Traffic signal control method and device, electronic equipment, storage medium and computer product

Abstract

The invention relates to the technical field of traffic signals, and provides a traffic signal control method and device, electronic equipment, a storage medium and a computer product, and the method comprises the steps: determining an aggregation wave flow rate and an evanescent wave flow rate of each direction in each phase of a to-be-controlled traffic light; inputting the preset timing information of the to-be-controlled traffic light and the aggregated wave flow rate and the evanescent wave flow rate of each phase and each direction of the to-be-controlled traffic light into the target model to obtain initial timing information output by the target model; the target model comprises a quadratic function constructed based on an aggregation wave flow rate and an evanescent wave flow rate in each direction in each phase of the traffic light, a signal lamp period duration of the traffic light and a green lamp duration in each direction in each phase of the traffic light, and a constraint condition for a planning problem of the quadratic function; and determining the verified initial timing information as target timing information. The accuracy of urban traffic signal control can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of traffic signals, and in particular to a traffic signal control method, device, electronic device, storage medium and computer product. Background Art

[0002] The coordinated control of multiple intersections in urban traffic is the key to the successful application of urban traffic signal control system. Urban road signal control system is divided into timing control, induction control and regional adaptive control.

[0003] However, traditional timing control is based on the local historical traffic data of the intersection to match the signal timing, which is not adaptable to complex and changing traffic conditions. Inductive control is based on the real-time information of vehicle arrival at the intersection to match the signal timing, without considering the random characteristics of the traffic flow arriving at the intersection, assuming that vehicles arrive evenly. Because traffic flow has the characteristics of randomness and time-varying, the existing inductive control model does not accurately reflect the random characteristics of traffic flow, and the control effect is not ideal.

[0004] As a result, the current urban traffic signal control is insufficiently accurate. Summary of the invention

[0005] The present application aims to solve at least one of the technical problems existing in the related art. To this end, the present application proposes a traffic signal control method, device, electronic device, storage medium and computer product to solve the problem of insufficient accuracy in the current urban traffic signal control and improve the accuracy of urban traffic signal control.

[0006] A traffic signal control method according to an embodiment of the first aspect of the present application includes: Determine the gathering wave flow rate and the dissipating wave flow rate in each direction in each phase of the traffic light to be controlled; Input the preset timing information of the traffic light to be controlled, and the gathering wave flow rate and the dissipation wave flow rate in each direction in each phase of the traffic light to be controlled into the target model to obtain the initial timing information output by the target model; the preset timing information includes the signal light cycle duration and the green light duration in each direction in each phase of the traffic light to be controlled; the target model includes a quadratic function constructed based on the gathering wave flow rate and the dissipation wave flow rate in each direction in each phase of the traffic light, and the signal light cycle duration of the traffic light and the green light duration in each direction in each phase of the traffic light, and includes constraints for the planning problem of the quadratic function; The verified initial timing information is determined as the target timing information.

[0007] According to an embodiment of the present application, after obtaining the initial timing information output by the target model, the method further includes: Performing KKT condition detection on the initial timing information; If the initial timing information does not satisfy the KKT condition, determining that the initial timing information has not passed the verification; If the initial timing information satisfies the KKT condition, it is determined that the initial timing information passes the verification.

[0008] According to an embodiment of the present application, after determining that the initial timing information fails to pass the verification, the method further includes: The constraint conditions are adjusted, and the preset timing information of the traffic light to be controlled, as well as the gathering wave flow rate and the dissipation wave flow rate in each direction in each phase of the traffic light to be controlled are input into the target model after the constraint conditions are adjusted, so as to obtain new initial timing information output by the target model; If the new initial timing information passes the verification, the new initial timing information is determined as the target timing information.

[0009] According to one embodiment of the present application, the expression of the quadratic function is as follows: ; Among them, C is the duration of the signal light cycle, is the green light duration of phase i, is the mass wave flow rate in direction j in phase i, is the evanescent wave flow rate in direction j in phase i, x is the vector matrix of green light duration in all directions in all phases, H is the weight matrix, T is the matrix transpose, min is the minimum value, n is the total number of phases, m i is the total number of directions corresponding to phase i.

