset time, the yellow light phase is switched to the red light phase.

[0065] In an embodiment of the present application, when the time required for the last target to pass is greater than the remaining time of the green light phase of the traffic light, it means that the remaining time of the green light phase is not enough for the last target to pass through the zebra crossing area, and a delay is required after the traffic light phase is switched. At this time, the green light phase of the traffic light corresponding to the direction of traffic at the intersection is switched to the yellow light phase after the corresponding remaining time. Then, the yellow light phase is delayed for a period of time after running according to the preset time, and then the yellow light phase is switched to the red light phase.

[0066] In the embodiment of the present application, when the time required for the last target to pass is greater than the remaining time of the green light phase of the traffic light, the green light phase of the traffic light corresponding to the direction of travel at the intersection is switched to the yellow light phase after the corresponding remaining time, and the yellow light phase is delayed, so that pedestrians or non-motor vehicles can safely pass through the zebra crossing area. Compared with delaying the green light phase to ensure the safe passage of pedestrians or non-motor vehicles, it can make the owners of pedestrians or non-motor vehicles have an emergency awareness, which will speed up the passage. In addition, compared to delaying the green light phase, other pedestrians or non-motor vehicles who have not yet started moving will start to cross the zebra crossing during the green light phase, which will require recalculating the safe passing time. If the green light phase is then delayed, the waiting time in the non-traffic direction will be seriously increased, and there will still be safety hazards. By delaying the yellow light phase, other pedestrians or non-motor vehicles who have not yet started moving will generally not start to cross the zebra crossing during the yellow light phase. This can ensure the safe passage of pedestrians or non-motor vehicles who have already started moving, and can also ensure the safety of pedestrians or non-motor vehicles that have not yet started moving.

[0067] In the embodiment of the present application, the specific process of obtaining the delay time after the green light phase of the traffic light corresponding to the traffic direction of the intersection is switched to the yellow light phase can be referred to. Figure 4 .like Figure 4 As shown, in step S410, the difference between the time required for the last target to pass and the remaining time of the green light phase of the traffic light is taken as the first difference. Next, in step S420, the difference between the set waiting tolerance time and the duration of the green light phase is taken as the second difference. Then, in step S430, it is determined whether the first difference is less than the second difference. In response to the first difference being less than the second difference, in step S440, the first difference is taken as the delay time after the green light phase of the traffic light corresponding to the direction of traffic at the intersection is switched to the yellow light phase. In response to the first difference being not less than the second difference, in step S450, the second difference is taken as the delay time after the green light phase of the traffic light corresponding to the direction of traffic at the intersection is switched to the yellow light phase.

[0068] In the embodiments of the present application, the waiting tolerance time can be set according to historical experience data and experimental data, and the present application does not limit this.

[0069] In the embodiment of the present application, when the time required for the last target to pass the intersection (the first difference) is less than the difference between the set waiting tolerance time and the duration of the green light (the second difference), sufficient time will be given to ensure that pedestrians or non-motor vehicles can safely pass through the zebra crossing area. This helps to reduce the situation of pedestrians or non-motor vehicles running red lights and reduce the risk of traffic accidents.

[0070] In an embodiment of the present application, when the time required for the last target to pass through the intersection (the first difference) is not less than the difference between the set waiting endurance time and the duration of the green light (the second difference), the second difference is used as the delay time. This can meet the driver's psychological expectations to a certain extent, reduce the anxiety caused by long waiting time, and thereby reduce violations such as running a yellow light.

[0071] After executing step S120, in response to the fact that there is no need to switch the phase of the traffic light corresponding to the traffic direction of the intersection, in step S140, the green light phase of the traffic light corresponding to the traffic direction of the intersection is delayed based on all the acquired data.

[0072] In an embodiment of the present application, when the sum of the pedestrian flow in the corresponding direction of the intersection and the non-motor vehicle flow in the corresponding direction of the intersection is less than or equal to the first flow threshold, and the motor vehicle flow in the corresponding direction of the intersection is greater than the second flow threshold, the delay time of the green light phase is obtained according to the first delay time calculation formula, wherein the first delay time calculation formula is: Among them, T m is the time required for the motor vehicle flow in the corresponding direction of the intersection to be reduced to a second flow threshold value, calculated based on the motor vehicle data in the corresponding direction of the intersection, T th The waiting tolerance time is set.