[0010] According to one embodiment of the present application, the constraint conditions include: ; ; ; is the matrix of equality constraints, is the constant term of the equality constraint, is the inequality constraint matrix, is the constant term of the inequality constraint, and x is the vector matrix of the green light duration in all directions in all phases.

[0011] According to one embodiment of the present application, the inequality constraint matrix is ​​determined in the following manner: ; in, ; is the traffic saturation in direction j in phase i, C is the duration of the traffic light cycle, is the green light duration of phase i, is the mass wave flow rate in direction j in phase i, is the evanescent wave flow rate in direction j in phase i, The maximum traffic saturation is achieved in direction j in phase i.

[0012] According to the second aspect of the present application, a traffic signal control device includes: A first determination module is used to determine the gathering wave flow rate and the dissipation wave flow rate in each direction in each phase of the traffic light to be controlled; An input module, used for inputting the preset timing information of the traffic light to be controlled, and the gathering wave flow rate and the dissipation wave flow rate in each direction in each phase of the traffic light to be controlled into the target model, to obtain the initial timing information output by the target model; the preset timing information includes the signal light cycle duration and the green light duration in each direction in each phase of the traffic light to be controlled; the target model includes a quadratic function constructed based on the gathering wave flow rate and the dissipation wave flow rate in each direction in each phase of the traffic light, and the signal light cycle duration of the traffic light and the green light duration in each direction in each phase of the traffic light, and includes constraints for the planning problem of the quadratic function; The second determining module is used to determine the verified initial timing information as the target timing information.

[0013] According to an electronic device of an embodiment of the third aspect of the present application, the electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the traffic signal control method described above is implemented.

[0014] According to the storage medium of the fourth aspect embodiment of the present application, the storage medium is a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements any of the traffic signal control methods described above.

[0015] A computer program product according to an embodiment of the fifth aspect of the present application includes a computer program, which, when executed by a processor, implements any of the traffic signal control methods described above.

[0016] The above one or more technical solutions in the embodiments of the present application have at least the following technical effects: A quadratic function is constructed in advance based on the gathering wave flow rate and the dissipation wave flow rate in each direction in each phase of the traffic light, as well as the signal light cycle duration of the traffic light and the green light duration in each direction in each phase of the traffic light, and constraints are set for the planning problem of the quadratic function, and then a target model is constructed according to the quadratic function and its constraints, so that after determining the gathering wave flow rate and the dissipation wave flow rate in each direction in each phase of the traffic light to be controlled, by inputting the preset timing information of the traffic light to be controlled and the gathering wave flow rate and the dissipation wave flow rate in each direction in each phase of the traffic light to be controlled into the target model, the initial timing information output by the target model including the signal light cycle duration and the green light duration in each direction in each phase of the traffic light to be controlled can be obtained, and then when it is determined that the initial timing information has passed the verification, the initial timing information can be determined as the target timing information. The target model is constructed by combining the quadratic function constructed by combining the gathering wave flow rate and the dissipation wave flow rate and constraint conditions. Based on the target model, the signal light cycle duration and the green light duration can be accurately calculated to optimize the signal timing plan, reduce vehicle waiting time and delays, and verify the obtained timing information to ensure the feasibility of the timing plan. Therefore, the accuracy of urban traffic signal control can be improved.

[0017] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a flow chart of the traffic signal control method provided in the embodiment of the present application.

[0020] Figure 2 It is a schematic diagram of the overall flow of the traffic signal control method provided in an embodiment of the present application.

[0021] Figure 3 It is a schematic diagram of the structure of the electronic device provided by this application. DETAILED DESCRIPTION

[0022] The following is a further detailed description of the implementation of the present application in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present application but cannot be used to limit the scope of the present application.

[0023] In the description of the embodiments of the present application, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0024] In the description of the embodiments of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0025] In the embodiments of the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0026] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiments of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0027] The present application provides a traffic signal control method, device, electronic device, storage medium and computer product.

[0028] Figure 1 is a flow chart of a traffic signal control method provided in an embodiment of the present application, such as Figure 1 As shown, the traffic signal control method includes: Step 110 , determining the agglomerated wave flow rate and the evanescent wave flow rate in each direction in each phase of the traffic light to be controlled.

[0029] Step 120, input the preset timing information of the traffic light to be controlled, and the gathering wave flow rate and the dissipation wave flow rate in each direction in each phase of the traffic light to be controlled into the target model to obtain the initial timing information output by the target model; the preset timing information includes the signal light cycle duration and the green light duration in each direction in each phase of the traffic light to be controlled; the target model includes a quadratic function constructed based on the gathering wave flow rate and the dissipation wave flow rate in each direction in each phase of the traffic light, as well as the signal light cycle duration of the traffic light and the green light duration in each direction in each phase of the traffic light, and includes constraints for the planning problem of the quadratic function.

[0030] Step 130: determine the verified initial timing information as the target timing information.

[0031] It should be noted that the execution subject of the traffic signal control method provided in the embodiment of the present application may be a server, a computer device, etc. The computer device may be, for example, a mobile phone, a tablet computer, a laptop computer, a PDA, an in-vehicle electronic device, a wearable device, an ultra-mobile personal computer (UMPC), a receiver, a netbook or a personal digital assistant (PDA), etc. It should be noted that the data required to be obtained in this application are all legally obtained.

[0032] A traffic signal control device may be provided or connected to the server or computer device of the present application, thereby controlling the traffic signal control device to execute the traffic signal control method of the present application.

[0033] The present invention determines the triangle shape by combining the slope of the gathering wave and the dissipating wave with the signal timing, and then obtains the delay of the entrance lane turning queue at each phase of the traffic light by calculating the area of ​​the triangle. for: ; Where i is the traffic light phase i, j is the direction of each phase in the intersection, is the mass wave flow rate in direction j in phase i, is the evanescent wave flow rate in direction j in phase i, C is the duration of the signal light cycle, is the green light duration of phase i.

[0034] It can be seen that the total queue delay D is: ; Where n is the total number of phases, m i is the total number of directions corresponding to phase i, and the definitions of the remaining parameters are the same as those of the parameters with the same signs in the above and subsequent formulas.

[0035] Furthermore, the present application utilizes the mathematical properties of convex functions to transform the planning problem of traffic flow optimization calculation into an optimization problem in which the objective function is a quadratic convex function of the decision variables, where the objective function f(x) is the weighted sum of the total vehicle delays, expressed as: ; st ; ; ; Where x is the vector matrix of green light duration in all directions in all phases; H is the weight matrix, usually a diagonal matrix of all 1s. In actual application, the importance ratio of each turn delay is adjusted by adjusting the matrix, that is, the delay parameter is substituted into the model by changing the weight of the matrix H; T is the matrix transpose; min is the minimum value; is the matrix of equality constraints, is the constant term of the equality constraint, is the inequality constraint matrix, is the constant term of the inequality constraint.

[0036] Furthermore, the present application also includes the following inequality: ; in, The maximum traffic saturation is achieved in direction j in phase i; To prevent overflow condition inequality, by substituting the overflow prevention condition inequality into Inequality constraint matrix is ​​established in As an inequality constraint, it can ensure that all queued vehicles are released within the green light time to avoid oversaturation at the intersection; The traffic saturation is determined as follows: ; is the traffic saturation in direction j in phase i, C is the duration of the traffic light cycle, is the green light duration of phase i, is the mass wave flow rate in direction j in phase i, is the evanescent wave flow rate in direction j in phase i.