[0073] Specifically, when the sum of the pedestrian flow in the corresponding direction of the intersection and the non-motor vehicle flow in the corresponding direction of the intersection is less than or equal to the first flow threshold, and the motor vehicle flow in the corresponding direction of the intersection is greater than the second flow threshold, the flow control in the direction of the intersection can be achieved as long as the motor vehicle flow in the corresponding direction of the intersection is reduced to the second flow threshold. More specifically, the time required for the motor vehicle flow in the corresponding direction of the intersection to be reduced to equal to the second flow threshold is calculated by the trained neural network model based on the motor vehicle speed, motor vehicle position acquisition and motor vehicle flow.

[0074] In an embodiment of the present application, when the time required to reduce the motor vehicle flow in the corresponding traffic direction of the intersection to equal the second flow threshold is greater than the waiting tolerance time, the waiting tolerance time is used as the delay time of the green light phase. This can avoid the anxiety caused by long waiting times of non-motor vehicle owners, pedestrians, and motor vehicle drivers in the corresponding non-traffic direction of the intersection, and further illegal behaviors.

[0075] In an embodiment of the present application, when the sum of the pedestrian flow in the corresponding direction of the intersection and the non-motor vehicle flow in the corresponding direction of the intersection is greater than the first flow threshold, and the motor vehicle flow in the corresponding direction of the intersection is less than or equal to the second flow threshold, the delay time of the green light phase is obtained according to the second delay time calculation formula, wherein the second delay time calculation formula is: Among them, T n is the time required to reduce the sum of pedestrian flow and non-motor vehicle flow in the corresponding direction of the intersection to equal the first flow threshold, calculated based on the pedestrian data and non-motor vehicle data in the corresponding direction of the intersection. th The waiting tolerance time is set.

[0076] Specifically, when the sum of the pedestrian flow in the corresponding direction of the intersection and the non-motor vehicle flow in the corresponding direction of the intersection is greater than the first flow threshold, and the motor vehicle flow in the corresponding direction of the intersection is less than or equal to the second flow threshold, as long as the sum of the pedestrian flow and non-motor vehicle flow in the corresponding direction of the intersection calculated by the pedestrian data and non-motor vehicle data in the corresponding direction of the intersection is reduced to the first flow threshold, the flow control in the direction of the intersection can be achieved. More specifically, the time for the sum of the pedestrian flow and non-motor vehicle flow in the corresponding direction of the intersection to be reduced to equal to the first flow threshold is calculated by the trained neural network model based on the pedestrian flow, pedestrian speed, pedestrian position, non-motor vehicle flow, non-motor vehicle speed, and non-motor vehicle position.

[0077] In an embodiment of the present application, when the time required to reduce the sum of the pedestrian flow and non-motor vehicle flow in the corresponding traffic direction of the intersection to equal the first flow threshold is greater than the waiting tolerance time, the waiting tolerance time is used as the delay time of the green light phase. This can avoid the anxiety caused by long waiting times among non-motor vehicle owners, pedestrians, and motor vehicle drivers in the non-traffic direction of the intersection, and further illegal behaviors.

[0078] In an embodiment of the present application, when the sum of the pedestrian flow in the corresponding direction of the intersection and the non-motor vehicle flow in the corresponding direction of the intersection is greater than or equal to the first flow threshold, and the motor vehicle flow in the corresponding direction of the intersection is greater than the second flow threshold, the delay time of the green light phase is obtained according to the third delay time calculation formula, wherein the third delay time calculation formula is: Among them, T n is the time required to reduce the sum of pedestrian flow and non-motor vehicle flow in the corresponding direction of the intersection to equal the first flow threshold, calculated based on the pedestrian data and non-motor vehicle data in the corresponding direction of the intersection. mis the time required for the motor vehicle flow in the corresponding direction of the intersection to be reduced to a second flow threshold value, calculated based on the motor vehicle data in the corresponding direction of the intersection, T th is the waiting tolerance time set, ω n T n The corresponding weight, ω m T m The corresponding weight.

[0079] Specifically, when the sum of the pedestrian flow in the corresponding direction of the intersection and the non-motor vehicle flow in the corresponding direction of the intersection is greater than the first flow threshold, and the motor vehicle flow in the corresponding direction of the intersection is greater than the second flow threshold, it is necessary to control the sum of the pedestrian flow and the non-motor vehicle flow to decrease and the motor vehicle flow to decrease according to the importance, and the weight can be set at this time to achieve this goal. More specifically, the time when the sum of the pedestrian flow and the non-motor vehicle flow in the corresponding direction of the intersection is reduced to equal to the first flow threshold is calculated by the trained neural network model based on pedestrian flow, pedestrian speed, pedestrian position, non-motor vehicle flow, non-motor vehicle speed, and non-motor vehicle position, and the time when the sum of the pedestrian flow and the non-motor vehicle flow in the corresponding direction of the intersection is reduced to equal to the first flow threshold is calculated by the trained neural network model based on pedestrian flow, pedestrian speed, pedestrian position, non-motor vehicle flow, non-motor vehicle speed, and non-motor vehicle position. Then, the delay time of the green light phase is obtained by weighted summing the acquired time.