[0037] Based on this, a quadratic function can be constructed according to the objective function f(x) and the total queue delay D, so as to find the vector x so that D=f(x) reaches the minimum value. Then, based on the quadratic function, combined with the minimum green light time of each phase of the traffic light, the maximum green light time of each phase, the minimum cycle of the signal light, and the maximum cycle of the signal light, a quadratic convex function planning model can be established as the entrance turn queue delay model, where the entrance turn queue delay model can be established based on the LWR (Lighthill-Whitham-Richards) traffic wave. The entrance turn queue delay model can be further defined as the target model, where the quadratic function can specifically be a quadratic convex function.

[0038] Among them, the quadratic function has the above constraints and also includes the following constraints: ; in, is the minimum period of the signal light, is the maximum cycle of the signal light; ; in, is the minimum green light time of each phase, It is the maximum green light time of each phase.

[0039] In addition, the traffic light cycle C is the sum of the green light, yellow light, and full red time in each phase, expressed as: ; Among them, n is the total number of phases at the intersection, Y is the yellow light time, and AR is the full red time; It should be noted that the above expression of the traffic light cycle C is used as an equality constraint condition of the quadratic convex function.

[0040] It should be further explained that the execution subject in this application can control one or more traffic lights. Each traffic light can be equipped with or connected to front-end devices such as a radar-vision integrated machine, a millimeter-wave radar, a high-definition bayonet camera, etc., so the execution subject of this application can obtain the information collected by the front-end device.

[0041] For each traffic light that needs to be controlled (i.e., the traffic light to be controlled), the present application can derive the gathering wave flow rate and dissipation wave flow rate in each direction in each phase of the traffic light to be controlled based on the real-time vehicle trajectory and intersection lane information of the corresponding intersection obtained by the front-end device. The specific analysis process is not limited in this application.

[0042] At the same time, the present application can determine the timing information of the traffic light to be controlled, including the duration of the signal light cycle and the duration of the green light in each direction in each phase, as the preset timing information. This can be implemented by existing technology or new technology, which is not limited in the present application.

[0043] Furthermore, the preset timing information of the traffic light to be controlled, as well as the gathering wave flow rate and the dissipation wave flow rate in each direction in each phase of the traffic light to be controlled can be input into the target model to obtain the initial timing information output by the target model.

[0044] Specifically, in this application, the initial equality constraint is determined by the active set method: The positive set of quadratic functions in the target model is used to generate initial timing information based on the positive set.

[0045] Furthermore, the initial timing information output by the target model may be verified to determine whether the timing scheme in the initial timing information is an optimal timing scheme.

[0046] If it is determined that the initial timing scheme passes the verification, the initial timing information is determined as the target timing information to apply the corresponding timing scheme.

[0047] According to the traffic signal control method of the embodiment of the present application, a quadratic function is constructed in advance based on the gathering wave flow rate and the dissipation wave flow rate in each direction in each phase of the traffic light, as well as the signal light cycle duration of the traffic light and the green light duration in each direction in each phase of the traffic light, and constraints are set for the planning problem of the quadratic function, and then a target model is constructed according to the quadratic function and its constraints, so that after determining the gathering wave flow rate and the dissipation wave flow rate in each direction in each phase of the traffic light to be controlled, by inputting the preset timing information of the traffic light to be controlled, and the gathering wave flow rate and the dissipation wave flow rate in each direction in each phase of the traffic light to be controlled into the target model, the initial timing information output by the target model including the signal light cycle duration and the green light duration in each direction in each phase of the traffic light to be controlled can be obtained, and then when it is determined that the initial timing information has passed the verification, the initial timing information can be determined as the target timing information. The target model is constructed by combining the quadratic function constructed by combining the gathering wave flow rate and the dissipation wave flow rate and constraint conditions. Based on the target model, the signal light cycle duration and the green light duration can be accurately calculated to optimize the signal timing plan, reduce vehicle waiting time and delays, and verify the obtained timing information to ensure the feasibility of the timing plan. Therefore, the accuracy of urban traffic signal control can be improved.

[0048] Based on the above embodiment, after obtaining the initial timing information output by the target model, the method further includes: Perform KKT condition detection on the initial timing information; If the initial timing information does not meet the KKT condition, it is determined that the initial timing information has not passed the verification; If the initial timing information meets the KKT condition, it is determined that the initial timing information passes the verification.

[0049] It should be noted that, after obtaining the initial timing information output by the target model, the present application may perform KKT condition detection on the initial timing information to verify the initial timing information.

[0050] Specifically, the present application can obtain KKT condition judgment through mathematical solvers such as matlab and YALMIP, and then determine whether the initial timing information meets the KKT optimality condition. Among them, matlab is a programming and numerical calculation platform, and YALMIP is an open source matlab library.

[0051] If it is determined that the initial timing information meets the KKT optimality condition, it is determined that the initial timing information passes the verification.

[0052] If it is determined that the initial timing information does not meet the KKT condition, it is determined that the initial timing information has not passed the verification.

[0053] It should be noted that the KKT condition, namely the Karush-Kuhn-Tucker condition, is one of the very important theoretical results in the field of nonlinear programming. It is a necessary condition for determining a point as an extreme point. If the planning in question is a convex planning, then the KKT condition is also a sufficient condition. Specifically, the KKT condition includes the following aspects: Primitive feasibility: The solution must satisfy all primal constraints; Dual feasibility: Lagrange multipliers (dual variables) must satisfy the corresponding dual constraints, and the Lagrange multipliers for inequality constraints must be non-negative; Complementary slackness: For each inequality constraint, the product of the Lagrange multiplier and the constraint value must be zero, which means that if the Lagrange multiplier is not zero, the corresponding inequality constraint must be satisfied in the form of an equality; Stability condition (gradient condition): At the optimal point, the gradient of the objective function plus the linear combination of the gradients of all constraint functions (multiplied by the corresponding Lagrange multipliers) must be zero.

[0054] For matlab, you can use the fmincon function to solve the optimization problem. This function can return the optimal solution, the objective function value, and the Lagrange multiplier (lambda), which is part of the KKT condition. Then, you can verify the dual feasibility and complementary slackness conditions by checking the value of lambda.

[0055] In YALMIP, you can directly use the kkt function to solve the KKT condition. This function returns the constraint expression of the KKT condition and a structure variable containing the details of the KKT condition.

[0056] If all KKT conditions are met, then the current solution x (i.e., the initial timing information) is the optimal solution.

[0057] This application uses the active set method that meets the KKT conditions to solve the optimization problem, which can ensure the global optimality of the solution, improve the accuracy of urban traffic signal control, and improve the solution efficiency and reduce the computational complexity.

[0058] Based on the above embodiment, after determining that the initial timing information fails to pass the verification, the method further includes: The constraint conditions are adjusted, and the preset timing information of the traffic light to be controlled, as well as the gathering wave flow rate and the dissipation wave flow rate in each direction in each phase of the traffic light to be controlled are input into the target model after the constraint conditions are adjusted, so as to obtain the new initial timing information output by the target model; If the new initial timing information passes the verification, the new initial timing information is determined as the target timing information.

[0059] Specifically, if the present application determines that the initial timing information fails to pass the verification, it can be determined that the initial timing information is not the optimal solution. Therefore, the equality constraints in the constraints of the quadratic function in the target model can be relaxed, so that the target model can search for new solutions in the descending direction, and when the new solution reaches the boundary, the solution is added to the active set as the new timing information.

[0060] Therefore, after completing the adjustment of the constraints, the preset timing information of the traffic light to be controlled, as well as the gathering wave flow rate and the dissipation wave flow rate in each direction in each phase of the traffic light to be controlled can be re-input into the target model after the constraints are adjusted to obtain the new initial timing information output by the target model.

[0061] Furthermore, a KKT condition test may be performed on the new initial timing information to verify the new initial timing information.

[0062] Furthermore, if it is determined that the new initial timing information passes the verification, it is determined that the current solution x (ie, the new initial timing information) is the optimal solution, and thus the new initial timing information can be determined as the target timing information.

[0063] If the new initial timing information still fails to pass the verification, the constraint conditions may be readjusted and the initial timing information may be re-determined, and so on, until the new initial timing information passes the verification.