[0080] In an embodiment of the present application, when the weighted average of the time required for the sum of the pedestrian flow and non-motor vehicle flow in the corresponding direction of traffic at the intersection to be reduced to a value equal to the first flow threshold and the time greater than the waiting tolerance time, and the time required for the motor vehicle flow in the corresponding direction of traffic at the intersection to be reduced to a value equal to the second flow threshold is greater than the waiting tolerance time, the waiting tolerance time is used as the delay time of the green light phase, which can avoid the anxiety caused by the long waiting time of non-motor vehicle owners, pedestrians, and motor vehicle drivers in the non-traffic direction of the intersection, and further illegal behavior.

[0081] In the embodiments of the present application, the aforementioned T n The corresponding weight ω n and T m The corresponding weight ω m It can be set according to actual needs and empirical data, and this application does not limit it here.

[0082] In summary, through the control scheme of the traffic light provided above, the embodiment of the present application determines whether it is necessary to switch the phase of the traffic light based on the pedestrian data, non-motor vehicle data and motor vehicle data corresponding to the traffic direction of the intersection obtained, and adjusts the green light phase to the yellow light phase according to the actual situation, and delays the green light phase, which can match the traffic light control strategy that meets the actual needs according to the traffic situation in real time, and can reduce the probability of traffic accidents. Further, in some embodiments, in response to the need to delay after the phase switching of the traffic light corresponding to the traffic direction of the intersection, the green light phase of the traffic light corresponding to the traffic direction of the intersection is switched to the yellow light phase after the corresponding remaining time, and the yellow light phase is delayed, so that all pedestrians can safely pass through the intersection and ensure the safety of pedestrians.

[0083] The embodiment of the present application further provides a traffic light control system, which may adopt the aforementioned traffic light control method 100 to control the traffic light, or may adopt other traffic light control methods to control the traffic light, which is not limited in the present application.

[0084] Figure 5 An exemplary structural block diagram of a traffic light control system according to an embodiment of the present application is shown.

[0085] like Figure 5 As shown, the system 500 includes a data acquisition module 510, a judgment module 520 and an execution module 530. In the embodiment of the present application, the data acquisition module 510, the judgment module 520 and the execution module 530 can be separate units or integrated in the same backend server, which is not limited in the present application.

[0086] Specifically, the data acquisition module 510 is used to respectively acquire pedestrian data, non-motor vehicle data, motor vehicle data, green light phase time data of traffic lights, and motor vehicle data of non-traffic directions corresponding to the intersection;

[0087] Specifically, the judgment module 520 is used to judge whether it is necessary to perform phase switching on the traffic lights corresponding to the traffic direction of the intersection based on the obtained pedestrian data, non-motor vehicle data and motor vehicle data corresponding to the traffic direction of the intersection;

[0088] Specifically, the execution module 530 is used to respond to the need to switch the phase of the traffic light corresponding to the direction of travel at the intersection, and immediately switch the green light phase of the traffic light corresponding to the direction of travel at the intersection to the yellow light phase, or switch the green light phase of the traffic light corresponding to the direction of travel at the intersection to the yellow light phase after the corresponding remaining time; in response to the need to not switch the phase of the traffic light corresponding to the direction of travel at the intersection, delay the green light phase of the traffic light corresponding to the direction of travel at the intersection based on all acquired data.

[0089] When the system 500 uses the aforementioned traffic light control method 100 to control the traffic light, the data acquisition module 510 executes the aforementioned step S110, the judgment module 520 executes the aforementioned step S120, and the execution module 530 executes the aforementioned steps S130 and S140. The specific execution process can be referred to above and will not be repeated here.

[0090] Although multiple embodiments of the present application have been shown and described herein, it is obvious to those skilled in the art that such embodiments are provided only by way of example. Those skilled in the art can think of many changes, modifications and alternatives without departing from the thought and spirit of the present application. It should be understood that in the process of practicing the present application, various alternatives to the embodiments of the present application described herein can be adopted. The attached claims are intended to limit the scope of protection of the present application, and therefore cover equivalents or alternatives within the scope of these claims.

Claims

1. A method for controlling a traffic light, characterized in that: include: Obtain pedestrian data, non-motor vehicle data, motor vehicle data, green light phase time data of traffic lights and motor vehicle data of non-traffic directions corresponding to the intersections respectively, wherein pedestrian data includes: pedestrian flow, pedestrian speed, pedestrian position; non-motor vehicle data includes: non-motor vehicle flow, non-motor vehicle speed, non-motor vehicle position; green light phase time data of traffic lights includes: duration of green light phase of traffic lights and total time currently set; motor vehicle data includes: motor vehicle flow, motor vehicle speed, motor vehicle position; Based on the obtained pedestrian data, non-motor vehicle data and motor vehicle data corresponding to the traffic direction of the intersection, it is determined whether it is necessary to perform phase switching on the traffic lights corresponding to the traffic direction of the intersection; In response to the need to switch the phase of the traffic light corresponding to the traffic direction of the intersection, the green light phase of the traffic light corresponding to the traffic direction of the intersection is immediately switched to the yellow light phase or the green light phase of the traffic light corresponding to the traffic direction of the intersection is switched to the yellow light phase after the corresponding remaining time; In response to the fact that there is no need to switch the phase of the traffic light corresponding to the traffic direction of the intersection, the green light phase of the traffic light corresponding to the traffic direction of the intersection is delayed based on all the acquired data.

2. The traffic light control method according to claim 1, characterized in that: In response to the need to switch the phase of the traffic light corresponding to the traffic direction of the intersection, judging whether it is necessary to immediately switch the phase of the traffic light corresponding to the traffic direction of the intersection based on the acquired pedestrian data, non-motor vehicle data, motor vehicle data in the traffic direction of the intersection and motor vehicle data in the non-traffic direction corresponding to the intersection; In response to the need to immediately switch the phase of the traffic light corresponding to the traffic direction of the intersection, the green light phase of the traffic light corresponding to the traffic direction of the intersection is immediately switched to a yellow light phase.

3. The traffic light control method according to claim 2, characterized in that: In response to the fact that the phase of the traffic light corresponding to the direction of travel at the intersection does not need to be switched immediately, determining whether a delay is required after the phase of the traffic light corresponding to the direction of travel at the intersection is switched based on all acquired data; In response to the fact that there is no need to delay after the phase switching of the traffic light corresponding to the traffic direction of the intersection is performed, the green light phase of the traffic light corresponding to the traffic direction of the intersection is switched to the yellow light phase after the corresponding remaining time; In response to the need to delay after the phase switching of the traffic light corresponding to the traffic direction of the intersection, the green light phase of the traffic light corresponding to the traffic direction of the intersection is switched to the yellow light phase after the corresponding remaining time, and the yellow light phase is delayed.

4. The traffic light control method according to claim 2, characterized in that: When the sum of the pedestrian flow in the corresponding direction of traffic at the intersection and the non-motor vehicle flow in the corresponding direction of traffic at the intersection is less than or equal to the first flow threshold, and the motor vehicle flow in the corresponding direction of traffic at the intersection is less than or equal to the second flow threshold, it is determined that the traffic lights in the corresponding direction of traffic at the intersection need to be phase switched.

5. The method for controlling a traffic light according to claim 4, characterized in that: When the sum of the pedestrian flow in the corresponding traffic direction of the intersection and the non-motor vehicle flow in the corresponding traffic direction of the intersection is less than or equal to the third flow threshold, the motor vehicle flow in the corresponding traffic direction of the intersection is less than or equal to the fourth flow threshold, and the motor vehicle flow in the non-traffic direction of the intersection is greater than the motor vehicle flow in the corresponding traffic direction of the intersection, it is determined that the phase of the traffic light in the corresponding traffic direction of the intersection needs to be switched immediately; The third flow threshold is smaller than the first flow threshold, and the fourth flow threshold is smaller than the second flow threshold.

6. The method for controlling a traffic light according to claim 3, characterized in that: Obtaining the time required for the last target to pass according to the pedestrian speed, pedestrian position, non-motor vehicle speed and non-motor vehicle position corresponding to the traffic direction of the intersection, wherein the target is a pedestrian or a non-motor vehicle; Determine whether the time required for the last target to pass is greater than the remaining time of the green light phase of the traffic light; In response to the fact that the time required for the last target to pass is not greater than the remaining time of the green light phase of the traffic light, it is determined that there is no need to delay after the phase switching of the traffic light corresponding to the traffic direction of the intersection; In response to the time required for the last target to pass being greater than the remaining time of the green light phase of the traffic light, it is determined that a delay is required after the phase of the traffic light corresponding to the traffic direction of the intersection is switched.