[0064] By dynamically adjusting the constraint set and searching in the descending direction, the present application can more efficiently and accurately find the optimal solution that satisfies all constraints, thereby improving the accuracy of urban traffic signal control and improving the adaptability and robustness of the algorithm.

[0065] Figure 2 is a schematic diagram of the overall flow of the traffic signal control method provided in the embodiment of the present application, such as Figure 2 As shown, the present application can first establish an entrance lane turn queue delay model, and further establish a convex quadratic programming model (QCP) in combination with the minimum green light time constraint. Then, a linear scheme can be used to generate an initial feasible solution, and the initial equation constraint set can be determined through the convex quadratic programming model, and the constraint set is used as an active set. If the active set satisfies the KKT optimality condition, the optimal solution is obtained, and then the cycle and green-to-signal ratio of the signal timing (i.e., the green light time of each phase) are updated. If the KKT optimality condition is not met, then the decreasing constraint that causes the total delay of the objective function is found in the active set, and the equation constraint is relaxed to obtain a new active set. Then, the next iteration point is calculated in the new active set, and the feasibility of the solution is guaranteed until the KKT optimality condition is met.

[0066] This application establishes a multi-phase entrance turn queue delay model, which can simultaneously cope with complex intersections such as T-shaped and cross-shaped intersections. By utilizing the mathematical properties of convex quadratic functions, the planning problem of signal timing cycle and green-to-signal ratio is transformed into an optimization problem with a convex function as the objective function. The commonly used mathematical tools for solving convex quadratic functions are relatively mature and stable, which facilitates product realization and implementation. Therefore, the smoothness of intersection traffic is maximized on the basis of a smooth transition of the timing scheme cycle.

[0067] The traffic signal control device provided in the present application is described below. The traffic signal control device described below and the traffic signal control method described above can be referenced to each other.

[0068] Furthermore, the present application also provides a traffic signal control device.

[0069] The traffic signal control device comprises: A first determination module is used to determine the gathering wave flow rate and the dissipation wave flow rate in each direction in each phase of the traffic light to be controlled; An input module, used for inputting the preset timing information of the traffic light to be controlled, and the gathering wave flow rate and the dissipation wave flow rate in each direction in each phase of the traffic light to be controlled into the target model, to obtain the initial timing information output by the target model; the preset timing information includes the signal light cycle duration and the green light duration in each direction in each phase of the traffic light to be controlled; the target model includes a quadratic function constructed based on the gathering wave flow rate and the dissipation wave flow rate in each direction in each phase of the traffic light, and the signal light cycle duration of the traffic light and the green light duration in each direction in each phase of the traffic light, and includes constraints for the planning problem of the quadratic function; The second determining module is used to determine the verified initial timing information as the target timing information.

[0070] The traffic signal control device of the present application constructs a quadratic function in advance based on the gathering wave flow rate and the dissipation wave flow rate in each direction in each phase of the traffic light, as well as the signal light cycle duration of the traffic light and the green light duration in each direction in each phase of the traffic light, and sets constraints for the planning problem of the quadratic function, and then constructs a target model based on the quadratic function and its constraints, so that after determining the gathering wave flow rate and the dissipation wave flow rate in each direction in each phase of the traffic light to be controlled, by inputting the preset timing information of the traffic light to be controlled, as well as the gathering wave flow rate and the dissipation wave flow rate in each direction in each phase of the traffic light to be controlled into the target model, the initial timing information output by the target model including the signal light cycle duration and the green light duration in each direction in each phase of the traffic light to be controlled can be obtained, and then when it is determined that the initial timing information has passed the verification, the initial timing information can be determined as the target timing information. The target model is constructed by combining the quadratic function constructed by combining the gathering wave flow rate and the dissipation wave flow rate and constraint conditions. Based on the target model, the signal light cycle duration and the green light duration can be accurately calculated to optimize the signal timing plan, reduce vehicle waiting time and delays, and verify the obtained timing information to ensure the feasibility of the timing plan. Therefore, the accuracy of urban traffic signal control can be improved.

[0071] In one embodiment, the input module is further used for: Performing KKT condition detection on the initial timing information; If the initial timing information does not satisfy the KKT condition, determining that the initial timing information has not passed the verification; If the initial timing information satisfies the KKT condition, it is determined that the initial timing information passes the verification.

[0072] In one embodiment, the input module is further used for: The constraint conditions are adjusted, and the preset timing information of the traffic light to be controlled, as well as the gathering wave flow rate and the dissipation wave flow rate in each direction in each phase of the traffic light to be controlled are input into the target model after the constraint conditions are adjusted, so as to obtain new initial timing information output by the target model; If the new initial timing information passes the verification, the new initial timing information is determined as the target timing information.

[0073] Figure 3 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 3 As shown, the electronic device may include: a processor 310, a communication interface 320, a memory 330 and a communication bus 340, wherein the processor 310, the communication interface 320 and the memory 330 communicate with each other through the communication bus 340. The processor 310 may call the logic instructions in the memory 330 to execute the following method: determine the gathering wave flow rate and the dissipation wave flow rate in each direction in each phase of the traffic light to be controlled; Input the preset timing information of the traffic light to be controlled, and the gathering wave flow rate and the dissipation wave flow rate in each direction in each phase of the traffic light to be controlled into the target model to obtain the initial timing information output by the target model; the preset timing information includes the signal light cycle duration and the green light duration in each direction in each phase of the traffic light to be controlled; the target model includes a quadratic function constructed based on the gathering wave flow rate and the dissipation wave flow rate in each direction in each phase of the traffic light, and the signal light cycle duration of the traffic light and the green light duration in each direction in each phase of the traffic light, and includes constraints for the planning problem of the quadratic function; The verified initial timing information is determined as the target timing information.

[0074] In addition, the logic instructions in the above-mentioned memory 330 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the relevant technology. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0075] In another aspect, the embodiments of the present application further provide a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the method provided by the above embodiments is implemented, for example, including: determining the gathering wave flow rate and the dissipation wave flow rate in each direction in each phase of the traffic light to be controlled; Input the preset timing information of the traffic light to be controlled, and the gathering wave flow rate and the dissipation wave flow rate in each direction in each phase of the traffic light to be controlled into the target model to obtain the initial timing information output by the target model; the preset timing information includes the signal light cycle duration and the green light duration in each direction in each phase of the traffic light to be controlled; the target model includes a quadratic function constructed based on the gathering wave flow rate and the dissipation wave flow rate in each direction in each phase of the traffic light, and the signal light cycle duration of the traffic light and the green light duration in each direction in each phase of the traffic light, and includes constraints for the planning problem of the quadratic function; The verified initial timing information is determined as the target timing information.

[0076] In another aspect, the embodiments of the present application further provide a computer program product having a computer program stored thereon, which is implemented when the computer program is executed by a processor to perform the methods provided by the above embodiments, for example, including: determining the gathering wave flow rate and the dissipation wave flow rate in each direction in each phase of the traffic light to be controlled; Input the preset timing information of the traffic light to be controlled, and the gathering wave flow rate and the dissipation wave flow rate in each direction in each phase of the traffic light to be controlled into the target model to obtain the initial timing information output by the target model; the preset timing information includes the signal light cycle duration and the green light duration in each direction in each phase of the traffic light to be controlled; the target model includes a quadratic function constructed based on the gathering wave flow rate and the dissipation wave flow rate in each direction in each phase of the traffic light, and the signal light cycle duration of the traffic light and the green light duration in each direction in each phase of the traffic light, and includes constraints for the planning problem of the quadratic function; The verified initial timing information is determined as the target timing information.

[0077] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0078] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiment.

[0079] Finally, it should be noted that the above implementation modes are only used to illustrate the present application, rather than to limit the present application. Although the present application is described in detail with reference to the embodiments, a person skilled in the art should understand that various combinations, modifications or equivalent substitutions of the technical solutions of the present application do not depart from the spirit and scope of the technical solutions of the present application.