7. The method for controlling a traffic light according to claim 6, characterized in that: The difference between the time required for the last target to pass and the remaining time of the green light phase of the traffic light is taken as the first difference; The difference between the set waiting tolerance time and the duration of the green light phase is taken as the second difference; Determine whether the first difference is less than the second difference; In response to the first difference being less than the second difference, using the first difference as a delay time after the green light phase of the traffic light corresponding to the traffic direction of the intersection is switched to the yellow light phase; In response to the first difference being not less than the second difference, the second difference is used as the delay time after the green light phase of the traffic light corresponding to the traffic direction of the intersection is switched to the yellow light phase.

8. The method for controlling a traffic light according to claim 4, characterized in that: Delaying the green light phase of the traffic light corresponding to the direction of travel at the intersection based on all the acquired data includes: When the sum of the pedestrian flow in the corresponding direction of the intersection and the non-motor vehicle flow in the corresponding direction of the intersection is less than or equal to the first flow threshold, and the motor vehicle flow in the corresponding direction of the intersection is greater than the second flow threshold, the delay time of the green light phase is obtained according to the first delay time calculation formula, wherein the first delay time calculation formula is: Among them, T m is the time required for the motor vehicle flow in the corresponding direction of the intersection to be reduced to a second flow threshold value, calculated based on the motor vehicle data in the corresponding direction of the intersection, T th The waiting patience time set; When the sum of the pedestrian flow in the corresponding direction of the intersection and the non-motor vehicle flow in the corresponding direction of the intersection is greater than the first flow threshold, and the motor vehicle flow in the corresponding direction of the intersection is less than or equal to the second flow threshold, the delay time of the green light phase is obtained according to the second delay time calculation formula, wherein the second delay time calculation formula is: Among them, T n is the time required to reduce the sum of pedestrian flow and non-motor vehicle flow in the corresponding direction of the intersection to equal the first flow threshold, calculated based on the pedestrian data and non-motor vehicle data in the corresponding direction of the intersection. th The waiting tolerance time is set.

9. The method for controlling a traffic light according to claim 8, characterized in that: Delaying the green light phase of the traffic light corresponding to the direction of travel at the intersection based on all the acquired data also includes: When the sum of the pedestrian flow in the corresponding direction of the intersection and the non-motor vehicle flow in the corresponding direction of the intersection is greater than or equal to the first flow threshold, and the motor vehicle flow in the corresponding direction of the intersection is greater than the second flow threshold, the delay time of the green light phase is obtained according to the third delay time calculation formula, wherein the third delay time calculation formula is: Among them, T n is the time required to reduce the sum of pedestrian flow and non-motor vehicle flow in the corresponding direction of the intersection to equal the first flow threshold, calculated based on the pedestrian data and non-motor vehicle data in the corresponding direction of the intersection. m is the time required for the motor vehicle flow in the corresponding direction of the intersection to be reduced to a second flow threshold value, calculated based on the motor vehicle data in the corresponding direction of the intersection, T th is the waiting tolerance time set, ω n T n The corresponding weight, ω m T m The corresponding weight.

10. A traffic light control system, characterized in that: A traffic light is controlled by using the traffic light control method according to any one of claims 1 to 9, the system comprising: A data acquisition module is used to respectively acquire pedestrian data, non-motor vehicle data, motor vehicle data, green light phase time data of traffic lights, and motor vehicle data in the non-traffic direction corresponding to the intersection; A judgment module, used to judge whether it is necessary to perform phase switching on the traffic lights corresponding to the traffic direction of the intersection based on the obtained pedestrian data, non-motor vehicle data and motor vehicle data corresponding to the traffic direction of the intersection; An execution module is used for, in response to the need to perform phase switching on the traffic lights corresponding to the direction of travel at the intersection, immediately switching the green light phase of the traffic lights corresponding to the direction of travel at the intersection to the yellow light phase or switching the green light phase of the traffic lights corresponding to the direction of travel at the intersection to the yellow light phase after the corresponding remaining time; in response to the need not to perform phase switching on the traffic lights corresponding to the direction of travel at the intersection, delaying the green light phase of the traffic lights corresponding to the direction of travel at the intersection based on all acquired data.

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