Claims

1. A traffic signal control method, characterized in that: include: Determine the gathering wave flow rate and the dissipating wave flow rate in each direction in each phase of the traffic light to be controlled; Input the preset timing information of the traffic light to be controlled, and the gathering wave flow rate and the dissipation wave flow rate in each direction in each phase of the traffic light to be controlled into the target model to obtain the initial timing information output by the target model; the preset timing information includes the signal light cycle duration and the green light duration in each direction in each phase of the traffic light to be controlled; the target model includes a quadratic function constructed based on the gathering wave flow rate and the dissipation wave flow rate in each direction in each phase of the traffic light, and the signal light cycle duration of the traffic light and the green light duration in each direction in each phase of the traffic light, and includes constraints for the planning problem of the quadratic function; The verified initial timing information is determined as the target timing information.

2. The traffic signal control method according to claim 1, characterized in that: After obtaining the initial timing information output by the target model, the method further includes: Performing KKT condition detection on the initial timing information; If the initial timing information does not satisfy the KKT condition, determining that the initial timing information has not passed the verification; If the initial timing information satisfies the KKT condition, it is determined that the initial timing information passes the verification.

3. The traffic signal control method according to claim 2, characterized in that: After determining that the initial timing information fails to pass the verification, the method further includes: The constraint conditions are adjusted, and the preset timing information of the traffic light to be controlled, as well as the gathering wave flow rate and the dissipation wave flow rate in each direction in each phase of the traffic light to be controlled are input into the target model after the constraint conditions are adjusted, so as to obtain new initial timing information output by the target model; If the new initial timing information passes the verification, the new initial timing information is determined as the target timing information.

4. The traffic signal control method according to claim 1, characterized in that: The expression of the quadratic function is as follows: ； Among them, C is the duration of the signal light cycle, is the green light duration of phase i, is the mass wave flow rate in direction j in phase i, is the evanescent wave flow rate in direction j in phase i, x is the vector matrix of green light duration in all directions in all phases, H is the weight matrix, T is the matrix transpose, min is the minimum value, n is the total number of phases, m i is the total number of directions corresponding to phase i.

5. The traffic signal control method according to claim 4, characterized in that: The constraints include: ； ； ； is the matrix of equality constraints, is the constant term of the equality constraint, is the inequality constraint matrix, is the constant term of the inequality constraint, and x is the vector matrix of the green light duration in all directions in all phases.

6. The traffic signal control method according to claim 5, characterized in that: The inequality constraint matrix is ​​determined as follows: ； in, ; is the traffic saturation in direction j in phase i, C is the duration of the traffic light cycle, is the green light duration of phase i, is the mass wave flow rate in direction j in phase i, is the evanescent wave flow rate in direction j in phase i, The maximum traffic saturation is achieved in direction j in phase i.

7. A traffic signal control device, characterized in that: include: A first determination module is used to determine the gathering wave flow rate and the dissipation wave flow rate in each direction in each phase of the traffic light to be controlled; An input module, used for inputting the preset timing information of the traffic light to be controlled, and the gathering wave flow rate and the dissipation wave flow rate in each direction in each phase of the traffic light to be controlled into the target model, to obtain the initial timing information output by the target model; the preset timing information includes the signal light cycle duration and the green light duration in each direction in each phase of the traffic light to be controlled; the target model includes a quadratic function constructed based on the gathering wave flow rate and the dissipation wave flow rate in each direction in each phase of the traffic light, and the signal light cycle duration of the traffic light and the green light duration in each direction in each phase of the traffic light, and includes constraints for the planning problem of the quadratic function; The second determining module is used to determine the verified initial timing information as the target timing information.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the traffic signal control method according to any one of claims 1 to 6 is implemented.

9. A storage medium, the storage medium being a non-transitory computer-readable storage medium, on which a computer program is stored, characterized in that: When the computer program is executed by a processor, the traffic signal control method according to any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the traffic signal control method according to any one of claims 1 to 6 is implemented.

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